LOCOMOTION
WAM-Nav：用于统一视觉导航的非对称潜在世界-动作建模
Ning Yang, Yan Huang, Kaiwen Peng, Ziheng He, Kai Wang, Cui Miao, Kailin Lyu, Guo Li, Xiaofeng Wang, Zheng Zhu, Jing Liu, Nianfeng Liu
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
该论文提出WAM-Nav模型，通过共享扩散变压器联合生成长期动作和短期视觉预测，解决了视觉导航中预测与策略分离导致的误差累积和推理效率低问题。其双流上下文调节机制进一步提升了轨迹的平滑性和一致性。
关键词
visual navigationworld-action modeldiffusion transformerlatent foresighttrajectory generation
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