OSWAM：一种高效的单步行动生成世界行动模型
OSWAM: An Effective World Action Model with One-Step Action Generation
OSWAM 通过使用结构化想象标记初始化扩散过程，并将未来条件特权信息蒸馏到单个去噪步骤中，实现了自动驾驶和具身控制中的实时高质量行动生成。该模型仅需一步扩散即可生成高质量行动，比需要数十步的去噪过程直接策略世界行动模型（WAM）快约 3 倍，在 NVIDIA RTX 5090 GPU 上实现低至 40ms 的延迟，支持实时编译推理。
Published on Oct 26
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Abstract
OSWAM enables real-time, high-quality action generation in autonomous driving and embodied control by initializing diffusion with structured imagination tokens and distilling future-conditioned privileged information into a single denoising step.
Direct-policy World Action Models (WAM) have demonstrated the benefits of decoupling action generation from explicit future visual prediction for efficient inference in autonomous driving and embodied control. However, they still require tens of denoising steps to achieve competitive action quality, incurring substantial latency and hindering real-time deployment. Simply reducing the number of denoising steps will collapse the nonlinear multi-step denoising trajectory into coarse updates, substantially degrading action quality. To reduce the denoising steps while enabling real-time action generation, we present an effective world action model with one-step action generation, namely OSWAM, for autonomous driving and embodied control. We argue that it is the absence of structured action priors in random noise initialization that forces direct-policy WAMs to recover coherent action sequences through iterative denoising. Hence, we construct imagination tokens to initialize the diffusion process, providing physical priors and action-conditioned representations. We further introduce privileged information distillation with future conditioning to enhance future-aware action generation. As a result, OSWAM can efficiently and effectively generate high quality actions in just one diffusion step. Our experiments demonstrate that OSWAM achieves comparable or even better results in both autonomous driving and embodied control than direct-policy WAM and Joint-WAM that require tens of steps. It obtains approximately 3times speedup over direct-policy WAM baselines and supports real-time compiled inference with latency as low as 40ms on an NVIDIA RTX 5090 GPU. The project page is available at https://gwenzhang.github.io/OSWAM/
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来源: Hugging Face Daily Papers · huggingface.co