Feeling Terrain Before Crossing: World Models for Off-Road Navigation
Navigation world models plan by foresight, predicting the future that each candidate action sequence produces and selecting the best, rather than mapping observations to actions directly. Unlike urban settings where a predicted scene is a sufficient proxy, off-road navigation hinges on the robot--terrain interaction, so the prediction must cover not only what the camera will see but what the robot will feel. However, existing scene-focused models do not predict how much the robot will slip, tilt or shake along a planned trajectory. Proprioception captures these dynamics directly and, when used as input, improves the prediction of the physical future. We present Feel-WM, the first off-road...
| Authors | E-In Son, Dong-Wook Kim, Ji-Hoon Hwang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 17 September 2026 |
| Last updated at source | 17 September 2026 |
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