深度解析世界模型嵌入具身系统的三大技术范式

Core Insights - The article discusses the integration of world models into embodied intelligent systems, emphasizing the shift from reactive to predictive capabilities in these systems [1][3][8]. Summary by Sections Introduction to World Models - Embodied intelligent systems traditionally relied on a reactive loop of "perception-action" and lacked predictive capabilities. The introduction of world models allows these systems to "imagine" future scenarios [1][3]. Research Overview - A comprehensive survey from a research team including institutions like Tsinghua University and Harbin Institute of Technology categorizes existing research into three paradigms based on architectural integration [3][5]. Paradigm Classification - The relationship between world models (WM) and policy models (PM) is described as a "coupling strength spectrum," ranging from weak to strong dependencies [11]. - Three categories are identified: Modular, Sequential, and Unified architectures, each with distinct characteristics regarding gradient flow and information dependency [12]. Modular Architecture - In this architecture, WM and PM are independent, with no gradient flow between them. WM acts as a simulator, predicting future states based on current observations and candidate actions [16]. Sequential Architecture - This architecture involves two stages where WM predicts future states, and PM executes actions based on those predictions. It simplifies complex tasks into goal generation and goal-conditioned execution [17][18]. Unified Architecture - The unified architecture integrates WM and PM into a single end-to-end network, allowing for simultaneous training and optimization. This structure enables the system to predict future states and generate actions without explicitly separating simulation and decision-making [19][21]. Future Directions - The article outlines potential research directions, including the selection of representation spaces for world models, the generation of structured intentions, and the need for unified world-policy model paradigms to enhance decision-making efficiency [22][24].