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CST-WM: A Causally Structured World Model for Embodied Visual Tracking

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

Embodied visual tracking requires a robot not only to react to the current view, but to choose actions that preserve or recover future evidence of a moving target under ego-motion, occlusion, and distractors. It is therefore a predictive decision problem over future target observability and apparent scale. A central difficulty is a task-specific form of causal hallucination: in action-conditioned prediction, a model can exploit the strong correlation between robot control and target-related observations by hallucinating a direct causal effect from the current action to target evidence, rather

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