发表机构
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology; Principia AI（华中科技大学人工智能与自动化学院; Principia AI）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出隐式演化算子网络（LEON）作为WAMs的新型转移实现架构，通过算子结构建模隐式演化，在两类WAM范式下均提升了闭环性能与鲁棒性，确立了转移实现的重要性。
AI 中文摘要
世界动作模型（World Action Models，WAMs）通过预测与任务相关的场景状态在交互下的演化来增强机器人策略。近期的WAMs越来越多地在隐式表示空间中执行这类预测，在保留控制相关信息的同时避免了全外观级别的生成。然而，隐式转移通常采用基于Transformer的预测器实现，其归纳结构以token交互为中心而非时间演化。我们将转移实现视为与预测表示、预测-策略耦合相区别的架构选择，引入了隐式演化算子网络（Latent Evolution Operator Network，LEON），该网络通过上下文调制的基于算子的传播与加性强制，在学习到的可观测空间中对隐式演化进行建模。基于演化的受控Koopman生成器视角，LEON围绕共享演化算子结构组织依赖上下文的转移变化，同时保留加性变化的补充路径。受控动力系统验证了所得的演化特定归纳偏置，以及算子传播与强制的互补作用。在两种将隐式预测以不同方式集成到策略中的WAM范式下，LEON均提升了闭环性能与鲁棒性，且在完全替换转移时仍保持有效。这些结果确立了转移实现是隐式WAMs中具有重要意义的架构选择。
英文摘要
World Action Models (WAMs) augment robot policies by predicting how task-relevant scene states may evolve under interaction. Recent WAMs increasingly perform such prediction in latent representation spaces, avoiding full appearance-level generation while preserving control-relevant information. Yet latent transitions are commonly realized with Transformer-based predictors whose inductive structure is centered on token interaction rather than temporal evolution. We study transition realization as an architectural choice distinct from predictive representation and prediction-policy coupling. We introduce the Latent Evolution Operator Network (LEON), which models latent evolution in a learned observable space through context-modulated operator-based propagation and additive forcing. Grounded in the controlled Koopman generator view of evolution, LEON organizes context-dependent transition variation around a shared evolution-operator structure while retaining a complementary path for additive change. Controlled dynamical systems verify the resulting evolution-specific inductive bias and the complementary roles of operator propagation and forcing. Across two WAM formulations that integrate latent prediction into the policy differently, LEON improves closed-loop performance and robustness while remaining effective under full transition replacement. These results establish transition realization as a consequential architectural choice in latent WAMs.
