DriftWorld: Fast World Modeling through Drifting

arXiv:2607.15065v3 Announce Type: replace-cross Abstract: Predictive world models enable robots to simulate the visual outcomes of their actions, but state-of-the-art diffusion-based models remain costly because generating each rollout requires multi-step iterative denoising. We introduce DriftWorld, an action-conditioned world model based on drifting generative models. DriftWorld learns a conditional drift during training, enabling it to generate future observations for a given action sequence in a single forward pass during inference. Across Bridge-V2, RT-1, Language Table, Push-T, and Robomimic, DriftWorld runs at over 40 fps and is 12+ times faster than diffusion-based baselines, while matching or improving their visual generation quality. This makes DriftWorld an efficient world model for robot simulation and further enables downstream applications including inference-time action search and offline policy evaluation.