[Submitted on 15 Oct 2026]
Title:DriveWorld3D Evidence Constrained 3D World Modeling and Generative Simulation for Real-World Autonomous Driving
View a PDF of the paper titled DriveWorld3D Evidence Constrained 3D World Modeling and Generative Simulation for Real-World Autonomous Driving, by Wei Wang and 6 other authors
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Abstract:Three dimensional modeling for autonomous driving must continuously estimate road geometry, obstacle occupancy, traffic participant behavior, and observational uncertainty under limited computational resources. Existing reconstruction methods can synthesize realistic novel views, but visual fidelity does not sufficiently characterize the geometric reliability required for driving. Generative world models can expand scenarios and predict future observations, yet may introduce content unsupported by measurements. We propose DriveWorld3D, a framework combining temporal video learning, measurement constraints from multiple sensors, and offline generative simulation. Its online component maintains a unified world state comprising road surfaces, volumetric occupancy, dynamic entities, and road relations, while separately representing physical occupancy, observability, and evidence provenance. Action conditioned future prediction and risk sensitive planning connect this representation to driving decisions. Its offline component reconstructs recorded scenes using neural radiance fields or 3D Gaussian Splatting, then expands long tail conditions using generative models while restricting the use of generated content as geometric ground truth. We specify data partitioning, sensor ablations, fault injection, paired closed loop testing, and real to simulation consistency assessment. The central hypothesis is that explicit evidence management can reduce dangerous false free space predictions and occlusion risk within a matched computational budget while retaining acceptable driving efficiency. All performance claims remain subject to experimental validation. Keywords: autonomous driving; 3D occupancy; sensor fusion; uncertainty; generative world models; NeRF; 3D Gaussian Splatting; closed loop simulation
Comments: 10 pages
Subjects:
Robotics (cs.RO); Artificial Intelligence (cs.AI)
MSC classes: 14J60 (Primary)
ACM classes: I.3.7
Cite as: arXiv:2610.22450 [cs.RO]
(or arXiv:2610.22450v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.22450
arXiv-issued DOI via DataCite (pending registration)
Journal reference: Copilot4D: Learning Unsupervised World Models for Autonomous Driving via Discrete Diffusion. arXiv:2311.01017, 2023
Submission history
From: Wei Wang [view email] [v1] Thu, 15 Oct 2026 15:48:11 UTC (1,232 KB)
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