arXiv:2606.28455cs.ROcs.AI2026-06

研究世界模型如何在不同事件中组织物理信息,发现其隐空间结构会随事件动态变化。

Event-Conditioned Diagnostics of Kinematic, Contact, and Object-Permanence Structure in Passive Object-State World Models

  • 通过事件条件诊断法分离三类物理信息读出机制
  • 碰撞时接触信息主导,遮挡时物体恒常性信息增强
  • 结果揭示隐空间具有功能敏感性,适合理解模型内部表征

世界模型能预测未来物理状态,但预测准确率无法说明物理信息在潜空间中的组织方式。本文提出一种受控诊断协议,用于研究被动物体状态世界模型中事件条件下的潜物理结构。该协议区分三个问题:事件模式信息是否可读、事件上下文是否改变运动、接触与物体恒常性相关读出的相对权重,以及抑制对齐读出方向是否影响预测。基于包含自由运动、碰撞和遮挡事件的平衡控制生成数据集,在固定预测时域下评估了GRU、Transformer-lite和RSSM-lite三种过渡模型。在三个独立随机种子下,三类架构均学习到有效的预测动态并支持可靠的事件模式读出。事件上下文系统性地改变读出模式:自由运动以运动主导,碰撞增加接触相关结构,遮挡增强物体恒常性相关结构。时间对齐分析显示对应阶段的特征偏移。采用固定时域投影的因果场效应(CFE)作为功能性敏感性测试,清晰揭示碰撞窗口中接触对齐结构的存在;硬遮挡期间物体恒常性对齐结构也显现,但控制特异性仍较弱。结果支持事件条件化的潜空间结构与功能敏感性,不依赖显式物理模块或孤立因果回路。

原文摘要 · Abstract (English)

World models can predict future physical states, but prediction accuracy alone does not explain how physical information is organized and used inside their latent dynamics. We introduce a controlled diagnostic protocol for studying event-conditioned latent physical structure in passive object-state world models. The protocol separates three questions: whether event-regime information is readable, whether event context changes the relative emphasis of kinematic-, contact-, and object-permanence-related readouts, and whether suppressing readout-aligned directions affects prediction. Using a balanced controlled-generator dataset with free-motion, collision, and occlusion events, we evaluate GRU, Transformer-lite, and RSSM-lite transition models under a fixed-horizon forecasting setup. Across three independent seeds, all three architectures learn useful predictive dynamics and support reliable event-regime readout. Event context systematically shifts the relative readout pattern: free motion is kinematic-dominant, collision increases contact-related structure, and occlusion increases object-permanence-related structure. Time-aligned analyses show corresponding phase-related shifts. Fixed-horizon projection Causal Field Effect (CFE), used here as a functional-sensitivity test, gives the clearest evidence for contact-aligned structure in collision-contact windows. Object-permanence-aligned structure is also sensitive during hard occlusion, but control specificity remains mixed. These results support event-conditioned latent structure and functional sensitivity without implying explicit physical modules or isolated causal circuits.

世界模型潜空间结构事件条件物理认知

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