| # FlowMo Method And Baseline Audit |
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| This document records what each paper-facing method implements and what comparison it supports. |
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| ## A. Learned World Models |
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| | Method | Implemented Architecture | Rollout State | Transition Form | Comparison Purpose | |
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| | FlowMo | Shared image encoder; short state GRU; long strided context GRU; base transition plus zero-context residual | `z_t` plus `c_t` | `z + F0(z,a) + R(z,c) - R(z,0)` | Tests whether separating short object motion from long ambient drift improves prediction and planning. | |
| | LeWorldModel | Image encoder; current-frame latent state; action-conditioned residual transition | `z_t` | `z + F(z,a)` | Tests a simple JEPA-style image-latent predictor without temporal drift context. | |
| | PlaNet RSSM | Image encoder; deterministic recurrent state; stochastic latent posterior/prior; decoder from recurrent plus stochastic state | deterministic recurrent state plus stochastic latent | recurrent transition plus prior/posterior latent | Tests generic recurrent state-space memory under the shared rollout protocol. | |
| | TD-MPC2 Dynamics | Image encoder; short action-conditioned history encoder; residual latent dynamics | `z_t` | `z + F(z,a)` after history encoding | Tests compact action-conditioned latent dynamics without explicit drift context. | |
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| ## B. Traditional Non-WM Controllers |
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| | Method | Input | Controller Type | Comparison Purpose | |
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| | PID/LOS controller | Clean image pose estimate | Line-of-sight waypoint tracking | Simple hand-designed tracking baseline. | |
| | No-Flow LOS Controller | Clean image pose estimate | Line-of-sight tracking without flow compensation | Measures the cost of ignoring external current. | |
| | Current-Estimator LOS Controller | Clean image pose estimate and recent drift | Line-of-sight tracking with online drift estimate | Strong classical current-compensation baseline. | |
| | Oracle-Flow LOS Controller | Clean image pose estimate and simulator local flow | Line-of-sight tracking with true local flow feed-forward | Privileged-information reference for how much true local flow helps a simple geometric controller. | |
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| ## Architecture Difference Checklist |
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| | Method | Uses History | Has Long Context | Has Explicit Drift Context | Distinct From FlowMo | |
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| | FlowMo | Yes, short state history | Yes, strided long context | Yes, `c_t` | Proposed factorization. | |
| | LeWorldModel | No, current image only | No | No | Tests no-history latent prediction. | |
| | PlaNet RSSM | Yes | No | No | Tests generic recurrent memory. | |
| | TD-MPC2 Dynamics | Yes, short history | No | No | Tests compact latent dynamics. | |
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