论文检索

Keishi Ishihara, Kento Sasaki, Tsubasa Takahashi, Daiki Shiono, Yu Yamaguchi

Vision-Language Models (VLMs) have been applied to autonomous driving to support decision-making in complex real-world scenarios. However, their training on static, web-sourced image-text pairs fundamentally limits the precise spatiotemporal reasoning required to understand and predict dynamic traffic scenes. We address this critical gap with STRIDE-QA, a large-scale visual question answering (VQA) dataset for physically grounded reasoning from an ego-centric perspective. Constructed from 100 hours of multi-sensor driving data in Tokyo, capturing diverse and challenging conditions, STRIDE-QA is the largest VQA dataset for spatiotemporal reasoning in urban driving, offering 16 M QA pairs over 270 K frames. Grounded by dense, automatically generated annotations including 3D bounding boxes, segmentation masks, and multi-object tracks, the dataset uniquely supports both object-centric and ego-centric reasoning through three novel QA tasks that require spatial localization and temporal prediction. Our benchmarks demonstrate that existing VLMs struggle significantly, with near-zero scores on prediction consistency. In contrast, VLMs fine-tuned on STRIDE-QA exhibit dramatic performance gains, achieving 55% success in spatial localization and 28% consistency in future motion prediction, compared to near-zero scores from general-purpose VLMs. Therefore, STRIDE-QA establishes a comprehensive foundation for developing more reliable VLMs for safety-critical autonomous systems.

Yaxuan Hu, Jie Hua, Gang Wu, Yuhong Yang, Atsushi Suzuki, Zhongyuan Wang

Low-frame-rate (LFR) Multi-Object Tracking (MOT) is crucial for efficient tracking on edge devices, as it significantly reduces computational and storage demands. However, existing trackers struggle in LFR settings due to large temporal gaps, extreme appearance changes, and motion non-linearity. While Graph Neural Network (GNN)-based trackers are effective at associating objects across these gaps, most operate offline, which prevents their use for online tracking. To address these limitations, we propose GLoMOT, a novel online GNN-based Low-Frame-Rate Multi-Object Tracker designed for robust performance in LFR videos. To bridge the large temporal gaps, we introduce a Dynamic Node Buffer Pool. This acts as a long-term memory, caching the states of absent objects to enable their robust re-association. To tackle extreme motion uncertainty, we propose an adaptive context-aware module that dynamically adjusts the weights of positional and appearance features, generating more robust features for predicting node connections. Furthermore, we propose a pseudo-depth feature calculation method. This provides the GNN with critical geometric context, which helps resolve spatial ambiguity arising from occlusions. Extensive experiments on several public MOT benchmarks, including DanceTrack, MOT17, and VisDrone, demonstrate GLoMOT's effectiveness and superiority, particularly in challenging Low-Frame-Rate conditions.

Chunyong Hu, Qi Luo, Jianyun Xu, Song Wang, Qiang Li, Sheng Yang

In the realm of autonomous driving, accurately detecting surrounding obstacles is crucial for effective decision-making. Traditional methods primarily rely on 3D bounding boxes to represent these obstacles, which often fail to capture the complexity of irregularly shaped, real-world objects. To overcome these limitations, we present GUIDE, a novel framework that utilizes 3D Gaussians for instance detection and occupancy prediction. Unlike conventional occupancy prediction methods, GUIDE also offers robust tracking capabilities. Our framework employs a sparse representation strategy, using Gaussian-to-Voxel Splatting to provide fine-grained, instance-level occupancy data without the computational demands associated with dense voxel grids. Experimental validation on the nuScenes dataset demonstrates GUIDE's performance, with an instance occupancy mAP of 21.61, marking a 50% improvement over existing methods, alongside competitive tracking capabilities. GUIDE establishes a new benchmark in autonomous perception systems, effectively combining precision with computational efficiency to better address the complexities of real-world driving environments.

