# AR Forcing: Towards Long-Horizon Robot Navigation World Model

arXiv: https://arxiv.org/abs/2605.31314 · HTML: https://mlsanity.com/paper/2605.31314/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Placed in World models for navigation, one of 11 directions in World models.
- Builds on 33 of its 57 references that are in the map.
- First posted on arXiv 29 May 2026.

## Placed in

- World models / [World models for navigation](https://mlsanity.com/wm/world-models-for-navigation/)

## Builds on (most cited first, 30 of 33)

- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [Align your Latents: High-Resolution Video Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2304.08818/) (2023)
- [Mastering Diverse Domains through World Models](https://mlsanity.com/paper/2301.04104/) (2023)
- [One-step Diffusion with Distribution Matching Distillation](https://mlsanity.com/paper/2311.18828/) (2023)
- [Adversarial Diffusion Distillation](https://mlsanity.com/paper/2311.17042/) (2023)
- [Genie: Generative Interactive Environments](https://mlsanity.com/paper/2402.15391/) (2024)
- [Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion](https://mlsanity.com/paper/2407.01392/) (2024)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [Self Forcing: Bridging the Train-Test Gap in Autoregressive Video Diffusion](https://mlsanity.com/paper/2506.08009/) (2025)
- [Learning Interactive Real-World Simulators](https://mlsanity.com/paper/2310.06114/) (2023)
- [DayDreamer: World Models for Physical Robot Learning](https://mlsanity.com/paper/2206.14176/) (2022)
- [Transformers are Sample-Efficient World Models](https://mlsanity.com/paper/2209.00588/) (2022)
- [Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving](https://mlsanity.com/paper/2311.17918/) (2023)
- [Diffusion for World Modeling: Visual Details Matter in Atari](https://mlsanity.com/paper/2405.12399/) (2024)
- [Diffusion Models Are Real-Time Game Engines](https://mlsanity.com/paper/2408.14837/) (2024)
- [Navigation World Models](https://mlsanity.com/paper/2412.03572/) (2024)
- [NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration](https://mlsanity.com/paper/2310.07896/) (2023)
- [Diff-Instruct: A Universal Approach for Transferring Knowledge From Pre-trained Diffusion Models](https://mlsanity.com/paper/2305.18455/) (2023)
- [Score identity Distillation: Exponentially Fast Distillation of Pretrained Diffusion Models for One-Step Generation](https://mlsanity.com/paper/2404.04057/) (2024)
- [Video Probabilistic Diffusion Models in Projected Latent Space](https://mlsanity.com/paper/2302.07685/) (2023)
- [The Diffusion Duality](https://mlsanity.com/paper/2506.10892/) (2025)
- [Copilot4D: Learning Unsupervised World Models for Autonomous Driving via Discrete Diffusion](https://mlsanity.com/paper/2311.01017/) (2023)
- [Rolling Diffusion Models](https://mlsanity.com/paper/2402.09470/) (2024)
- [Elucidating the Exposure Bias in Diffusion Models](https://mlsanity.com/paper/2308.15321/) (2023)
- [STORM: Efficient Stochastic Transformer based World Models for Reinforcement Learning](https://mlsanity.com/paper/2310.09615/) (2023)
- [Diffusion Models Beat GANs on Topology Optimization](https://mlsanity.com/paper/2208.09591/) (2022)
- [MetaDiffuser: Diffusion Model as Conditional Planner for Offline Meta-RL](https://mlsanity.com/paper/2305.19923/) (2023)

## Built on by (most cited first, 4 of 4)

- [WAVE-Go: World-Model Navigation with Adaptive Execution for Wheel-Legged Robots](https://mlsanity.com/paper/2609.18193/) (2026)
- [Visual Representation and History Modeling for Navigation World Models](https://mlsanity.com/paper/2609.29555/) (2026)
- [Custom Forcing: Training-Free Subject Customization for Autoregressive Video Generation](https://mlsanity.com/paper/2610.02914/) (2026)
- [Stabilizing language models under continual learning via condition-anchored distillation](https://mlsanity.com/paper/2610.06940/) (2026)

## Abstract (arXiv)

The diffusion based robot navigation world models are typically trained using parallel supervision, while autoregressive inference is employed during path planning. This results in a distribution shift between training and inference, which destabilizes the performance over long-horizon prediction. We propose AR Forcing, an autoregressive training strategy, which integrates the standard diffusion loss into the autoregressive training loop. At each step, the model uses its own predictions to update the context and optimize the single step noise prediction objective, thereby explicitly exposing the model to the inference state distribution during training. Our method does not require additional discriminators or distribution-matching losses, retains the original diffusion framework and sampler, and is easy to integrate. Experiments on multi-domain navigation datasets (RECON, SCAND, HuRoN, TartanDrive) show that compared with strong baselines, AR Forcing improved the consistency of generated images during long-horizon navigation and the accuracy of predicted trajectories, enhancing robustness of the model in complex known and unknown environments. We will release the code soon.