Elastic-WAM:面向高效机器人控制的自适应时空想象
Elastic-WAM: Adaptive Spatiotemporal Imagination for Efficient Robot Control
Haitian Li, Tianfu Li, Xuxi Zhao, Zizheng Liu, Yangcheng Yu, Yiwen Hou, Zeyu Xiao, Mutian Xu 等 11 位作者
AI 速读 基于摘要
提出 Elastic-WAM,用统一时空细化需求场自适应分配世界模型的计算,在降低推理开销的同时提升机器人控制表现。
cs.RO · cs.CV
查看原文摘要
World-Action Models improve robot control by predicting future visual dynamics, but iterative video denoising incurs substantial inference overhead. Recent approaches reduce this cost through partial future denoising, yet typically rely on fixed refinement budgets. Our empirical observations reveal that preferred refinement depths vary across tasks and states, while different future regions exhibit varying relevance to action generation. Motivated by these findings, we propose Elastic-WAM, which adaptively allocates world refinement computation across temporal denoising time and spatial future space. A unified spatiotemporal refinement demand field governs when to stop world refinement, how far to advance each denoising step, and which regions to refresh. We parameterize this field with a shared temporal basis and spatial amplitudes, and learn it through a three-stage action-grounded supervised procedure. At inference, the learned field guides recurrent sparse world refinement to improve task success while reducing inference overhead. Evaluations across diverse simulation benchmarks and real-world long-horizon manipulation demonstrate state-of-the-art control performance with reduced inference latency.