Han Han, Wei Zhai, Baocai Yin, Yang Cao, Bin Li, Zheng-jun Zha

Egocentric point tracking aims to localize points on object surfaces from a first-person perspective and serves as a critical step toward embodied intelligence. Recent methods rely on video input, tracking query points through feature matching across consecutive frames. However, these methods struggle in highly dynamic settings—a common challenge in first-person perspectives, where the head-mounted camera undergoes frequent and abrupt rotations, resulting in high angular velocities, motion blur, and large inter-frame displacements. In contrast, event cameras capture motion at microsecond temporal resolution, naturally avoiding blur and delivering low-latency, high-fidelity cues crucial for egocentric point tracking. Moreover, rapid egocentric motion disrupts local smoothness, breaking the assumption that spatially adjacent regions share similar motion. Event dynamics expose global motion trends, guiding coherent modeling and consistent feature flow. Therefore, this paper proposes a mamba-based tracking framework that constructs feature modeling paths aligned with the dominant motion trend extracted from events, and modulates feature propagation along these paths based on local motion intensity, enhancing stability by suppressing unreliable signals and emphasizing consistent cues. Additionally, a motion-adaptive suppression module enhances temporal robustness by adaptively suppressing correlation features based on motion intensity variations, mitigating the effects of intensity fluctuations and partial observability. To facilitate research in this domain, a multimodal dataset named DVS-EgoPoints with both events and videos for egocentric point tracking is collected. Experiments on the DVS-EgoPoints dataset and a simulation benchmark demonstrate superior performance over state-of-the-art methods, especially under challenging motion and occlusion conditions.

Yiyang Gu, Bohan Wu, Yifang Qin, Jiaru Tang, Rong-Cheng Tu, Zhiping Xiao, Taian Guo, Junyu Luo, Wei Ju, Xiao Luo 等

In this paper, we study the problem of robust multi-label hashing, where label noise hinders the learning of a reliable semantic structure from data. Many existing methods rely on heuristic sample selection or consistency-based training, but lack a unified mechanism to validate and refine supervision across structural and semantic levels. Inspired by cognitive theories of human memory, we propose a novel framework called CogniTrust that unifies verifiable supervision with a triadic memory model: a) In episodic memory, feature activations are decomposed into spatial patterns that support the assessment of structural evidence and the estimation of label reliability; b) Semantic memory keeps track of class-level prototypes from structurally attentive regions to estimate the semantic plausibility of labels; c) Reconstructive memory simulates memory recall through interpolation between images using a diffusion-based mixup process, which enriches the training signals for semantically uncertain regions. These components work together, allowing supervision to be refined through the joint consideration of spatial structure and semantic information. Extensive experiments on noisy hashing benchmarks demonstrate that CogniTrust consistently outperforms a range of state-of-the-art baselines. Our results show that cognitive memory mechanisms offer a principled basis for more reliable label denoising and robust hashing.

Teng Fu, Mengyang Zhao, Ke Niu, Kaixin Peng, Bin Li

LVLMs have been shown to perform excellently in image-level tasks such as VQA and caption. However, in many instance-level tasks, such as visual grounding and object detection, LVLMs still show performance gaps compared to previous expert models. Meanwhile, although pedestrian tracking is a classical task, there have been a number of new topics in combining object tracking and natural language, such as Referring MOT, Cross-view Referring MOT, and Semantic MOT. These tasks emphasize that models should understand the tracked object at an advanced semantic level, which is exactly where LVLMs excel. In this paper, we propose a new unified Pedestrian Tracking framework, namely OmniPT, which can track, track based on reference and generate semantic understanding of tracked objects interactively. We address two issues: how to model the tracking task into a task that foundation models can perform, and how to make the model output formatted answers. To this end, we implement a training phase consisting of RL-Mid Training-SFT-RL. Based on the pre-trained weights of the LVLM, we first perform a simple RL phase to enable the model to output fixed and supervisable bounding box format. Subsequently, we conduct a mid-training phase using a large number of pedestrian-related datasets. Finally, we perform supervised fine-tuning on several pedestrian tracking datasets, and then carry out another RL phase to improve the model's tracking performance and enhance its ability to follow instructions. We conduct experiments on tracking benchmarks and the experimental results demonstrate that the proposed method can perform better than the previous methods.

