MinD: Learning A Dual-System World Model for Real-Time Planning and Implicit Risk Analysis

Xiaowei Chi; Kuangzhi Ge; Jiaming Liu; Siyuan Zhou; Peidong Jia; Zichen He; Yuzhen Liu; Tingguang Li; Lei Han; Sirui Han; Shanghang Zhang; Yike Guo

arXiv · 2506.18897

MinD: Learning A Dual-System World Model for Real-Time Planning and Implicit Risk Analysis

Xiaowei Chi·Kuangzhi Ge·Jiaming Liu·Siyuan Zhou·Peidong Jia·Zichen He·Yuzhen Liu·Tingguang Li·Lei Han·Sirui Han·Shanghang Zhang·Yike Guo

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Abstract

Video Generation Models (VGMs) have become powerful backbones for Vision-Language-Action (VLA) models, leveraging large-scale pretraining for robust dynamics modeling. However, current methods underutilize their distribution modeling capabilities for predicting future states. Two challenges hinder progress: integrating generative processes into feature learning is both technically and conceptually underdeveloped, and naive frame-by-frame video diffusion is computationally inefficient for real-time robotics. To address these, we propose Manipulate in Dream (MinD), a dual-system world model for real-time, risk-aware planning. MinD uses two asynchronous diffusion processes: a low-frequency visual generator (LoDiff) that predicts future scenes and a high-frequency diffusion policy (HiDiff) that outputs actions. Our key insight is that robotic policies do not require fully denoised frames but can rely on low-resolution latents generated in a single denoising step. To connect early predictions to actions, we introduce DiffMatcher, a video-action alignment module with a novel co-training strategy that synchronizes the two diffusion models. MinD achieves a 63% success rate on RL-Bench, 60% on real-world Franka tasks, and operates at 11.3 FPS, demonstrating the efficiency of single-step latent features for control signals. Furthermore, MinD identifies 74% of potential task failures in advance, providing real-time safety signals for monitoring and intervention. This work establishes a new paradigm for efficient and reliable robotic manipulation using generative world models.

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Xiaowei Chi, Kuangzhi Ge, Jiaming Liu, Siyuan Zhou, Peidong Jia, Zichen He, Yuzhen Liu, Tingguang Li, Lei Han, Sirui Han, Shanghang Zhang, Yike Guo. 2025-06-23. MinD: Learning A Dual-System World Model for Real-Time Planning and Implicit Risk Analysis. https://arxiv.org/abs/2506.18897

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