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Skytopia: Monocular Drone Navigation with Action-Conditioned Latent World Models

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Monocular drone navigation requires reaching a goal in an unseen environment from a single forward-facing camera, which offers few cues for depth and scale. World models address this by modelling how observations evolve under actions, but they are built to be executed: the prediction is produced at deployment and fed back into action generation at every control step. We argue that what a policy needs from a world model is not the prediction but the representation required to produce it: in flight the executed action explains almost all of the change between observations, so prediction reduces

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