Yangkai Chen, Qiangqiang Wu, Guangyao Li, Junlong Gao, Guanglin Niu, Hanzi Wang

Open-vocabulary multi-object tracking (OV-MOT) aims to track objects with unseen categories beyond the training set. While existing methods rely on pseudo video sequences synthesized from static images, they struggle to model realistic motion patterns, resulting in limited association performance in real-world scenarios. To alleviate these issues, we propose SAM2-OV, a novel association learning-free OV-MOT method that adopts a detection-only tuning paradigm, eliminating the need for synthetic sequences or spatiotemporal supervision and substantially reducing the overall learnable parameters. The core of our method is a Unified Detection Module (UDM), which effectively provides object-level prompts to enable SAM2 for OV-MOT. Enabled by UDM, SAM2-OV is the first to integrate SAM2 for OV-MOT, fully unleashing its zero-shot cross-frame association ability. To further enhance object association under occlusion and abrupt motion, we introduce a Motion Prior Assistance Module (MPAM) that incorporates motion cues into the mask selection process. In addition, a Semantic Enhancement Adapter (SEA) distilled from CLIP is used to improve classification generalization. A sparse prompting strategy is also adopted to reduce computational redundancy by triggering detection only on selected keyframes. As only the detection module is tuned on static images, the overall training process remains simple and efficient. Experiments on the TAO dataset demonstrate that SAM2-OV achieves state-of-the-art performance under the TETA metric, particularly on novel categories. Evaluations on the KITTI dataset show the strong zero-shot cross-domain transferability of our SAM2-OV.

Lin Chen, Yongxin Su, Jvboxi Wang, Pengcheng Han, Zhenyu Xia, Shuhui Bu, Kun Li, Boni Hu, Shengqi Meng, Guangming Wang

Although Gaussian scene representation has achieved remarkable success in tracking and mapping, most existing methods are confined to single-agent systems. Current multi-agent solutions typically rely on centralized architectures, which struggle to account for communication bandwidth constraints. Furthermore, the inherent depth ambiguity of 3D Gaussian splatting poses notable challenges in maintaining geometric consistency. To address these challenges, we introduce CoMA-SLAM, the first distributed multi-agent Gaussian SLAM framework. By leveraging 2D Gaussian surfels and robust initialization strategy, CoMA-SLAM enhances tracking accuracy and geometry consistency. It efficiently manages communication bandwidth while dynamically scaling with the number of agents. Through the integration of intra- and inter-loop closure, distributed keyframe optimization and submap centric update, our framework ensures global consistency and robustly alignment. Synthetic and real-world experiments demonstrate that CoMA-SLAM outperforms state-of-the-art methods in pose accuracy, rendering fidelity, and geometric consistency while maintaining competitive efficiency across distributed multi-agent systems. Notably, by avoiding data transmission to a centralized server, our method reduces communication bandwidth by 99.8% compared to centralized approaches.

Niki Amini-Naieni, Andrew Zisserman

We introduce a new task of open-world object counting in videos: given a text description, or an image example, that specifies the target object, the objective is to enumerate all the unique instances of the target objects in the video. This task is especially challenging in crowded scenes with occlusions and objects of similar appearance, where avoiding double counting and identifying reappearances is crucial. To this end, we make the following contributions: we introduce a model, CountVid, for this task. It leverages an image-based counting model, and a promptable video segmentation and tracking model, to enable automated open-world object counting across video frames. To evaluate its performance, we introduce VideoCount, a new dataset for this novel task built from the TAO and MOT20 tracking datasets, as well as from videos of penguins and metal alloy crystallization captured by x-rays. Using this dataset, we demonstrate that CountVid provides accurate object counts, and significantly outperforms strong baselines.

Jiayuan Huang, Runlong He, Danyal Zaman Khan, Evangelos B. Mazomenos, Danail Stoyanov, Hani Marcus, Linzhe Jiang, Matthew John Clarkson, Mobarak I. Hoque

Image-guided surgery demands adaptive, real-time decision support, yet static AI models struggle with structured task planning and providing interactive guidance. Large language models (LLMs)-powered agents offer a promising solution by enabling dynamic task planning and predictive decision support. Despite recent advances, the absence of surgical agent datasets and robust parameter-efficient fine-tuning techniques limits the development of LLM agents capable of complex intraoperative reasoning. In this paper, we introduce Surgical AI Copilot, an LLM agent for image-guided pituitary surgery, capable of conversation, planning, and task execution in response to queries involving tasks such as MRI tumor segmentation, endoscope anatomy segmentation, overlaying preoperative imaging with intraoperative views, instrument tracking, and surgical visual question answering (VQA). To enable structured agent planning, we develop the PitAgent dataset, a surgical context-aware planning dataset covering surgical tasks like workflow analysis, instrument localization, anatomical segmentation, and query-based reasoning. Additionally, we propose DEFT-GaLore, a Deterministic Energy-based Fourier Transform (DEFT) gradient projection technique for efficient low-rank adaptation of recent LLMs (e.g., LLaMA 3.2, Qwen 2.5), enabling their use as surgical agent planners. We extensively validate our agent's performance and the proposed adaptation technique against other state-of-the-art low-rank adaptation methods on agent planning and prompt generation tasks, including a zero-shot surgical VQA benchmark, demonstrating the significant potential for truly efficient and scalable surgical LLM agents in real-time operative settings.

