Unified World Models couple video and action diffusion inside one transformer with independent timesteps, enabling pretraining on heterogeneous robot datasets that include action-free video and producing more generalizable policies than imitation learning alone.
Specifically, we want to (1) understand the effect of registers on task per- formance, and (2) compare the use of AdaLN for observation conditioning with cross attention [17]
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Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets
Unified World Models couple video and action diffusion inside one transformer with independent timesteps, enabling pretraining on heterogeneous robot datasets that include action-free video and producing more generalizable policies than imitation learning alone.