Risk-Aware World Modeling with Flow-Guided Occupancy Evolution for Selective Trajectory Planning in Automated Driving

RiskWorld is a risk‑aware world modeling framework that forecasts shared occupancy and selectively replaces planned trajectories in automated driving. It fuses spatial risk fields, temporal actor context, and visual bird’s‑eye‑view features, using flow‑guided evolution to transport occupancy and signed residuals to correct it. In open‑loop planning on nuScenes, RiskWorld achieves the lowest collision rate over a 3‑second horizon and the second‑best average L2 error, running at 11.5 FPS on a single NVIDIA RTX 4090.

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