Yunzhong Zhang, You Zhou, Changqing Su, Zhen Cheng, Zhaofei Yu, Bo Xiong, Tiejun Huang, Xun Cao

Particle Image Velocimetry (PIV) is a widely adopted non-invasive imaging technique that tracks the motion of tracer particles across image sequences to capture the velocity distribution of fluid flows. It is commonly employed to analyze complex flow structures and validate numerical simulations. This study explores the untapped potential of spike cameras—ultra-high-speed, high-dynamic-range vision sensors—in high-speed fluid velocimetry. We propose a deep learning framework, Spike Imaging Velocimetry (SIV), tailored for high-resolution fluid motion estimation. To enhance the network’s performance, we design three novel modules specifically adapted to the characteristics of fluid dynamics and spike streams: the Detail-Preserving Hierarchical Transform (DPHT), the Graph Encoder (GE), and the Multi-scale Velocity Refinement (MSVR). Furthermore, we introduce a spike-based PIV dataset, Particle Scenes with Spike and Displacement (PSSD), which contains labeled samples from three representative fluid-dynamics scenarios: steady turbulence, high-speed flow, and high-dynamic-range conditions. Our proposed method outperforms existing baselines across all these scenarios, demonstrating its effectiveness.

Yufeng Wu, Xin Liao, Baowei Wang, Han Fang, Xiaoshuai Wu, Mingyue Chen, Guiling Wang

Unauthorized screen capturing and dissemination pose severe security threats such as data leakage and information theft. Several studies propose robust watermarking methods to track the copyright of Screen-Camera (SC) images, facilitating post-hoc certification against infringement. These techniques typically employ heuristic mathematical modeling or supervised neural network fitting as the noise layer, to enhance watermarking robustness against SC. However, both strategies cannot fundamentally achieve an effective approximation of SC noise. Mathematical simulation suffers from biased approximations due to the incomplete decomposition of the noise and the absence of interdependence among the noise components. Supervised networks require paired data to train the noise-fitting model, and it is difficult for the model to learn all the features of the noise. To address the above issues, we propose Simulation-to-Real (S2R). Specifically, an unsupervised noise layer employs unpaired data to learn the discrepancy between the modeled simulated noise distribution and the real-world SC noise distribution, rather than directly learning the mapping from sharp images to real-world images. Learning this transformation from simulation to reality is inherently simpler, as it primarily involves bridging the gap in noise distributions, instead of the complex task of reconstructing fine-grained image details. Extensive experimental results validate the efficacy of the proposed method, demonstrating superior watermark robustness and generalization compared to state-of-the-art methods.

Lixin Jia, Haiyang Sun, Zhiqing Guo, Yunfeng Diao, Dan Ma, Gaobo Yang

With the rapid evolution of deepfake technologies and the wide dissemination of digital media, personal privacy is facing increasingly serious security threats. Deepfake proactive forensics, which involves embedding imperceptible watermarks to enable reliable source tracking, serves as a crucial defense against these threats. Although existing methods show strong forensic ability, they rely on an idealized assumption of single watermark embedding, which proves impractical in real-world scenarios. In this paper, we formally define and demonstrate the existence of Multi-Embedding Attacks (MEA) for the first time. When a previously protected image undergoes additional rounds of watermark embedding, the original forensic watermark can be destroyed or removed, rendering the entire proactive forensic mechanism ineffective. To address this vulnerability, we propose a general training paradigm named Adversarial Interference Simulation (AIS). Rather than modifying the network architecture, AIS explicitly simulates MEA scenarios during fine-tuning and introduces a resilience-driven loss function to enforce the learning of sparse and stable watermark representations. Our method enables the model to maintain the ability to extract the original watermark correctly even after a second embedding. Extensive experiments demonstrate that our plug-and-play AIS training paradigm significantly enhances the robustness of various existing methods against MEA.

