# 通过寄存器行动

> 原文链接：https://robotics.hellobike.com/papers/2026-10-13-2610-17638
> 频道：papers | 更新日期：2026-10-13 | 标签：arxiv, cs.RO
> 核心摘要：针对WAM动作相关表征组织不清问题，提出RegisterWAM与FM监督，并在LIBERO-Plus、RoboTwin 2.0和真实操作中验证。

# 通过寄存器行动

::: v-pre
> 原文链接：[Acting Through Registers](https://arxiv.org/abs/2610.17638)（arXiv 2610.17638 · 发布日期：2026-10-13）

**Acting Through Registers**

针对WAM动作相关表征组织不清问题，提出RegisterWAM与FM监督，并在LIBERO-Plus、RoboTwin 2.0和真实操作中验证。

## 核心要点

- WAM用生成式视觉表征条件化机器人动作，但动作相关信息如何组织仍不清楚。
- 研究发现持久高范数空间离群点，其动作相关性在归一化和K/V投影后仍存在。
- RegisterWAM加入可学习非空间寄存器直接条件化动作，并结合观测FM损失抑制空间离群点。
- 模型在LIBERO-Plus达81.64%成功率、RoboTwin 2.0平均93.0%，并提升真实世界操作表现。

**验证范围与局限**：验证范围包括LIBERO-Plus、RoboTwin 2.0和真实世界操作任务。

## 英文摘要 (Abstract)

World Action Models (WAMs) use generative visual representations to condition robot actions, yet how these representations organize action-relevant information remains poorly understood. We identify persistent high-norm spatial outliers in WAM representations and find that their action relevance persists even after normalization and K/V projection attenuate their extreme magnitude. Motivated by this observation, we introduce RegisterWAM, which adds learnable non-spatial registers to the world model and uses them directly for action conditioning. Registers alone do not fully eliminate spatial outliers; pairing them with observation flow-matching (FM) loss supervision suppresses spatial outliers while concentrating high-norm responses in registers. Beyond this reorganization, observation FM loss supervision also improves action learning without registers, motivating an additional noised-observation FM objective that learns current-scene recovery from corrupted inputs. The resulting model achieves 81.64\% success on LIBERO-Plus without additional embodied pretraining data or foundation models, reaches 93.0\% average success on RoboTwin 2.0, and improves real-world manipulation performance.

作者：Yiwei Zhang, Yantai Yang, Jin Gao, Jin Lou, Andong Chen, Yufei Liu, Boyang Xing, Yuchen Zhu, Weiming Hu, Zhipeng Zhang
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## 原始参考来源 (Sources)

- [arXiv 2610.17638：Acting Through Registers](https://arxiv.org/abs/2610.17638)