arXiv:2608.20430cs.CV2026-08

让世界模型动态决定想象深度,提升规划效率与安全性。

RISE: Adaptive Imagination for World Action Models

论文配图:RISE: Adaptive Imagination for World Action Models
图 1 · 摘自论文原文
  • 根据计划收益动态决定是否继续模拟未来
  • 实验显示在两个数据集上性能最优且减少无效计算
  • 构建反事实数据集用于安全评估,适合自动驾驶研究

世界动作模型(WAMs)通过融合未来世界演化来改进决策规划,但现有方法对所有场景分配固定想象预算。我们提出RISE(通过选择性回溯精炼想象),一个系统级自适应想象框架,根据继续模拟的预期规划收益做出逐步的‘回溯/停止’决策。每一步中,潜在评估器估计当前前缀揭示的风险及继续想象可能带来的规划改进,而回溯门则权衡该收益与额外计算成本。由于真实驾驶日志仅记录单一实现的未来,我们进一步构建了CounterDrive反事实数据集,包含多样化结果与风险水平,以丰富未来动态并提供局部风险监督。每个保留样本均经过专家验证,标注轨迹有效性、事故起始点及因果类别,形成可复用的安全关键世界建模资源。在NAVSIM和nuScenes上的实验表明,RISE在整体规划性能上表现最佳,同时减少不必要的回溯;额外的迁移实验也支持其作为通用模块兼容多种WAM架构。

原文摘要 · Abstract (English)

World Action Models (WAMs) improve planning by incorporating future world evolution into action generation, yet existing methods allocate a fixed imagination budget to every scene. We propose RISE (\textbf{R}efining \textbf{I}magination through \textbf{SE}lective Rollout), a system-level adaptive imagination framework that makes sequential \textsc{Roll}/\textsc{Stop} decisions according to the expected planning benefit of continued rollout. At each step, a Latent Evaluator estimates the risk revealed by the current prefix and how much planning could improve if imagination continues, while a Rollout Gate weighs this expected benefit against additional computation cost. Since factual driving logs expose only one realized future, we further construct \textbf{CounterDrive}, a counterfactual dataset with diverse outcomes and risk levels, to enrich future dynamics and provide localized risk supervision. Each retained sample undergoes expert verification and annotation of trajectory validity, incident onset, and causal category, providing a reusable resource for safety-critical world-modeling research. Experiments on NAVSIM and nuScenes show that RISE achieves the best overall planning performance while reducing unnecessary rollout, with additional transfer results supporting its plug-in generality across WAM architectures.

世界模型规划优化自动驾驶反事实学习

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