Lixuan Chen, Zhongnan Liu, Jesse Hamilton, James M. Balter, Jeong Joon Park, Liyue Shen

Prospective reconstruction is crucial in many clinical applications such as MRI-guided radiotherapy, which demands accurate image reconstruction and fast motion estimation from currently acquired measurements. However, prospective reconstruction remains challenging due to ultra-sparse sampling and stringent latency requirements. In this work, we propose PDMR, an Prospective Dynamic 3D MRI Reconstruction framework with latent-space motion tracking. Our core idea is to learn an efficient and generalizable latent manifold of motion fields offline, enabling rapid online adaptation for prospective reconstruction. Specifically, we parameterize the deformation vector fields (DVFs) on a low-dimensional manifold, effectively reducing the search space for fast online adaptation, and employ a tri-plane representation to achieve geometry-aware and memory-efficient encoding of 3D motion. Experiments on both XCAT digital phantoms and in-house abdominal MRI datasets demonstrate that PDMR achieves high-fidelity and temporally consistent reconstruction across multiple prospective scenarios (Immediate and After-2min), outperforming state-of-the-art retrospective and online methods. Our results suggest a promising pathway toward ultra-fast, motion-aware prospective MRI reconstruction in clinical practice.

Mohamad Alansari, Naufal Suryanto, Divya Velayudhan, Sajid Javed, Naoufel Werghi, Muzammal Naseer

Multimodal large language models (MLLMs) have advanced from image-level reasoning to pixel-level grounding, but extending these capabilities to videos remains challenging as models must achieve spatial precision and temporally consistent reference tracking. Existing video MLLMs often rely on a static segmentation token ([SEG]) for frame-wise grounding, which provides semantics but lacks temporal context, causing spatial drift, identity switches, and unstable initialization when objects move or reappear. We introduce SPARROW, a pixel-grounded video MLLM that unifies spatial accuracy and temporal stability through two key components: (i) Target-Specific Tracked Features (TSF), which inject temporally aligned referent cues during training, and (ii) a dual-prompt design that decodes box ([BOX]) and segmentation ([SEG]) tokens to fuse geometric priors with semantic grounding. SPARROW is supported by a curated referential video dataset of 30,646 videos and 45,231 Q&A pairs and operates end-to-end without external detectors via a class-agnostic SAM2-based proposer. Integrated into three recent open-source video MLLMs (UniPixel, GLUS, and VideoGLaMM), SPARROW delivers consistent gains across six benchmarks, improving up to +8.9 J&F on RVOS, +5 mIoU on visual grounding, and +5.4 CLAIR on GCG. These results demonstrate that SPARROW substantially improves referential stability, spatial precision, and temporal coherence in pixel-grounded video understanding. Project page: https://risys-lab.github.io/SPARROW/

Haowei Sun, Kai Zhou, Hao Gao, Shiteng Zhang, Jinwu Hu, Xutao Wen, Qixiang Ye, Mingkui Tan

Visual Active Tracking (VAT) aims to control cameras to follow a target in 3D space, which is critical for applications like drone navigation and security surveillance. However, it faces two key bottlenecks in real-world deployment: confusion from visually similar distractors caused by insufficient instance-level discrimination and severe failure under occlusions due to the absence of active planning. To address these, we propose OA-VAT, a unified pipeline with three complementary modules. First, a training-free Instance-Aware Offline Prototype Initialization aggregates multi-view augmented features via DINOv3 to construct discriminative instance prototypes, mitigating distractor confusion. Second, an Online Prototype Enhancement Tracker enhances prototypes online and integrates a confidence-aware Kalman filter for stable tracking under appearance and motion changes. Third, an Occlusion-Aware Trajectory Planner, trained on our new Planning-20k dataset, uses conditional diffusion to generate obstacle-avoiding paths for occlusion recovery. Experiments demonstrate OA-VAT achieves 0.93 average SR on UnrealCV (+2.2% vs. SOTA TrackVLA), 90.8% average CAR on real-world datasets (+12.1% vs. SOTA GC-VAT), and 81.6% TSR on a DJI Tello drone. Running at 35 FPS on an RTX 3090, it delivers robust, real-time performance for practical deployment. The code is available at https://github.com/SHWplus/OA-VAT.

Kaiyang Lan, Ying Cui, Chenchen Jing, Jianwei Zheng, Dongyan Guo

Natural language provides valuable auxiliary information for enhancing visual object tracking. While existing vision-language tracking methods explicitly leverage linguistic descriptions to aid tracking, they suffer from two critical limitations: the inability to dynamically adapt descriptions to the moving target and changing context; and the strong dependency on language input may causes failure when text is unavailable. To address the issues, we design a simple yet effective plug-and-play module that leverages linguistic assistance implicitly, without requiring explicit language input. The proposed textual inversion module converts visual features from template and search regions into text tokens in the CLIP text embedding space. It effectively inverts visual representations into linguistic forms, integrating contextual information from the both template and search region. The linguistic cues are then injected into the visual feature space via a multi-layer semantic injection mechanism. The design enhances the completeness of cross-modal feature representations and the accuracy of inter-modal semantic alignment, thus enabling dynamically updated linguistic information guidance for general object tracking. Extensive experiments demonstrate the effectiveness of our proposed method. We integrate the proposed module into several advanced trackers and evaluate on both visual and vision-language tracking datasets, including MCITrack, DUTrack, and SeqTrack. By training only the newly introduced module and the corresponding decoder, the proposed approach achieves significant performance gains with minimal computational overhead. Code will be made publicly available.

