发表机构
Tongji University（同济大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究基于采样和潜在世界模型的控制器存在的条件失败提议过度生成问题，提出相邻集动作重建（ASAR）方法，在携带和释放评估集上，相比匹配选择提高了事件完成成功率，还刻画了选择风险。
AI 中文摘要
基于采样和潜在世界模型的控制器为每个候选动作序列分配预测的终端成本，选择最小值，执行其第一个动作块并重新规划。即使终端成本能完美准确反映物理世界中的真实任务目标，此规则仍可能失败。残差预测误差会使不可行序列成本异常低，更大的提议池会让此类误差更易超越可行方案，即条件失败提议过度生成。在Cube候选执行审计中，增加提议预算会降低选择可行性。我们引入相邻集动作重建（ASAR），在低成本提议中，ASAR从标准化早期动作前缀测量密度，并从具有轻锚点的相邻集重建完整序列。在75个查询的携带和释放评估集上，Kernel ASAR在潜在成本和轨迹可达性成本下，相比匹配选择提高了事件完成成功率。对有限提议池的分析刻画了选择风险。
英文摘要
Controllers based on sampling and latent world models assign a predicted terminal cost to each candidate action sequence, choose the minimum, execute its first action block, and replan. This rule can fail even when the terminal cost perfectly and accurately reflects the true task objective in the physical world. Residual prediction error can give an infeasible sequence an anomalously low cost, and a larger proposal pool gives such errors more chances to outrank feasible alternatives. We call this conditional failure proposal overgeneration. In Cube candidate execution audits, increasing the total proposal budget from 72 to 288 reduces the feasibility of selection by minimum latent cost from .375 to .062 for position targets and from .344 to .031 for targets defined by position and yaw, although every larger pool contains a feasible sequence. We introduce Adjacent Set Action Reconstruction (ASAR). Among proposals with low cost, ASAR identifies an adjacent set using standardized early action prefixes and reconstructs a full action sequence through locally weighted aggregation with a light anchor from the sequence with minimum cost. On a Carry and Release evaluation set of 75 queries, Kernel ASAR improves event completion success over matching selection by 28.0, 24.0, and 18.7 percentage points under latent cost and by 18.7, 20.0, and 17.3 points under a trajectory reachability cost at 72, 144, and 288 proposals. Analysis of finite proposal pools characterizes selection risk from the lower tail, separation by a related radius support statistic, and sequence containment under an explicit local feasibility condition.
Comments23 pages, 7 figures. Includes supplementary material
