Action Conditioning kernel

[superposition]

Description

Inject actions into latent dynamics for embodied world models.

Operations

# FiLM-style conditioning: scale and shift latent by action embedding
conditioned = film_condition(latent, action_embed)  # latent * gamma + beta

# Additive action injection
conditioned = action_inject(latent, action_embed, mode='add')

# Concatenate and project
conditioned = action_concat_project(latent, action_embed, proj_weight)

Implementation

• FiLM: learn gamma, beta from action → element-wise transform
• Support for discrete and continuous actions
• Fused projection + conditioning

Tests

• FiLM produces correct scale/shift
• Additive injection correct
• Concat+project matches manual implementation
• Gradient flows to both latent and action
• Works with batched actions
• Handles action sequences (B, T, action_dim)

Used In

Genie, Dreamer, IRIS, TD-MPC, action-conditioned world models