arXiv:2608.29937cs.AI2026-08

构建可验证的轻量级机器人策略模块,实现高效部署与跨模型迁移。

AcrossWAM1.0:A Modular Latent World-Action Stack for Compact Robot Policies

论文配图:AcrossWAM1.0:A Modular Latent World-Action Stack for Compact Robot Policies
图 1 · 摘自论文原文
  • 模块化设计分离动作生成、世界解码与策略适配,提升可扩展性。
  • 0.8B小模型达97.45%成功率,仅比2B模型低0.55个百分点,满足保留标准。
  • 提供可审计的推理检查点,支持跨架构测试,适合工业部署与研究复现。

隐式世界-动作模型通过在特征空间预测与动作相关的目标来避免渲染未来像素。LaWAM确立了这一范式,但其原始实现将世界模型、多模态主干和部署检查点紧密耦合。本文提出AcrossWAM1.0,对这一隐式世界-动作堆栈进行模块化与规模化研究。明确划分模块边界:策略适配器生成隐式动作与动作生成上下文;保留的隐式世界解码器将预测的转移结果锚定于当前场景;流匹配专家生成连续动作块。进一步将训练专用教师模型从推理图中剥离,并提供可验证的部署导出。在2,000条配对LIBERO任务中,用Qwen3.5-0.8B主干替代Qwen3-VL-2B模型,成功率达97.45%(原为98.00%),差异仅0.55个百分点(精确McNemar p=0.266),未证明等效,但满足预设两百分点保留标准。紧凑的推理检查点包含1,472.6M唯一参数,较原2B策略减少42.4%,且所有张量与源检查点完全比特一致。通过MiniCPM-V适配器烟雾测试验证跨家族执行可行性;闭环跨家族迁移仍待评估。因此,AcrossWAM1.0为轻量级隐式世界-动作策略提供了可审计的软件与评估边界,区别于LaWAM原始的隐式目标贡献。

原文摘要 · Abstract (English)

Latent world-action models avoid rendering future pixels by predicting an action-relevant visual subgoal in feature space. LaWAM established this formulation, but its original presentation left the world model, multimodal backbone, and deployment checkpoint tightly coupled. We introduce AcrossWAM1.0, a modularization and scaling study of this latent world-action stack. Rather than presenting latent subgoals as a new algorithm, we make the module boundary explicit: a policy adapter produces latent-action and action-generation contexts; a retained latent world decoder grounds the predicted transition in the current scene;and a flow-matching expert generates continuous action chunks. We further separate training-only teachers from the inference graph and provide a verifiable deployment export. On 2,000 paired LIBERO episodes, replacing a Qwen3-VL-2B backbone with Qwen3.5-0.8B yields 97.45% success versus 98.00% for the 2B model (a-0.55percentage-point difference; exact McNemarp=0.266). This does not prove equivalence, but it meets a prespecified two-point retention criterion. The compact, inference-reachable checkpoint contains 1,472.6M unique parameters, 42.4% fewer than the original 2B policy, while all retained tensors are bitwise identical to the source checkpoint. Cross-family execution is additionally checked with a MiniCPM-V adapter smoke test; closed-loop cross-family transfer remains an open evaluation. AcrossWAM1.0 therefore contributes an auditable software and evaluation boundary for compact latent world-action policies, distinct from LaWAM's original latent-subgoal contribution.

机器人策略模块化轻量化可验证

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