Predict Before You Deploy: Offline Prediction of Quantization-Induced Task Degradation for World Action Models
On the map: World models → Embodied and robot world models
Abstract (arXiv)
World action models (WAMs) rely on video-generation backbones, requiring substantial memory and compute for deployment. Post-training quantization reduces memory and can accelerate inference, but bit width, grouping, and quantizer choice define a large configuration space. Identifying configurations that preserve task performance through exhaustive closed-loop evaluation is costly. We propose PreDE (Predict Before You Deploy), a policy-calibrated framework for predicting quantization-induced task degradation from offline action deviations. Using closed-loop outcomes from a small development set, PreDE calibrates two thresholds and accepts, rejects, or defers new configurations using a fixed observation log. Under a within-setting label-ordering hypothesis, the rule issues decisions where all thresholds consistent with the development labels agree. Across five WAMs and four benchmark settings, quantization produces configuration-dependent task losses that cannot be explained by bit width alone or a shared deviation threshold. Across 28 held-out configurations from two policies, PreDE issued 21 decisions before observing closed-loop outcomes (75% coverage), all matching the observed acceptable or degraded labels. Deferred candidates included both acceptable outcomes and a 33-percentage-point loss. In 450 Franka Research 3 trials across two independently fine-tuned policies, all configurations assigned to high-deviation groups before testing showed significant degradation, while low-deviation comparisons showed no statistically significant degradation. On the real robot, W4A4 achieved a 1.37x action-query speedup and approximately 44% lower peak memory. These results support policy-specific behavioral calibration for quantization configuration selection while identifying candidates that require closed-loop evaluation. The code is available at https://github.com/jiuyixu25/PreDE.
Key facts. No citing papers in the map yet (data through 7 Oct 2026). Placed in Embodied and robot world models, one of 11 directions in World models. Builds on 25 of its 30 references that are in the map. First posted on arXiv 16 Sep 2026.
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25 of 30 references.
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- 2026Fast-WAM: Do World Action Models Need Test-time Future Imagination?17 Mar
- 2025RynnVLA-002: A Unified Vision-Language-Action and World Model21 Nov
- 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusion7 Mar
Other references · 22
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- 2023LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learningcited by 1,338
- 2023AWQ: Activation-aware Weight Quantization for LLM Compression and Accelerationcited by 1,234
- 2017Selective Classification for Deep Neural Networkscited by 799
- 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
- 2021A White Paper on Neural Network Quantizationcited by 453
- 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 391
- 2026Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planningcited by 274
- 2023Q-Diffusion: Quantizing Diffusion Modelscited by 266
10 more
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- 2023PTQD: Accurate Post-Training Quantization for Diffusion Modelscited by 167
- 2024SVDQuant: Absorbing Outliers by Low-Rank Components for 4-Bit Diffusion Modelscited by 161
- 2025mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAscited by 133
- 2024ViDiT-Q: Efficient and Accurate Quantization of Diffusion Transformers for Image and Video Generationcited by 110
- 2024PTQ4DiT: Post-training Quantization for Diffusion Transformerscited by 77
- 2026QuantVLA: Scale-Calibrated Post-Training Quantization for Vision-Language-Action Modelscited by 25
- 2025Saliency-Aware Quantized Imitation Learning for Efficient Robotic Controlcited by 8
- 2026Mix-QVLA: Task-Evidence-Aware Mixed-Precision Quantization of Vision-Language-Action Modelscited by 1
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