发表机构
Seoul National University（首尔大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出阶段级诊断方法，通过施加10种感知退化并追踪其在表征、预测、规划偏好和物理结果中的传播，揭示世界模型规划中退化影响的不均匀性，为模型验证和感知缓解提供优先级依据。
AI 中文摘要
在世界模型规划中，感知输入在影响规划器决策之前需经过编码器和预测器，因此仅凭最终任务成功无法揭示感知扰动在流程中何处被减弱或持续存在。我们对一个世界模型规划器施加了10种视觉和时间感知退化，并通过在相同50个任务上的配对评估，追踪这些退化在表征、未来预测、规划器偏好和物理结果中的影响。退化的相对影响在各阶段并未保持一致：较大的表征偏移可能在下游减弱，而较小的初始偏移可能持续影响最终结果，且内部响应的排序与物理结果的排序并不直接匹配。时间退化也表现出不同的模式：即使观测历史的总体变化相似，响应也会因受损信息的位置和规划器的实际暴露程度而显著不同。这种非均匀的阶段级响应在另一个操作任务和不同世界模型的二次评估中也得到了观察。因此，阶段级诊断可以识别感知扰动在何处减弱或持续存在，并有助于优先安排后续的模型验证和感知缓解措施。
英文摘要
In world model planning, sensing inputs pass through an encoder and predictor before affecting planner decisions, so final task success alone cannot reveal where sensing disturbances attenuate or persist in the pipeline. We apply 10 visual and temporal sensing degradations to a world model planner and track their effects across representation, future prediction, planner preference, and physical outcome using paired evaluation on the same 50 tasks. The relative impact of degradations was not preserved across stages: large representation shifts could attenuate downstream, while smaller initial shifts could persist to the outcome, and internal-response ordering did not directly match physical-outcome ordering. Temporal degradations also showed distinct patterns: even with similar overall changes in observation history, responses differed substantially with the location of corrupted information and the planner's actual exposure. This non-uniform stage-wise response was also observed in secondary evaluations with another manipulation task and a different world model. Stage-wise diagnosis can therefore identify where sensing disturbances attenuate or persist and help prioritize subsequent model verification and sensing mitigation.
Comments8 pages, 3 figures, 2 tables
