发现并控制了生成策略中块边界处的噪声干扰,提升任务成功率。
Noise-Space Attribution and Control of Chunk-Boundary Artifact
- 通过调整隐空间噪声,系统性调控块边界异常
- 同一模型下成功率达0.033升至0.717,效果显著
- 适用于需精细控制动作连续性的机器人任务
动作分块广泛用于生成式视觉-运动策略,但块边界处反复出现的执行不连续问题仍缺乏机制解释。本文将块边界伪影视为可分析的机制变量。实验表明,成功与失败轨迹在伪影度量上稳定分离。在随机动作分块策略中,仅改变隐层噪声而固定观测上下文即可系统性调节伪影。对同一扩散策略检查点对比DDPM、零方差DDPM和DDIM发现,局部可控性取决于从初始噪声到动作输出的信息路径是否完整。在固定局部执行状态下的受控干预显示,伪影变化可传递至最终结果,且偏好方向可在同一任务内反转:某些情境下低伪影更成功,另一些则高伪影更优。在通过保留样本匹配延续验证选出的高伪影偏好关键情境中,成功率从0.033提升至0.717。结果表明,块边界伪影并非单纯的执行副产物,而是可归因、可控制且与任务结果机制关联的噪声空间变量。
原文摘要 · Abstract (English)
Action chunking is widely used in generative visuomotor policies, yet the recurring execution discontinuities at chunk boundaries still lack a mechanistic explanation. This paper treats chunk-boundary artifact as an analyzable mechanism variable. We first show that successful and failed episodes separate stably on artifact metrics. We then show that, in stochastic action-chunked policies, fixing the observation context and changing only latent noise is sufficient to modulate artifact systematically. On the same Diffusion Policy checkpoint, comparisons among DDPM, zero-variance DDPM, and DDIM further show that this local controllability depends on whether the information path from initial noise to action output remains intact. Finally, from controlled interventions at fixed local execution states, we find that artifact changes can carry through to final outcome, and that the preferred direction can reverse even within the same task: some contexts achieve higher success under lower artifact, whereas others achieve higher success under higher artifact. In a representative high-artifact-favoring key context selected by held-out matched-continuation validation, success rate increases from 0.033 to 0.717. These results show that chunk-boundary artifact is not a mere execution-side by-product, but a variable in noise space that can be attributed, controlled, and mechanistically linked to task outcome.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品;中文卡片由大模型生成,请以原文为准。