待翻譯：FACT: Failure-Aware Causal Training for World-Action Models
AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.10232v1 Announce Type: new Abstract: Recent world-action models (WAMs) show that co-training policies with future prediction can provide physical priors for action generation. Building on the future-prediction ability of video models, many WAMs generate future videos and recover actions with inverse-dynamics models, or use these predicted videos as goal conditions for action generation. In both cases, the world model is trained mostly on successful demonstrations and has little reason to predict the consequences of bad actions. We introduce FACT, a causal World-Action Model that predicts future video and task progress conditioned on the executed action. This action-conditioned interface allows failure rollouts to supervise action consequences, turning bad actions into valid future targets rather than being discarded. Failure-aware training makes the progress predictor aware of both successful and failed action outcomes, which can optionally be used to score sampled action candidates at inference. Extensive experiments on simulation and real-world bimanual manipulation tasks show that FACT outperforms many existing baselines, improves as failure data are incorporated into training, and reduces success-biased future hallucination under bad actions. See more details at https://fact-wam.github.io/
AI 服務暫時不可用，以下為來源正文，待恢復後補全翻譯。
--> [Submitted on 10 Aug 2026] Title:FACT: Failure-Aware Causal Training for World-Action Models View a PDF of the paper titled FACT: Failure-Aware Causal Training for World-Action Models, by Quanquan Peng and 4 other authors View PDF HTML (experimental) Abstract:Recent world-action models (WAMs) show that co-training policies with future prediction can provide physical priors for action generation. Building on the future-prediction ability of video models, many WAMs generate future videos and recover actions with inverse-dynamics models, or use these predicted videos as goal conditions for action generation. In both cases, the world model is trained mostly on successful demonstrations and has little reason to predict the consequences of bad actions. We introduce FACT, a causal World-Action Model that predicts future video and task progress conditioned on the executed action. This action-conditioned interface allows failure rollouts to supervise action consequences, turning bad actions into valid future targets rather than being discarded. Failure-aware training makes the progress predictor aware of both successful and failed action outcomes, which can optionally be used to score sampled action candidates at inference. Extensive experiments on simulation and real-world bimanual manipulation tasks show that FACT outperforms many existing baselines, improves as failure data are incorporated into training, and reduces success-biased future hallucination under bad actions. See more details at this https URL Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG) Cite as: arXiv:2608.10232 [cs.RO] (or arXiv:2608.10232v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.10232 arXiv-issued DOI via DataCite (pending registration) Submission history From: Quanquan Peng [view email] [v1] Mon, 10 Aug 2026 21:10:46 UTC (5,022 KB) Full-text links: Access Paper: View a PDF of the paper titled FACT: Failure-Aware Causal Training for World-Action Models, by Quanquan Peng and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.AI cs.LG References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)