Visual Representation and History Modeling for Navigation World Models
Navigation World Models (NWMs) predict action-conditioned visual futures for planning. Two practical challenges are central to their design: selecting a suitable visual representation and efficiently modeling observation history for repeated candidate queries. Standard Global-Softmax attention provides flexible interactions but repeatedly processes the same history, leading to increasing computation and memory costs for long contexts and multi-query planning. We study both problems within a unified conditional flow-transformer framework. We first compare five frozen visual representations under the same dynamics model and evaluation. To reduce redundant history computation, we design Cach...
| Authors | Guangfu Guo, Xiaoqian Lu, Rui Liu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 26 August 2026 |
| Last updated at source | 26 August 2026 |
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