Captain Safari: A World Engine with Pose-Aligned 3D Memory (CVPR 2026)

Official implementation of Captain Safari, from the following paper

Captain Safari: A World Engine with Pose-Aligned 3D Memory
Yu-Cheng Chou, Xingrui Wang, Yitong Li†, Jiahao Wang, Hanting Liu, Cihang Xie^, Alan Yuille, and Junfei Xiao
Johns Hopkins University, †Tsinghua University, ^UC Santa Cruz
[arXiv] [Project Page] [Hugging Face] [X]

**Captain Safari** is a pose-aware world engine that generates long-horizon, 3D-consistent FPV videos from any user-specified camera trajectory. By retrieving pose-aligned world memory, it keeps geometry stable across large viewpoint changes and reconstructs crisp, well-formed structures while faithfully tracking aggressive 6-DoF motion.

OpenSafari: An Open-Source Pipeline for Camera-Annotated Video Data

To foster future research in camera-controllable and geometry-consistent video generation, we open-source OpenSafari, our comprehensive data curation pipeline.

**OpenSafari**. A multi-stage pipeline designed to stress-test geometry-consistent video generation by curating in-the-wild videos with rigorously verified camera trajectories.

Why OpenSafari?

Most existing datasets lack reliable camera poses or require expensive setups. OpenSafari provides an automated, scalable, and highly robust pipeline to transform arbitrary raw videos into high-quality, motion-rich training pairs. By using OpenSafari, you can easily build your own custom video dataset with camera trajectory annotations.

Our open-source toolkit includes out-of-the-box scripts for:

• 🛠️ Parallel Preprocessing: Highly efficient, resumable multi-GPU pipeline for video downloading, cropping, scene detection, watermark removal, and optical-flow motion filtering.
• 📷 Progressive Trajectory Rebuild: An automated loop combining Structure-from-Motion (SfM) with our custom verification/repair algorithms to fix tracking failures, ensure kinematic smoothness, and interpolate missing poses.
• ⚖️ Trajectory Diversity Filtering: A built-in filtering stage to balance the distribution of camera movements and prevent models from over-fitting to straightforward flight paths.
• 🧠 VLM-based Filtering & Captioning: Scripts leveraging Gemini and Qwen to semantically filter out invalid footage and generate dual-granularity text captions.

We release our full pipeline as a foundation for future research. Please check ./opensafari/README.md for detailed instructions to run the pipeline!

Captain Safari: A Memory-Conditioned World Engine

While current video diffusion models can generate high-fidelity clips, they struggle with long-horizon 3D consistency and aggressive 6-DoF camera maneuvers. Captain Safari bridges this gap by introducing a Local World Memory that anchors the generation process to a stable 3D scene representation.

**Method overview.** Captain Safari builds a local world memory and, given a query camera pose, retrieves pose-aligned tokens that summarize the scene. These tokens then condition video generation along the user-specified trajectory, preserving a stable 3D layout.

Why Captain Safari?

Instead of relying purely on implicit clip-level attention, Captain Safari retrieves pose-aligned features from history and injects them into the DiT via dedicated Memory Cross-Attention. This allows the model to "remember" what the world looks like across huge viewpoint changes and sharp turns.

Our open-source codebase provides a complete training and inference framework built upon DiffSynth-Studio:

• 🧠 Pose-Conditioned Memory Retriever: A novel module that learns to aggregate and predict 3D-aware world features based on target camera poses.
• ⚡ Highly Efficient Pre-tokenization: We provide a robust pre-encoding pipeline that caches Text, Video, and Image latents across multiple GPUs, saving ~13GB VRAM and accelerating training by 2-3x.
• 🚀 Memory-Conditioned DiT: Full implementation of our modified architecture that injects 3D priors directly into the denoising process for rock-solid spatial coherence.

Build your own 3D-aware video generator today. Please check ./captain_safari/README.md for detailed instructions on model training and inference.

Citation

If you find this repository helpful, please consider citing:

@article{chou2025captain,
  title={Captain Safari: A World Engine with Pose-Aligned 3D Memory},
  author={Chou, Yu-Cheng and Wang, Xingrui and Li, Yitong and Wang, Jiahao and Liu, Hanting and Xie, Cihang and Yuille, Alan and Xiao, Junfei},
  journal={arXiv preprint arXiv:2511.22815},
  year={2025}
}