NavWAM: A Navigation World Action Model for Goal-Conditioned Visual Navigation
Goal-conditioned visual navigation requires a robot to act under partial observability by anticipating how its motion will change the future egocentric view and whether that change brings it closer to the goal. Navigation world models provide such visual foresight, but they remain prediction modules that require an external planner to convert predicted futures into closed-loop control. We propose Navigation World Action Model (NavWAM), a diffusion-transformer policy that turns navigation world-model prediction into executable action by representing future observations, goal-progress values, and action chunks in a shared latent sequence. By learning future prediction jointly with the actio...
| Authors | Daichi Azuma, Taiki Miyanishi, Koya Sakamoto et al. |
|---|---|
| Primary category | cs.RO |
| Published | 11 June 2026 |
| Last updated at source | 11 June 2026 |
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