用冻结视觉模型+小规模策略,实现《雷神之锤》基础通关
Cortex: Compact Behavior Cloning for Quake with Frozen Visual Features
- 六层Transformer+冻结DINOv3,仅1098万参数做行为克隆
- 20次测试全过起始门,19次击杀,但未完成关卡
- 适合研究轻量级游戏智能体与数据偏差问题
我们研究在不引入强化学习或显式记忆的前提下,一个刻意简单的行为克隆策略能在视觉丰富的第一人称游戏中走多远。Cortex 是一个基于冻结 DINOv3 编码器的六层 Transformer 架构,仅含 1098 万可训练参数,用于在公开的 Pixels2Play 数据集中的 Quake 子集上进行训练:共 6849 段录制(约 474.7 小时),表示为 1709 万条缓存决策帧,包含键盘和鼠标动作。每个采样训练轮次使用 51.7 万组四帧窗口,在单张 RTX 5080 上耗时 3.3 分钟进行策略头优化(不含一次性特征提取)。我们在 Quake E1M1 地图上对两批各 20 次随机、120 秒的测试进行了评估:所有测试均通过初始门、按钮室与闸门下降区域;每批中 19 次至少完成一次击杀。在相同时间控制条件下,对比的 P2P-150M 与 NitroGen 检查点在五组匹配时长的测试中表现更浅。这些比较受限于样本量小及原生接口差异。消融实验表明,更密集的视觉标记提升战斗与生存表现,而更长优化和朴素动作历史虽改善离线指标,但未稳定提升实际表现。剩余失败归因于协变量偏移,提示需针对性修正数据。我们已发布策略实现、检查点及代表性回放。
原文摘要 · Abstract (English)
We study how far a deliberately simple behavioral-cloning policy can progress in a visually rich first-person game before adding reinforcement learning or explicit memory. Cortex is a compact Quake policy with 10.98 million trainable parameters in a six-layer transformer over a frozen DINOv3 encoder. It is trained on the Quake subset of the public Pixels2Play corpus: 6,849 recordings (about 474.7 hours), represented as 17.09 million cached decision frames with keyboard and mouse actions. One sampled training epoch uses 517,048 four-frame windows and takes 3.3 minutes of policy-head optimization on one RTX 5080, excluding one-time feature extraction. We evaluate two independent batches of 20 stochastic, 120-second episodes on Quake E1M1. Cortex does not complete the level, but every episode reaches the opening door, button room, and gate descent; 19 of 20 episodes in each batch record at least one kill. Under the same time-controlled harness, released P2P-150M and NitroGen checkpoints remain shallower in five matched-duration episodes each. These comparisons are limited by small reference samples and different native interfaces. Ablations show that denser visual tokens improve combat and survival, while longer optimization and naive action history improve offline metrics without consistently improving play. The remaining failures are consistent with covariate shift and motivate targeted corrective data. We release the policy implementation, checkpoint, and a representative rollout.
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