Semantic World Models

Abstract

Planning with world models offers a powerful paradigm for robotic control. Conventional approaches train a model to predict future frames conditioned on current frames and actions, which can then be used for planning. However, the objective of predicting future pixels is often at odds with the actual planning objective; strong pixel reconstruction does not always correlate with good planning decisions. This paper posits that instead of reconstructing future frames as pixels, world models only need to predict task-relevant semantic information about the future. For such prediction the paper poses world modeling as a visual question answering problem about semantic information in future frames. This perspective allows world modeling to be approached with the same tools underlying vision language models. Thus, vision-language models can be trained as "semantic" world models through a supervised finetuning process on image-action-text data, enabling planning for decision-making while inheriting many of the generalization and robustness properties from the pretrained vision-language models. In this paper, we introduce this new method and validate it on simulated robotic tasks leading to improvements over typical paradigms of reconstruction-based action-conditional world modeling. Website available at https://weirdlabuw.github.io/swm.