分析世界模型规划中传感退化在各阶段的衰减与持续，揭示任务成功无法反映的真实问题。
Beyond Task Success: Stage-Wise Reliability of World Model Planning under Sensing Degradation
- 分阶段追踪10种传感退化对表征、预测、规划偏好和物理结果的影响
- 初始微小扰动可能持续至最终结果，大扰动却可能被抑制
- 适用于需诊断感知系统鲁棒性的机器人与自动驾驶研究者
在世界模型规划中，传感输入经编码器与预测器后影响规划决策，仅靠最终任务成功率无法揭示传感干扰在流程中的衰减或持续位置。本文对世界模型规划器施加10种视觉与时间维度的传感退化，在相同50个任务上进行配对评估，追踪其在表征、未来预测、规划偏好及物理结果各阶段的影响。结果显示，退化影响在不同阶段不具一致性：大表征偏移可能在下游被削弱，而小初始偏移却可延续至最终结果；内部响应顺序与实际物理结果顺序并不一致。时间退化也呈现显著差异：即使观测历史整体变化相似，因信息受损位置与规划器实际暴露情况不同，响应仍显著不同。该非均匀阶段响应现象在另一操作任务及不同世界模型中亦被复现。阶段级诊断可有效识别传感干扰的衰减或持续点，有助于优先开展模型验证与传感优化。
原文摘要 · Abstract (English)
In world model planning, sensing inputs pass through an encoder and predictor before affecting planner decisions, so final task success alone cannot reveal where sensing disturbances attenuate or persist in the pipeline. We apply 10 visual and temporal sensing degradations to a world model planner and track their effects across representation, future prediction, planner preference, and physical outcome using paired evaluation on the same 50 tasks. The relative impact of degradations was not preserved across stages: large representation shifts could attenuate downstream, while smaller initial shifts could persist to the outcome, and internal-response ordering did not directly match physical-outcome ordering. Temporal degradations also showed distinct patterns: even with similar overall changes in observation history, responses differed substantially with the location of corrupted information and the planner's actual exposure. This non-uniform stage-wise response was also observed in secondary evaluations with another manipulation task and a different world model. Stage-wise diagnosis can therefore identify where sensing disturbances attenuate or persist and help prioritize subsequent model verification and sensing mitigation.
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