Ziwei Zhang, Tianyin Liao, Chunyu Hu, Ge Lan, Nuo Xu, Yi Huang, Qingyun Sun, Xingxuan Zhang 等 10 位作者
Graph Foundation Models (GFMs) have recently emerged as a promising paradigm for learning transferable representations across different graphs and domains. However, existing GFMs face notable limitations, including limited pre-training scale or reliance on aligning with textual information in Large Language Models (LLMs). To overcome these limitations, recent studies have drawn inspiration from prior-data fitted networks (PFNs), which learn from large synthetic datasets and support multi-domain prediction backed by causal learning. However, existing graph PFNs encounter severe difficulties in modeling causal relationships within and across node and edge sets, generating diverse graph structures, and designing suitable architectures that can learn from complex synthetic datasets. To address these challenges, we propose **GSCM-PFN** (Graph SCM-based Prior-Data Fitted Network), a graph PFN pre-trained on synthetic data generated from an SCM-based prior that jointly models nodes and graph topology. Specifically, we (1) design a joint feature-edge-label structural causal model (SCM) to guide synthetic graph generation and capture causal relationships within and across node and edge sets; (2) introduce prior-guided node-edge dependency modeling to instantiate diverse graph generation strategies, and prove that our SCM-based generation prior is more expressive than existing priors; and (3) propose a feature-permutation-invariant dual-path graph network with theoretical guarantees for learning from diverse synthetic graphs. Experiments on 23 real-world benchmarks show that GSCM-PFN outperforms both conventional GFMs and PFN-based GFMs, without utilizing real-world graph data for pre-training. Code: https://anonymous.4open.science/r/GSCM-PFN-A3A3/
Jiayi Luo, Yang Zhang, Liliang Chen, Nan Wang, Chen Gao, Boxiang Qiu, Zhuoxuan Li, Baorui Peng 等 16 位作者
Action-conditioned world models offer a scalable alternative to costly real-world interaction for improving robot policies. However, existing world-model-based methods largely treat world models as forward-only surrogates of the physical environment, leaving untapped a capability no physical environment affords: rewinding to past decision points to explore counterfactual futures. We introduce Rollback, a policy improvement paradigm that turns world models from passive simulators into counterfactual engines: it rolls back to critical decision points, branches into alternative actions, and contrasts their outcomes to attribute success to individual decisions. This concentrates imagination where it matters most and distills counterfactual outcomes into fine-grained, action-level supervision without a separately learned value model. We build a scalable training system that unifies distributed world-model search with asynchronous real-robot execution, forming a self-reinforcing cycle: real-world experience continually sharpens the world model, and a sharper world model in turn drives further policy improvement. We term the world-model side of this cycle test-time physics grounding, a capability that hand-built physics simulators lack: while the world model serves as the training environment, real transitions from the policy it trains correct its dynamics through a lightweight LoRA pipeline. Experiments on three challenging real-world tasks show that Rollback improves success rates over the strongest baseline by an absolute 10.67%, 11.11%, and 11.85% on block extraction, ball tossing, and tabletop curling, respectively, while achieving more stable improvement throughout training. Although initialized from teleoperated demonstrations far below human level, Rollback surpasses the average success rate of human players on both ball tossing and tabletop curling within 8 hours of training.