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Hydra: A Navigation World Action Model with Discrete Latent Planning and Continuous Flow-Matching Execution

arXiv · AI, language, vision and robotics · article · Aug 29, 2026 · UTC

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. This decoding step is a major obstacle to real-time control on physical hardware. In this paper, we present Hydra, a discrete World Action Model that closes this gap by moving the planner, both the sampler and the evaluator, insi

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