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.
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arXiv:2607. 16314v1 Announce Type: cross Abstract: World models, especially based on JEPA architectures, have been shown to learn robust dynamics of various environments.
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...
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.
WALT introduces a method to align latent trajectories with pretrained driving world models, creating a compact generative trajectory space that preserves action-relevant semantics without altering the original model. The approach uses a dual-branch autoencoder to map raw waypoints into this latent space and transfers visual world knowledge into trajectory representations. Experiments on NAVSIM benchmarks show modest performance gains and a 30.5% reduction in planner FLOPs, indicating that maintaining world representations while extracting action-relevant information can improve trajectory planning efficiency.
arXiv:2606.20627v2 Announce Type: replace Abstract: Joint-Embedding Predictive Architectures (JEPAs) enable agents to plan in latent space by imagining the outcomes of candidate actions, yet task spe...
arXiv:2605. 08732v2 Announce Type: replace-cross Abstract: Modern vision-based world models can represent observations as compact yet expressive latent manifolds, but fast goal-oriented planning in these spaces remains challenging.