VGGT-World：将VGGT转变为一个自回归的几何世界模型
VGGT-World: Transforming VGGT into an Autoregressive Geometry World Model
AI总结：
本文提出VGGT-World，通过自回归方法预测冻结几何基础模型特征的时空演变，提升深度预测性能并提高效率。
摘要：
本文提出VGGT-World，通过自回归方法预测冻结几何基础模型特征的时空演变，提升深度预测性能并提高效率。
英文摘要：
World models that forecast scene evolution by generating future video frames devote the bulk of their capacity to photometric details, yet the resulting predictions often remain geometrically inconsistent. We present VGGT-World, a geometry world model that side-steps video generation entirely and instead forecasts the temporal evolution of frozen geometry-foundation-model (GFM) features. Concretely, we repurpose the latent tokens of a frozen VGGT as the world state and train a lightweight temporal flow transformer to autoregressively predict their future trajectory. Two technical challenges arise in this high-dimensional (d=1024) feature space: (i) standard velocity-prediction flow matching collapses, and (ii) autoregressive rollout suffers from compounding exposure bias. We address the first with a clean-target (z-prediction) parameterization that yields a substantially higher signal-to-noise ratio, and the second with a two-stage latent flow-forcing curriculum that progressively conditions the model on its own partially denoised rollouts. Experiments on KITTI, Cityscapes, and TartanAir demonstrate that VGGT-World significantly outperforms the strongest baselines in depth forecasting while running 3.6-5 times faster with only 0.43B trainable parameters, establishing frozen GFM features as an effective and efficient predictive state for 3D world modeling.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
