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WOLF: World Model Guided LiDAR Exploration with Predictive Frontiers

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

LiDAR-based unmanned aerial vehicle (UAV) exploration builds maps by continually selecting where to observe next. However, decisions based on the measured map provide limited foresight into spatial continuations behind occlusions, leaving potentially informative directions unrecognized. We present WOLF, a world-model-guided framework that predicts future observations to enhance autonomous exploration. In the training stage, a recurrent world model learns observation dynamics from exploration trajectories, with recurrent memory retaining the spatial context needed to interpret partial observati

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