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今天的主题是：Navigation World Models

Summary

This research introduces a Navigation World Model (NWM), a novel video generation model that predicts future visual observations for navigation. Employing a Conditional Diffusion Transformer (CDiT), NWM is trained on a massive dataset of human and robotic navigation videos, reaching 1 billion parameters. The model excels at planning navigation trajectories in known environments, either independently or by ranking trajectories from existing policies, and even generates imagined trajectories in unfamiliar environments from a single image. Experiments demonstrate state-of-the-art performance in visual navigation tasks, including the ability to incorporate navigation constraints during planning. Limitations include mode collapse in unseen environments and challenges with complex temporal dynamics.

原文链接：https://arxiv.org/abs/2412.03572

解读链接：https://www.jiqizhixin.com/articles/2024-12-07-4