Feeling Terrain Before Crossing: World Models for Off-Road Navigation

arXiv:2609.19863 · cs.RO, cs.CV · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• World Model — 38× in this paper · explained in 7 episodes
• Transformer — 9× in this paper · explained in 2 episodes
• AUC — 4× in this paper · explained in 2 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• Efficient Image-Goal Navigation with Representative Latent World Model
• RAE-NWM: Navigation World Model in Dense Visual Representation Space
• Learning When to Jump for Off-road Navigation
• NavThinker: Action-Conditioned World Models for Coupled Prediction and Planning in Social Navigation
• AstraNav-World: World Model for Foresight Control and Consistency
• An Efficient and Multi-Modal Navigation System with One-Step World Model
• NavWAM: A Navigation World Action Model for Goal-Conditioned Visual Navigation
• WAM-Nav: Asymmetric Latent World-Action Modeling for Unified Visual Navigation

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