# FlowMo Method And Baseline Audit

This document records what each paper-facing method implements and what comparison it supports.

## A. Learned World Models

| Method | Implemented Architecture | Rollout State | Transition Form | Comparison Purpose |
|---|---|---|---|---|
| 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. |

## B. Traditional Non-WM Controllers

| Method | Input | Controller Type | Comparison Purpose |
|---|---|---|---|
| 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. |

## Architecture Difference Checklist

| Method | Uses History | Has Long Context | Has Explicit Drift Context | Distinct From FlowMo |
|---|---|---|---|---|
| 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. |