Inter-environmental world modeling for continuous and compositional dynamics

Abstract

Various world model frameworks are being developed today based on autoregressive frameworks that rely on discrete representations of actions and observations, and these frameworks are succeeding in constructing interactive generative models for the target environment of interest. Meanwhile, humans demonstrate remarkable generalization abilities to combine experiences in multiple environments to mentally simulate and learn to control agents in diverse environments. Inspired by this human capability, we introduce World modeling through Lie Action (WLA), an unsupervised framework that learns continuous latent action representations to simulate across environments. WLA learns a control interface with high controllability and predictive ability by simultaneously modeling the dynamics of multiple environments using Lie group theory and object-centric autoencoder. On synthetic benchmark and real-world datasets, we demonstrate that WLA can be trained using only video frames and, with minimal or no action labels, can quickly adapt to new environments with novel action sets.