arXiv:2607. 29031v1 Announce Type: cross Abstract: Existing autonomous-driving world models typically perform dense prediction of future videos, occupancy states, BEV representations, or agent motion.
WALT introduces a method to align latent trajectories with pretrained driving world models, creating a compact generative trajectory space that preserves action-relevant semantics without altering the original model. The approach uses a dual-branch autoencoder to map raw waypoints into this latent space and transfers visual world knowledge into trajectory representations. Experiments on NAVSIM benchmarks show modest performance gains and a 30.5% reduction in planner FLOPs, indicating that maintaining world representations while extracting action-relevant information can improve trajectory planning efficiency.
PlanWAM introduces a Planning‑Shaped World Action Model that tailors future‑state representations to be most useful for trajectory planning in end‑to‑end autonomous driving. It compresses historical observations with a Temporal Register Pyramid, shapes a future latent representation using a privileged posterior branch guided by planning objectives, and distills this into a prior branch that predicts the representation from history alone. The resulting foresighted planning context yields state‑of‑the‑art performance on NAVSIM and HUGSIM benchmarks.
arXiv:2606.27504v2 Announce Type: replace Abstract: World Action Models (WAMs) unify future environment prediction with action generation for autonomous driving, yet existing approaches optimize only...
SimWAM is a lightweight World-Action Model that uses future‑video prediction only during training to supervise an action expert, enabling end‑to‑end autonomous driving without costly test‑time future imagination. The architecture co‑trains a pretrained video expert and a lightweight action expert via joint flow matching, while an isolated attention mask keeps action prediction independent of future frames. This design allows the video backbone to be swapped and the action expert scaled independently, achieving 91.5 PDMS on NAVSIM, outperforming state‑of‑the‑art WAM planners with lower latency and zero‑shot transfer to nuScenes.
arXiv:2606. 29879v1 Announce Type: cross Abstract: Vision-Language Models (VLMs) provide powerful semantic understanding and commonsense reasoning for End-to-End Autonomous Driving (E2E-AD) planning.
ForeDrive introduces a planning-relevant latent world model that is asymmetrically coupled to a Diffusion Transformer planner. The model learns multi‑horizon latent futures with a JEPA‑style world model, while planning gradients update the shared encoder and stop‑gradient routing trains the predictor with forecasting losses only. Gated visual fusion, future‑status injection, and Trajectory‑Adaptive Bias are used to guide trajectory generation without overriding current observations, achieving high performance on NAVSIM benchmarks using only front‑view images and pure imitation learning.
arXiv:2608. 11605v1 Announce Type: new Abstract: World Action Models (WAMs) couple future visual prediction with robot action generation, enabling policies to model how the physical world evolves during interaction.
DA‑WAM is a framework that integrates predictive representation learning, action‑conditioned future modeling, and trajectory scoring into a single decision‑making objective for autonomous driving. It uses an online encoder with a stable momentum target to keep future representations aligned with the driving task, generating a distinct future latent for each trajectory candidate. A future‑latent‑conditioned scorer evaluates these latents, with expert‑matched trajectories supervised by observed futures and safety‑critical hard negatives providing additional guidance, achieving state‑of‑the‑art results on NAVSIM‑v1 and NAVSIM‑v2.
SV-WAM is a surround‑view world‑action model that keeps all six camera views while enabling efficient inference by discarding the video branch at deployment. It uses future‑video prediction as dense training supervision and an action‑centered causal mask to prevent action tokens from attending to future‑video tokens during joint denoising. A differentiable drivable‑area compliance regularizer penalizes vehicle‑footprint corners near or crossing drivable boundaries, improving safety and boundary awareness. Experiments on NAVSIMv2 and nuScenes show state‑of‑the‑art planning performance with low latency and strong zero‑shot transfer.
arXiv:2609.37250v1 Announce Type: cross Abstract: World-action models (WAMs) couple future visual-state prediction with action generation. By adapting video generators or image-editing models pretrai...
SV-WAM is a surround‑view world‑action model that keeps all six camera views for autonomous driving while enabling efficient inference by discarding the video branch during deployment. It uses future‑video prediction as dense training supervision and introduces an action‑centered causal mask to prevent future‑video tokens from influencing action tokens during joint denoising. A differentiable drivable‑area compliance regularizer further improves safety by penalizing vehicle‑footprint corners that approach or cross drivable boundaries. Experiments on NAVSIMv2 and nuScenes show state‑of‑the‑art planning performance with low latency and strong zero‑shot transfer.