Hydra: A Navigation World Action Model with Discrete Latent Planning and Continuous Flow-Matching Execution
World models let robots imagine possible futures, but exploiting this capability for real-time planning is bottlenecked by a representation misalignment: generative models and planners operate on decoupled manifolds, requiring computationally expensive decoding of every candidate back to the high-dimensional observation space for evaluation. In this paper, we present Hydra, a discrete World Action Model that tackles this by establishing a unified latent manifold over visual states, physical poses, and control actions. By compressing this manifold through modality-specific Vector-Quantized bottlenecks, Hydra yields discrete vocabularies of kinodynamic intents and visual states. This enable...
| Authors | Mohammad Nazeri, Alexandyr Card, Samira Huber et al. |
|---|---|
| Primary category | cs.RO |
| Published | 29 August 2026 |
| Last updated at source | 28 September 2026 |
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