Robotics paper index

Leveraging Foundation Models for Causal Generative Modeling

2026-05-22 · arXiv: 2605.23861

One-line summary

A robotics research paper on Leveraging Foundation Models for Causal Generative Modeling.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Causal generative modeling is essential for developing reliable and transparent AI systems capable of counterfactual reasoning. While existing approaches focus on integrating causal constraints during the training of generative models, they often lack a unified framework to leverage the zero-shot reasoning capabilities of pretrained foundation models. We introduce FM-CGM, a modular framework for end-to-end visual causal reasoning using pretrained foundation models. FM-CGM formalizes the causal pipeline through three core components: a concept extractor, a concept manipulator, and a counterfactual generator. By leveraging a large reasoning model for causal inference and a text-to-image diffusion model for generation, our approach enables zero-shot causal discovery, intervention, and counterfactual generation. We then develop Causal Semantic Guidance (CSG), a cross-attention-based mechanism that ensures semantic interventions propagate to descendant concepts while preserving invariant regions. We empirically show that our approach can identify plausible causal structures and is suitable for faithful counterfactual image generation.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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