The paper introduces FOLIAGE, a geometry‑centered latent world model designed for systems that grow and change shape over time. FOLIAGE allocates higher‑resolution state to regions expected to grow while keeping mature areas compact, fusing RGB, point‑cloud, and mesh data into a deployable geometric state and conditioning dynamics on material controls. The authors evaluate the model on new benchmarks (SURF‑GARDEN and SURF‑BENCH) and demonstrate significant reductions in inverse‑material error, mesh forecasting error, and improved cross‑modal retrieval, with robust performance under sensor loss and correspondence corruption.
arXiv:2606. 31941v1 Announce Type: cross Abstract: Unstructured navigational features, such as irregular planting or discontinuities, remain the primary failure mode for under-canopy agricultural robots.
PiCo is a post‑hoc framework that explains Geo‑foundation model predictions by identifying concept vectors in the model’s embedding space. It generates synthetic multispectral satellite data using a 3D radiative transfer model and a game engine to reveal physical sensitivities, then projects embeddings onto these vectors to quantify concept importance. Evaluations on three GFMs show that PiCo can recover most of the full‑embedding accuracy and uncover how different physical concepts influence predictions for tasks such as ground‑cover estimation and forest classification.
Geo-foundation models (GFMs) are typically evaluated by downstream task predictive performance, revealing little about which physical features they are sensitive to or use in prediction. This limits d...
arXiv:2608.29434v1 Announce Type: cross Abstract: JEPA world models make latent-space planning a practical route to control, but they are built almost exclusively on images. Whether latent prediction...
arXiv:2610.16558v1 Announce Type: new Abstract: World models capture environment dynamics and support counterfactual reasoning for planning. In image-goal navigation, where the target often lies beyo...
arXiv:2608. 05774v1 Announce Type: cross Abstract: Joint-embedding predictive architectures learn by predicting latent representations of missing observations, yet many masked JEPAs are evaluated primarily through the encoders they produce.
arXiv:2608.24044v1 Announce Type: new Abstract: Latent world models plan by predicting how candidate actions transform learned representations. In self-predictive models, however, the encoder and pre...
arXiv:2607. 20653v1 Announce Type: cross Abstract: Predicting how deformable objects evolve under robotic manipulation is a longstanding challenge.
arXiv:2603. 03482v2 Announce Type: replace-cross Abstract: Interactive world models continually generate video by responding to a user's actions, enabling open-ended generation capabilities.
arXiv:2606. 28128v1 Announce Type: cross Abstract: Video generation models have emerged as a promising paradigm for embodied world simulation.
The paper introduces the Geometry‑Native Autoencoder (GAE), a compact latent space that can be decoded into appearance, depth, camera parameters, and point maps, enabling 3D‑consistent world generation. By reparameterizing a geometry foundation model’s features, GAE replaces traditional appearance‑centric latents and improves visual quality and 3D coherence, achieving significant reductions in FVD and camera‑trajectory error on benchmark datasets. The work demonstrates that a geometry‑native latent space can serve as a shared interface between perception and generation models.
arXiv:2409.13568v3 Announce Type: replace Abstract: Accurate delineation of agricultural field boundaries is essential for effective crop monitoring and resource management. However, competing method...