Yichao Xu, Qiaowei Miao, Jinsheng Quan, Wei Yang, Zhihui Li, Yawei Luo

Constructing a 4D language field that supports open-vocabulary queries is essential for semantic perception and interaction in dynamic environments. Existing 4D Gaussian-based approaches face two major challenges. First, the assumption of a static identity per Gaussian leads to semantic inconsistency, as motion fields warp Gaussians across object boundaries over time, causing oscillating identity assignments. Second, current methods typically model dynamic semantics as a set of discrete, predefined state prototypes, which fail to capture dynamic continuity and delineate fine-grained temporal boundaries. To address these issues, we propose LangField4D, a novel 4D Gaussian framework that jointly models spatio-temporal identity and semantics in a unified and continuous representation. We introduce an Identity-Adaptive Gaussian Grouping module that assigns each Gaussian a learnable adaptation feature to dynamically capture its object affiliation, ensuring consistent semantic tracking across time. Building upon this affiliation structure, we further design a Continuous Spatio-Temporal Semantic Learning mechanism based on a Tetraplane representation, which encodes both time-invariant and time-varying semantics within a continuous latent space. Extensive experiments on dynamic scene benchmarks demonstrate that we achieve state-of-the-art performance on both time-agnostic and time-sensitive open-vocabulary query tasks.

Yuqing Shao, Yuchen Yang, Rui Yu, Weilong Li, Xu Guo, Huaicheng Yan, Wei Wang, Xiao Sun

End-to-end multi-object tracking (MOT) methods have recently achieved remarkable progress by unifying detection and association within a single framework. Despite their strong detection performance, these methods suffer from relatively low association accuracy. Through detailed analysis, we observe that object embeddings produced by the shared DETR architecture display excessively high inter-object similarity, as it emphasizes only category-level discrimination within single frames. In contrast, tracking requires instance-level distinction across frames with spatial and temporal continuity, for which current end-to-end approaches insufficiently optimize object embeddings. To address this, we introduce FDTA (From Detection to Association), an explicit feature refinement framework that enhances object discriminativeness across three complementary perspectives. Specifically, we introduce a Spatial Adapter (SA) to integrate depth-aware cues for spatial continuity, a Temporal Adapter (TA) to aggregate historical information for temporal dependencies, and an Identity Adapter (IA) to leverage quality-aware contrastive learning for instance-level separability. Extensive experiments demonstrate that FDTA achieves state-of-the-art performance on multiple challenging MOT benchmarks including DanceTrack, SportsMOT, and BFT, highlighting the effectiveness of our proposed discriminative embedding enhancement strategy. The code is available at https://github.com/Spongebobbbbbbbbbb/FDTA.

Fei Liu, Shichao Xie, Minghua Luo, Zedong Chu, Junjun Hu, Xiaolong Wu, Mu Xu

Embodied navigation for long-horizon tasks, guided by complex natural language instructions, remains a formidable challenge in artificial intelligence. Existing agents often struggle with robust long-term planning about unseen environments, leading to high failure rates. To address these limitations, we introduce NavForesee, a novel Vision-Language Model (VLM) that unifies high-level language planning and predictive world model imagination within a single, unified framework.Our approach empowers a single VLM to concurrently perform planning and predictive foresight. Conditioned on the full instruction and historical observations, the model is trained to understand the navigation instructions by decomposing the task, tracking its progress, and formulating the subsequent sub-goal. Simultaneously, it functions as a generative world model, providing crucial foresight by predicting short-term environmental dynamics and long-term navigation milestones. The VLM's structured plan guides its targeted prediction, while the imagined future provides rich context to inform the navigation actions, creating a powerful internal feedback loop of perception-planning/prediction-action. We demonstrate through extensive experiments on the R2R-CE and RxR-CE benchmark that NavForesee achieves highly competitive performance in complex scenarios. Our work highlights the immense potential of fusing explicit language planning with implicit spatiotemporal prediction, paving the way for more intelligent and capable embodied agents.