ThinkWorld: World Imagination Reinforces Chain-of-Dynamics Reasoning
[Robotyka] Autorzy: Chaehyun Kim, Chi-Pin Huang, Jisoo Kim i 4 więcej
Vision-Language-Action (VLA) models have made substantial progress in robotic manipulation, but their generalization remains constrained by the diversity and coverage of action-labeled robot demonstrations. Human videos provide much broader behavioral and environmental experience, while learning from them faces a fundamental trade-off between scalable data and explicit action grounding. We introduce ThinkWorld, a VLA learning framework that grounds action reasoning in world dynamics and strengthens it through reinforcement learning with world imagination. ThinkWorld represents each action thought as a Chain-of-Dynamics (CoD), a sequence of discrete motion tokens that captures the intermediate dynamics connecting the current world to a future state and serves as a common action representation across embodiments. We first initialize CoD with action-labeled demonstrations, then predict the…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka