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1ua-nwm/
2└── ua-nwm_best.pt
3
4raev2-dinov3b-k1-airgoal10k-ft/
5└── step_0010000.ptua-nwm/ua-nwm_best.pt: the released UA-NWM checkpoint. It contains the shared deterministic backbone and the HEP module. Both inference strategies in the codebase use this same checkpoint:
hep for uncertainty-aware scoring and dinov3_cosine for the deterministic baseline.raev2-dinov3b-k1-airgoal10k-ft/step_0010000.pt: the fine-tuned RAEv2 RGB decoder used only for
DINO latent visualization.1hf download DurYi/UA-NWM-Checkpoints \
2 ua-nwm/ua-nwm_best.pt \
3 raev2-dinov3b-k1-airgoal10k-ft/step_0010000.pt \
4 --local-dir pretrained1pretrained/
2├── ua-nwm/
3│ └── ua-nwm_best.pt
4└── raev2-dinov3b-k1-airgoal10k-ft/
5 └── step_0010000.ptpretrained/dinov3-vitb16/1@misc{zhu2026uanwm,
2 title={Uncertainty-Aware World Model for Aerial Image-Goal Navigation},
3 author={Deyi Zhu and Haoyu Fan and Yinan Zhu and Weichen Zhang and Shilin Ma and Xinlei Chen and Yansong Tang},
4 year={2026},
5 eprint={2608.05597},
6 archivePrefix={arXiv},
7 primaryClass={cs.CV},
8 url={https://arxiv.org/abs/2608.05597},
9}