翻訳待ち：Auto-JEPA: A Latent World Model of Continuous Intent for End-to-End Autonomous Driving

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--> [Submitted on 31 Jul 2026] Title:Auto-JEPA: A Latent World Model of Continuous Intent for End-to-End Autonomous Driving View a PDF of the paper titled Auto-JEPA: A Latent World Model of Continuous Intent for End-to-End Autonomous Driving, by Jiwei Yang and 3 other authors View PDF HTML (experimental) Abstract:Existing autonomous-driving world models typically perform dense prediction of future videos, occupancy states, BEV representations, or agent motion. We argue that planning need not reconstruct the complete future world, but only focus on scene features that affect future ego action. Based on this perspective, we propose Auto-JEPA, an action-oriented latent world model that learns continuous future driving intent through joint-embedding prediction. Given visual observations, egomotion history, and navigation commands, Auto-JEPA predicts an intent embedding aligned with the latent representation of the future ego trajectory. The predicted intent retrieves executable trajectories from a fixed trajectory memory, which are then ranked by a scene-conditioned candidate selection module. Auto-JEPA keeps the visual encoder frozen, requires no explicit perception annotations, and uses no learned trajectory generator. By optimizing only task-specific modules for trajectory representation, intent prediction, and candidate selection, Auto-JEPA achieves 91.3 PDMS on NAVSIM v1 and 89.1 EPDMS on NAVSIM v2. Semantic occlusion experiments show that masking dynamic-agent regions induces an average intent change 2.97x that of equal-area random masking. Moreover, occluding vehicles that affect future driving substantially changes the predicted intent and selected trajectory, whereas both remain essentially unchanged when non-influential vehicles are occluded. These results show that future-intent prediction encourages the model to focus on planning-relevant visual features and supports high-quality planning without dense future-world modeling. Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI) Cite as: arXiv:2607.29031 [cs.RO] (or arXiv:2607.29031v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2607.29031 arXiv-issued DOI via DataCite (pending registration) Submission history From: Zhengxian Chen [view email] [v1] Fri, 31 Jul 2026 05:10:23 UTC (6,296 KB) Full-text links: Access Paper: View a PDF of the paper titled Auto-JEPA: A Latent World Model of Continuous Intent for End-to-End Autonomous Driving, by Jiwei Yang and 3 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-07 Change to browse by: cs cs.AI References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)