Latent Particle World Models

Abstract

We introduce Latent Particle World Model (LPWM), a self-supervised object-centric world model scaled to real-world multi-object datasets and applicable in decision-making. LPWM autonomously discovers keypoints, bounding boxes, and object masks directly from video data, enabling it to learn rich scene decompositions without supervision. Our architecture is trained end-to-end purely from videos and supports flexible conditioning on actions, language, and image goals. LPWM models stochastic particle dynamics via a novel latent action module and achieves state-of-the-art results on diverse real-world and synthetic datasets. Beyond stochastic video modeling, LPWM is readily applicable to decision-making, including goal-conditioned imitation learning, as we demonstrate in the paper. 

Code, and pre-trained models will be made publicly available.

Particle-Grid ● LanguageTable ● Bridge ● Sketchy ● Mario ● BAIR ● PandaPush ● OGBench-Scene

Self-supervised Object-centric Video Prediction and Generation

Policy Learning with LPWM