Hydra: A Navigation World Action Model with Discrete Latent Planning and Continuous Flow-Matching Execution
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.28995v1 Announce Type: new Abstract: World models let robots imagine possible futures, but exploiting this capability for real-time control is bottlenecked by a representation misalignment: the generative model and the planner operate on decoupled manifolds, so the planner has no shared structure to search over and must instead decode every candidate back into high-dimensional pixel space to evaluate it.