Pith Number

pith:EUOKPL5N

pith:2026:EUOKPL5N3V3FFVYZ577DNW7TLT

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EponaV2: Driving World Model with Comprehensive Future Reasoning

Jian Yang, Jia-Wang Bian, Jiawei Xu, Jin Xie, Kaicheng Zhang, Mingkai Jia, Mingxiao Li, Qian Zhang, Wei Yin, Zhijian Shu, Zhizhou Zhong

EponaV2 improves trajectory planning in autonomous driving by training world models to forecast future 3D geometry and semantic maps instead of next-frame images alone.

arxiv:2605.14696 v1 · 2026-05-14 · cs.CV

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\usepackage{pith}
\pithnumber{EUOKPL5N3V3FFVYZ577DNW7TLT}

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1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The state-of-the-art (SOTA) performances of EponaV2 among perception-free models on three NAVSIM benchmarks (+1.3PDMS, +5.5EPDMS) demonstrate the effectiveness of our methods.

C2weakest assumption

That training the model to forecast future 3D geometry and semantic maps (decoded from the world model) will automatically produce superior real-world reasoning and trajectory planning compared to next-frame image forecasting alone.

C3one line summary

EponaV2 advances perception-free driving world models by forecasting comprehensive future 3D geometry and semantic representations, achieving SOTA planning performance on NAVSIM benchmarks.

References

99 extracted · 99 resolved · 23 Pith anchors

[1] Building normalizing flows with stochastic interpolants 2023

[2] Qwen3-VL Technical Report 2025 · arXiv:2511.21631

[3] RoboTron-Sim: Improving real-world driving via simulated hard-case.arXiv preprint arXiv:0000.00000, 2025 2025

[4] nuScenes: A multimodal dataset for autonomous driving 1903 · arXiv:1903.11027

[5] Pseudo-simulation for autonomous driving 2025

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-17T23:38:59.379288Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

251ca7afaddd7652d719effe36dbf35cd0c99dae6ec148bd2fe01b1e52f49183

Aliases

arxiv: 2605.14696 · arxiv_version: 2605.14696v1 · doi: 10.48550/arxiv.2605.14696 · pith_short_12: EUOKPL5N3V3F · pith_short_16: EUOKPL5N3V3FFVYZ · pith_short_8: EUOKPL5N

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/EUOKPL5N3V3FFVYZ577DNW7TLT \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 251ca7afaddd7652d719effe36dbf35cd0c99dae6ec148bd2fe01b1e52f49183

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ae51c5476a3793a222338437e0b7360b09dd900e164311abbc9175026c087917",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2026-05-14T11:12:23Z",
    "title_canon_sha256": "596a3c019ade9a5279000f8eff38e9e0e949ccab80ab149002faade17cce583b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.14696",
    "kind": "arxiv",
    "version": 1
  }
}