LWDrive refines coarse VLM trajectories via future-frame supervision and a multi-layer Foresight Cascade Planner, reporting scores of 92.0 on NAVSIM and 89.6 on NAVSIM-v2.
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LWDrive: Layer-Wise World-Model-Guided Vision-Language Model Planning for Autonomous Driving
LWDrive refines coarse VLM trajectories via future-frame supervision and a multi-layer Foresight Cascade Planner, reporting scores of 92.0 on NAVSIM and 89.6 on NAVSIM-v2.