WIS: world-guided instruction semantic diffusion policy for predictive bimanual manipulation
Abstract
Introduction: Robotic bimanual manipulation poses significant challenges for reactive visuomotor policies, which inherently lack the capacity to anticipate future environmental dynamics, especially in long-horizon and semantically complex tasks. To address this limitation, there is a critical need for frameworks that integrate predictive modeling with task-level reasoning to enable coordinated, forward-looking dual-arm control.
Methods: We introduce the World-guided Instruction Semantic Diffusion Policy (WIS), a novel hierarchical framework that tightly integrates a language-driven world model with a diffusion-based policy for dual-arm coordination. The architecture comprises three core modules: (1) a multimodal language-visual perception module that fuses 3D point cloud features with natural language embeddings via cross-modal attention for task-relevant semantic grounding; (2) a language-conditioned world model that explicitly forecasts future state trajectories conditioned on current states, action sequences, and language instructions, providing forward-looking predictive reasoning; and (3) a hierarchical diffusion policy with a high-level latent planner and a low-level diffusion controller, wherein the world model's predictions actively guide action refinement through a prediction-aware sampling mechanism. This design cleanly separates high-level task reasoning from low-level motor generation while ensuring every action remains grounded in both immediate observations and…
Read the paper
Related studies
- Learning from First-Generation Qualitative Approaches in the IS Discipline: An Evolutionary View and Some Implications for Authors and Evaluators (PART 1/2)
- Commentary on the clinical and preclinical dosage limits of interstitially administered magnetic fluids for therapeutic hyperthermia based on current practice and efficacy models
- Prosthesis: New Technological Opportunities and Innovative Biomedical Devices
- The history and future of neural modeling for cochlear implants
- Ryanodine receptors: waking up from refractoriness
- Novel Transgenic Rabbit Model Sheds Light on the Puzzling Role of Matrix Metalloproteinase-12 in Atherosclerosis
Go deeper in Evidence Hub
Evidence Hub adds a study data sheet (design, sample size, evidence level, key numbers), an AI summary and a chat grounded in the paper's text.