# GAE: Learning a Geometry-Native Latent Space for 3D-Consistent World Generation

arXiv: https://arxiv.org/abs/2609.24981 · HTML: https://mlsanity.com/paper/2609.24981/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 60 of its 64 references that are in the map.
- First posted on arXiv 21 Sep 2026.

## Builds on (most cited first, 30 of 60)

- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Taming Transformers for High-Resolution Image Synthesis](https://mlsanity.com/paper/2012.09841/) (2020)
- [Wan: Open and Advanced Large-Scale Video Generative Models](https://mlsanity.com/paper/2503.20314/) (2025)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Zero-1-to-3: Zero-shot One Image to 3D Object](https://mlsanity.com/paper/2303.11328/) (2023)
- [DINOv3](https://mlsanity.com/paper/2508.10104/) (2025)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [MVDream: Multi-view Diffusion for 3D Generation](https://mlsanity.com/paper/2308.16512/) (2023)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Representation Alignment for Generation: Training Diffusion Transformers Is Easier Than You Think](https://mlsanity.com/paper/2410.06940/) (2024)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [SyncDreamer: Generating Multiview-consistent Images from a Single-view Image](https://mlsanity.com/paper/2309.03453/) (2023)
- [MotionCtrl: A Unified and Flexible Motion Controller for Video Generation](https://mlsanity.com/paper/2312.03641/) (2023)
- [Continuous 3D Perception Model with Persistent State](https://mlsanity.com/paper/2501.12387/) (2025)
- [DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Vision](https://mlsanity.com/paper/2312.16256/) (2023)
- [CameraCtrl: Enabling Camera Control for Text-to-Video Generation](https://mlsanity.com/paper/2404.02101/) (2024)
- [CAT3D: Create Anything in 3D with Multi-View Diffusion Models](https://mlsanity.com/paper/2405.10314/) (2024)
- [ViewCrafter: Taming Video Diffusion Models for High-fidelity Novel View Synthesis](https://mlsanity.com/paper/2409.02048/) (2024)
- [DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning](https://mlsanity.com/paper/2411.04983/) (2024)
- [π3: Permutation-Equivariant Visual Geometry Learning](https://mlsanity.com/paper/2507.13347/) (2025)
- [Open-Sora Plan: Open-Source Large Video Generation Model](https://mlsanity.com/paper/2412.00131/) (2024)
- [Diffusion Transformers with Representation Autoencoders](https://mlsanity.com/paper/2510.11690/) (2025)

## Abstract (arXiv)

We present a compact geometry-native latent space as a shared foundation for perception and generation. Visual generators can produce photorealistic frames without preserving a consistent 3D scene. We argue that this is not only a modeling problem but also a representation problem: generators typically evolve appearance-centric latents, while perception models recover geometry in a semantically rich space that encodes cross-view structure. Rather than adding geometry as another output, we reparameterize a geometry foundation model's features into a compact latent space for generation. We realize this shift with the geometry-native autoencoder (GAE), whose latent is jointly decodable to appearance, depth, cameras, and point maps. With this state, a standard conditional flow supports diverse generation tasks. In controlled comparisons that hold the generator and training protocol fixed, replacing the latent with GAE improves both visual quality and independently measured 3D coherence: FVD falls by 12.7% and 23.1% on RealEstate10K and DL3DV, and camera-trajectory error is halved on RealEstate10K. Together, these results show that the latent space is central to geometry-consistent generation and can serve as a shared interface between perception and generation.