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arXiv 2603.17652cs.ROcs.CV

VectorWorld: 通过向量图上的扩散流实现高效的流式世界模型

VectorWorld: Efficient Streaming World Model via Diffusion Flow on Vector Graphs

University of Cambridge, Cambridge, United Kingdom(剑桥大学)

Chaokang Jiang, Desen Zhou, Jiuming Liu, Kevin Li Sun

AI总结:

VectorWorld通过向量图上的扩散流实现高效的流式世界模型,解决了自动驾驶政策闭环评估中的初始化不匹配、采样延迟和运动可行性问题,提升了地图结构精度和闭环运行稳定性。

摘要:

闭环评估自动驾驶策略需要交互式模拟,但现有生成世界模型在闭环中退化,原因包括初始化与策略输入不匹配、多步采样延迟违反实时预算以及长时间 horizon 运动可行性累积问题。我们提出了VectorWorld,一种流式世界模型,通过在运行过程中逐步生成以 ego 为中心的 64m×64m 车道-代理向量图瓦片。VectorWorld 通过运动感知的门控 VAE 生成与历史条件政策兼容的交互状态,从而对齐初始化。它通过无求解器的一步掩码完成实现实时外推,使用边缘门控关系 DiT,该 DiT 通过区间条件 MeanFlow 和 JVP 基础大步监督训练。为稳定长时间 horizon 运行,我们引入 ΔSim,一种与物理对齐的非 ego (NPC) 策略,具有混合离散-连续动作和可微运动日志形状。在 Waymo 开放运动和 nuPlan 上,VectorWorld 提高了地图结构精度和初始化有效性,并支持稳定、实时 1km+ 的闭环运行。

英文摘要:

Closed-loop evaluation of autonomous-driving policies requires interactive simulation beyond log replay. However, existing generative world models often degrade in closed loop due to (i) history-free initialization that mismatches policy inputs, (ii) multi-step sampling latency that violates real-time budgets, and (iii) compounding kinematic infeasibility over long horizons. We propose VectorWorld, a streaming world model that incrementally generates ego-centric $64 \mathrm{m}\times 64\mathrm{m}$ lane--agent vector-graph tiles during rollout. VectorWorld aligns initialization with history-conditioned policies by producing a policy-compatible interaction state via a motion-aware gated VAE. It enables real-time outpainting via solver-free one-step masked completion with an edge-gated relational DiT trained with interval-conditioned MeanFlow and JVP-based large-step supervision. To stabilize long-horizon rollouts, we introduce $Δ$Sim, a physics-aligned non-ego (NPC) policy with hybrid discrete--continuous actions and differentiable kinematic logit shaping. On Waymo open motion and nuPlan, VectorWorld improves map-structure fidelity and initialization validity, and supports stable, real-time $1\mathrm{km}+$ closed-loop rollouts (\href{https://github.com/jiangchaokang/VectorWorld}{code}).

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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