WAVE-Go: World-Model Navigation with Adaptive Execution for Wheel-Legged Robots

arXiv:2609.18193 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/vigorlee/wave-go

Terminology

• World Model — 12× in this paper · explained in 7 episodes
• Calibration — 6× in this paper · explained in 7 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Action Chunking — 4× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Adaptive Selection — 2× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• HIMM: Human-Inspired Long-Term Memory Modeling for Embodied Exploration and Question Answering
• FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation
• NavWAM: A Navigation World Action Model for Goal-Conditioned Visual Navigation
• WAM-Nav: Asymmetric Latent World-Action Modeling for Unified Visual Navigation
• Adaptive Action Chunking at Inference-time for Vision-Language-Action Models
• RAE-NWM: Navigation World Model in Dense Visual Representation Space
• AR Forcing: Towards Long-Horizon Robot Navigation World Model
• MWM: Mobile World Models for Action-Conditioned Consistent Prediction
• Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation
• ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics
• NavWM: A Unified Navigation World Model for Foresight-Driven Planning
• WorldVLN: Autoregressive World Action Model for Aerial Vision-Language Navigation
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?
• NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration
• NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance
• Real-Time Execution of Action Chunking Flow Policies
• Qwen2.5-VL Technical Report
• On Evaluation of Embodied Navigation Agents
• Cosmos 3: Omnimodal World Models for Physical AI

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