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OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Driving
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OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Driving
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Understanding the evolution of 3D scenes is important for effective autonomous driving. While conventional methods mode scene development with the motion of individual instances, world models emerge as a generative framework to describe the general scene dynamics. However, most existing methods adopt an autoregressive framework to perform next-token prediction, which suffer from inefficiency in modeling long-term temporal evolutions. To address this, we propose a diffusion-based 4D occupancy generation model, OccSora, to simulate the development of the 3D world for autonomous driving. We employ a 4D scene tokenizer to obtain compact discrete spatial-temporal representations for 4D occupancy input and achieve high-quality reconstruction for long-sequence occupancy videos. We then learn a diffusion transformer on the spatial-temporal representations and generate 4D occupancy conditioned on a trajectory prompt. We conduct extensive experiments on the widely used nuScenes dataset with Occ3D occupancy annotations. OccSora can generate 16s-videos with authentic 3D layout and temporal consistency, demonstrating its ability to understand the spatial and temporal distributions of driving scenes. With trajectory-aware 4D generation, OccSora has the potential to serve as a world simulator for the decision-making of autonomous driving. Code is available at: https://github.com/wzzheng/OccSora.
Forward citations
Cited by 14 Pith papers
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FDR-Occ: Factorized Dense Routing for Full-Spectrum 3D Occupancy Prediction
Factorized Dense Routing approximates unconstrained 2D-to-3D feature mixing by hierarchical tensor contractions, yielding global-context occupancy prediction that remains robust without camera extrinsics.
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OccDirector: Language-Guided Behavior and Interaction Generation in 4D Occupancy Space
OccDirector uses a VLM-guided Spatio-Temporal MMDiT model with history anchoring to generate physically plausible 4D occupancy from language scripts, supported by the new OccInteract-85k dataset.
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Generative-Model Predictive Planning for Navigation in Partially Observable Environments
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DynaTok: Token-Based 4D Reconstruction from Partial Point Clouds
DynaTok introduces a token-based framework for correspondence-free 4D reconstruction from partial point cloud sequences via latent encoding, transformer aggregation, residual decoupling, and flow-matching decoding.
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AnyScene: Towards Highly Controllable Driving Scene Generation at Anywhere and Beyond
AnyScene is an occupancy-centric framework using a Spatial-Temporal Occupancy Diffusion Transformer and Geometry-Grounded View Expansion to generate controllable driving scenes and videos from BEV layouts.
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DriveFuture: Future-Aware Latent World Models for Autonomous Driving
DriveFuture achieves SOTA results on NAVSIM by conditioning latent world model states on future predictions to directly inform trajectory planning.
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HERMES++: Toward a Unified Driving World Model for 3D Scene Understanding and Generation
HERMES++ unifies 3D scene understanding and future geometry prediction in driving scenes via BEV representations, LLM-enhanced queries, a temporal link, and joint geometric optimization.
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DriveLaW:Unifying Planning and Video Generation in a Latent Driving World
DriveLaW unifies video world modeling and trajectory planning by injecting video-generator latents into a diffusion planner, achieving SOTA video prediction and a new record on the NAVSIM planning benchmark.
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A Definition and Roadmap for World Models
A perspective article defining world models as finite-resource compression of physical state transitions and outlining a roadmap toward physical AGI via unified representations and interactive simulators.
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SparseWorld: Enhancing End-to-End Autonomous Driving via World Models with Sparse Scene Representation
SparseWorld is a sparse world model with a Sparse Dreamer module that performs autoregressive rollout of future instances to refine motion prediction and planning, reporting 0.05% collision rate on nuScenes open-loop metrics.
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Artificial Intelligence for Modeling and Simulation of Mixed Automated and Human Traffic
This survey synthesizes AI techniques for mixed autonomy traffic simulation and introduces a taxonomy spanning agent-level behavior models, environment-level methods, and cognitive/physics-informed approaches.
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SparseWorld-TC: Trajectory-Conditioned Sparse Occupancy World Model
A sparse transformer predicts multi-frame 3D occupancy from images without BEV or VAE tokenization and reports SOTA results on nuScenes for 1-3s forecasting under arbitrary trajectories.
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DriVerse: Navigation World Model for Driving Simulation via Multimodal Trajectory Prompting and Motion Alignment
DriVerse is a generative model that simulates driving scenes from an image and trajectory using multimodal prompting and motion alignment, achieving better performance on nuScenes and Waymo datasets with minimal training.
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OWMDrive: Causality-Aware End-to-End Autonomous Driving via 4D Occupancy World Model
OWMDrive combines multi-step 3D occupancy forecasting with diffusion planning to produce more foresighted trajectories in autonomous driving.
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