# ScanDreamer

For quadrotor navigation through unknown clutter, ScanDreamer builds an online 2D scan-memory map from depth images and vehicle pose, and conditions its world model, actor and critic on that map, so imagined rollouts advance the pose over a frozen map and read geodesic progress and wall-contact signals from mapped geometry. Across 1560 test episodes in NVIDIA Isaac Sim spanning unseen layouts and parameter ranges, three seeds average 96.3% success and 3.6% collisions, against 59.6% success and 28.8% collisions for AirDreamer at the same online-interaction budget.

For quadrotor navigation through unknown clutter, ScanDreamer builds an online 2D scan-memory map from depth images and vehicle pose, and conditions its world model, actor and critic on that map, so imagined rollouts advance the pose over a frozen map and read geodesic progress and wall-contact signals from mapped geometry. Across 1560 test episodes in NVIDIA Isaac Sim spanning unseen layouts and parameter ranges, three seeds average 96.3% success and 3.6% collisions, against 59.6% success and 28.8% collisions for AirDreamer at the same online-interaction budget.