发表机构
COWARobot Co. Ltd; Shanghai Jiao Tong University; Hohai University（科沃机器人有限公司; 上海交通大学; 河海大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对现有WAM固定想象预算的缺陷，提出自适应框架RISE，构建反事实数据集CounterDrive，在NAVSIM和nuScenes上验证其规划性能更优且可跨WAM架构通用。
AI 中文摘要
世界动作模型（World Action Models, WAMs）通过将未来世界演化纳入动作生成来改进规划，但现有方法为每个场景分配固定的想象预算。我们提出RISE（通过选择性回滚优化想象，Refining Imagination through Selective Rollout），这是一种系统级自适应想象框架，会根据持续回滚的预期规划收益做出顺序的Roll/Stop决策。在每一步，潜在评估器（Latent Evaluator）估计当前前缀暴露的风险以及若继续想象规划可提升的程度，而回滚门（Rollout Gate）会权衡该预期收益与额外计算成本。由于真实驾驶日志仅暴露一个已实现的未来，我们进一步构建CounterDrive，这是一个具有多样结果和风险水平的反事实数据集，用于丰富未来动态并提供局部风险监督。每个保留的样本都经过专家验证，并标注轨迹有效性、事件起始和因果类别，为安全关键型世界建模研究提供可重复使用的资源。在NAVSIM和nuScenes上的实验表明，RISE实现了最佳的整体规划性能，同时减少了不必要的回滚，额外的迁移结果支持其作为插件在各类WAM架构中通用。
英文摘要
World Action Models (WAMs) improve planning by incorporating future world evolution into action generation, yet existing methods allocate a fixed imagination budget to every scene. We propose RISE (\textbf{R}efining \textbf{I}magination through \textbf{SE}lective Rollout), a system-level adaptive imagination framework that makes sequential \textsc{Roll}/\textsc{Stop} decisions according to the expected planning benefit of continued rollout. At each step, a Latent Evaluator estimates the risk revealed by the current prefix and how much planning could improve if imagination continues, while a Rollout Gate weighs this expected benefit against additional computation cost. Since factual driving logs expose only one realized future, we further construct \textbf{CounterDrive}, a counterfactual dataset with diverse outcomes and risk levels, to enrich future dynamics and provide localized risk supervision. Each retained sample undergoes expert verification and annotation of trajectory validity, incident onset, and causal category, providing a reusable resource for safety-critical world-modeling research. Experiments on NAVSIM and nuScenes show that RISE achieves the best overall planning performance while reducing unnecessary rollout, with additional transfer results supporting its plug-in generality across WAM architectures.
