arXiv:2406.04814v4 Announce Type: replace-cross

Abstract: Video diffusion models can enable embodied agents to anticipate plausible futures from the recent past, but they are typically trained offline on curated datasets--a mismatch with the agents' learning setup at deployment: online, from a single video stream that sequentially outputs one frame at a time. We bridge this training gap and demonstrate that training autoregressive video diffusion models from such a stream, resembling the experience of embodied agents, is not only possible but can also perform comparably to standard offline training given the same number of gradient steps. We find that this robustness to video stream autocorrelation and nonstationarity can be achieved using experience replay methods that retain a subset of the video stream. To support training and evaluation in this setting, we introduce five new datasets for streaming lifelong generative video modeling: Lifelong Bouncing Balls (O), Lifelong Bouncing Balls (C), Lifelong 3D Maze, Lifelong Drive, and Lifelong PLAICraft, each consisting of one million consecutive frames from environments of increasing complexity. Together, our datasets and experiments lay the groundwork for video generative models and world models that continuously learn from single-sensor video streams rather than fixed datasets.