GeoWM: Efficient Direct World Modeling in Explicit Geometry

Modeling 3D scene geometry and its evolution over time is essential for autonomous driving and robotics. A common paradigm is to use world models to predict future images or latent representations of the environment and subsequently recover geometry from these predictions. However, this paradigm does not explicitly model geometric structure and typically relies on recursive rollouts to reach longer prediction horizons, leading to error accumulation and increasing computational cost. To address these limitations, we present GeoWM, a geometry world model that directly forecasts future scene geometry at specified future horizons without recursive rollout. The key idea is to leverage a geometry foundation model to transform observed RGB frames into a geometric history, which conditions a flow-matching transformer to predict the scene geometry at a specified future horizon. We further show that a lightweight camera-motion predictor can accurately estimate the future viewpoint, and that projecting the observed geometry into the predicted viewpoint provides an effective geometric prior for future geometry forecasting. Extensive experiments on four datasets spanning urban driving, aerial flight, and dynamic manipulation demonstrate that GeoWM outperforms the evaluated world models in forecasting depth, camera pose, and 3D scene geometry, while substantially reducing inference time at longer horizons.