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arXiv 2610.22343cs.CVcs.AIcs.LGcs.RO

GeoState:学习用于3D世界建模的视图解耦几何状态

GeoState: Learning View-Decoupled Geometry States for 3D World Modeling

Tongji University(同济大学);Hong Kong Polytechnic University(香港理工大学);Tencent(腾讯);Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ)(广东省人工智能与数字经济实验室(深圳))

Hongchang Liu, Jian Liu, Yujuan Ding, Liang Peng, Xun Jiang, Fei Ma, Xing Xu, Yi Bin

AI总结:

GeoState是一种视图解耦几何表示,通过分离场景状态演化与相机观测,在Waymo等数据集上优于现有3D世界模型,可零样本泛化到KITTI、nuScenes,支持几何一致跨视图查询。

摘要:

近期的3D世界模型越来越多地使用几何基础模型(GFMs)的特征作为预测性世界状态,得益于其丰富的几何先验。然而,这些特征的视图依赖性将场景动态与相机诱导的变化纠缠在一起,使得生成的状态演化更难预测。我们提出GeoState,一种用于预测性3D世界建模的视图解耦几何表示,它将场景状态演化与依赖相机的观测分离开来。具体而言,场景分词器将多视图GFM特征聚合为视图解耦的场景状态,几何解码器使用相机射线查询该状态。自回归世界模型随后预测未来的场景状态,而相机运动则被单独建模。因此,预测的状态可以在预测的或外部指定的相机下解码,同时在整个展开过程中保留单一的上下文衍生尺度,无需每帧进行尺度对齐。实验表明,GeoState在Waymo数据集上的性能优于先前的3D世界模型,支持几何一致的跨视图查询,并能零样本泛化到KITTI和nuScenes数据集。项目页面:this https URL

英文摘要:

Recent 3D world models increasingly use features from geometry foundation models (GFMs) as predictive world states, benefiting from their rich geometric priors. However, the view dependence of these features entangles scene dynamics with camera-induced variation, making the resulting state evolution harder to predict. We propose GeoState, a view-decoupled geometry representation for predictive 3D world modeling that separates scene-state evolution from camera-dependent observation. Specifically, a scene tokenizer aggregates multi-view GFM features into a view-decoupled scene state, which a geometry decoder queries using camera rays. An autoregressive world model then predicts future scene states, while camera motion is modeled separately. The predicted states can therefore be decoded under either predicted or externally specified cameras, while retaining a single context-derived scale throughout the rollout without per-frame scale alignment. Experiments show that GeoState outperforms prior 3D world models on Waymo, supports geometrically consistent cross-view querying, and generalizes zero-shot to KITTI and nuScenes. Project page: https://hongchang-liu.github.io/GeoState-project-page/

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。

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