Tiresias: Towards Language-Conditioned World Models

원문 초록

World models enable planning through internal simulation, while natural language provides intuitive task specification. Yet, language-conditioned world modeling remains fragmented across domains with disparate action spaces, datasets, and evaluation protocols. We introduce LCWM, a shared task that maps an initial agent-view observation and a language instruction to an action sequence that fulfills the instruction. Its accompanying benchmark, LCWM-Bench, integrates 15 datasets across navigation, robotics, 3D gaming, and driving under a shared action interface and evaluation protocol, pairing 142,987 episodes with 428,961 instructions in three styles. We further propose Tiresias, an agent that plans via selective imagination: a language-conditioned diffusion policy generates candidate trajectories, a trajectory ranker shortlists them, and a video-pretrained world model imagines their visual consequences. A visual ranker evaluates these rollouts, complementing trajectory scores to select the final plan. Tiresias achieves competitive planning and imagination performance on LCWM-Bench. Ablations demonstrate the complementary benefits of trajectory ranking and visual verification, while experiments with alternative proposal methods show that the trained rankers remain effective beyond our diffusion policy. Together, LCWM-Bench and Tiresias provide a unified evaluation setting and an effective starting point for studying language-guided planning through world models.