Paper ID: 2402.06665

The Essential Role of Causality in Foundation World Models for Embodied AI

Tarun Gupta, Wenbo Gong, Chao Ma, Nick Pawlowski, Agrin Hilmkil, Meyer Scetbon, Marc Rigter, Ade Famoti, Ashley Juan Llorens, Jianfeng Gao, Stefan Bauer, Danica Kragic, Bernhard Schölkopf, Cheng Zhang

Recent advances in foundation models, especially in large multi-modal models and conversational agents, have ignited interest in the potential of generally capable embodied agents. Such agents will require the ability to perform new tasks in many different real-world environments. However, current foundation models fail to accurately model physical interactions and are therefore insufficient for Embodied AI. The study of causality lends itself to the construction of veridical world models, which are crucial for accurately predicting the outcomes of possible interactions. This paper focuses on the prospects of building foundation world models for the upcoming generation of embodied agents and presents a novel viewpoint on the significance of causality within these. We posit that integrating causal considerations is vital to facilitating meaningful physical interactions with the world. Finally, we demystify misconceptions about causality in this context and present our outlook for future research.

Submitted: Feb 6, 2024