{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,22]],"date-time":"2025-10-22T23:35:16Z","timestamp":1761176116493,"version":"build-2065373602"},"reference-count":0,"publisher":"IOS Press","isbn-type":[{"value":"9781643686318","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,10,21]],"date-time":"2025-10-21T00:00:00Z","timestamp":1761004800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,10,21]]},"abstract":"<jats:p>Achieving robust generalization across diverse scenarios is crucial for advancing the practical application of robotics. Existing approaches typically rely on interaction object masks as visual inputs to predict subsequent actions, gaining a certain degree of generalization capability. However, these methods primarily map visual inputs and task-relevant object masks to expert actions, overlooking the environmental dynamics that govern physical interactions among objects during manipulation. To overcome these limitations, we introduce ABM++, a novel framework that leverages pre-trained VLMs to build a mask-guided world model (MGWM) within an imitation learning paradigm for generalized robotic manipulation. Specifically, we extend a world model into a coarse-to-fine imitation learning framework to reconstruct future mask-dominated visual features, which enables the model to capture state transitions between the current and next states based on predicted actions, effectively modeling environmental dynamics. Comprehensive experiments demonstrate that ABM++ significantly surpasses established baselines in both simulation and real-world environments, achieving a relative improvement of 12.2% across 8 complex tasks, which underscores the superiority of our method.<\/jats:p>","DOI":"10.3233\/faia250802","type":"book-chapter","created":{"date-parts":[[2025,10,22]],"date-time":"2025-10-22T09:42:40Z","timestamp":1761126160000},"source":"Crossref","is-referenced-by-count":0,"title":["ABM++: Learning Generalizable Manipulation Policies with a Mask-Guided World Model"],"prefix":"10.3233","author":[{"given":"Fan","family":"Zhuo","sequence":"first","affiliation":[{"name":"College of Computer Science and Software Engineering, Shenzhen University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ying","family":"He","sequence":"additional","affiliation":[{"name":"College of Computer Science and Software Engineering, Shenzhen University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F. Richard","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Information Technology, Carleton University, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pengshuai","family":"Yin","sequence":"additional","affiliation":[{"name":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fei","family":"Ma","sequence":"additional","affiliation":[{"name":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"7437","container-title":["Frontiers in Artificial Intelligence and Applications","ECAI 2025"],"original-title":[],"link":[{"URL":"https:\/\/ebooks.iospress.nl\/pdf\/doi\/10.3233\/FAIA250802","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,22]],"date-time":"2025-10-22T09:42:41Z","timestamp":1761126161000},"score":1,"resource":{"primary":{"URL":"https:\/\/ebooks.iospress.nl\/doi\/10.3233\/FAIA250802"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,21]]},"ISBN":["9781643686318"],"references-count":0,"URL":"https:\/\/doi.org\/10.3233\/faia250802","relation":{},"ISSN":["0922-6389","1879-8314"],"issn-type":[{"value":"0922-6389","type":"print"},{"value":"1879-8314","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,10,21]]}}}