Move the camera and the geometry features move too: splitting viewpoint out of the world state buys a 1.4-second forecast
Driving 3D world models often treat geometry-foundation-model features as future states, yet those features shift with camera viewpoint, so the model must predict scene evolution and camera motion at once. GeoState compresses multi-view features into a view-decoupled scene state that a camera ray queries only at decoding, while camera motion is modeled separately. On Waymo it beats compared world models at every reported horizon and transfers zero-shot to KITTI and nuScenes.