{"id":"https://openalex.org/W7214766241","doi":"https://doi.org/10.48550/arxiv.2609.33737","title":"MomWorld: Momentum-Aware Latent World Model for Long-Horizon Autonomous Driving","display_name":"MomWorld: Momentum-Aware Latent World Model for Long-Horizon Autonomous Driving","publication_year":2026,"publication_date":"2026-09-27","ids":{"openalex":"https://openalex.org/W7214766241","doi":"https://doi.org/10.48550/arxiv.2609.33737"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2609.33737","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.33737","pdf_url":"https://arxiv.org/pdf/2609.33737","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2609.33737","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5153510742","display_name":"Ziying Song","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Song, Ziying","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5153457991","display_name":"Shengkai Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang, Shengkai","raw_affiliation_strings":["Beijing Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5153550102","display_name":"Lei Yang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yang, Lei","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116772078","display_name":"Haozhuang Chi","orcid":"https://orcid.org/0009-0000-7951-1046","observed_orcids":["https://orcid.org/0009-0000-7951-1046"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chi, Haozhuang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5153410575","display_name":"Yuchen Liu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu, Yuchen","raw_affiliation_strings":["North University of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"North University of China","institution_ids":["https://openalex.org/I135714990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071664438","display_name":"Jiangtao Su","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Su, Jiangtao","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5153507902","display_name":"Lin Liu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu, Lin","raw_affiliation_strings":["Dalian University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian University of Technology","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5153407721","display_name":"Ziyang Liu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu, Ziyang","raw_affiliation_strings":["Tsinghua University https ://github.com/ modaxiansheng / MomWorld"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University https ://github.com/ modaxiansheng / MomWorld","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5151994245","display_name":"Chen Lv","orcid":"https://orcid.org/0000-0001-6897-4512","observed_orcids":["https://orcid.org/0000-0001-6897-4512"]},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lv, Chen","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9794999957084656,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9794999957084656,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.009700000286102295,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/long-horizon-planning","display_name":"long-horizon planning","score":0.890999972820282},{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.9739999771118164},{"id":"https://openalex.org/keywords/latent-world-models","display_name":"latent world models","score":0.9409999847412109},{"id":"https://openalex.org/keywords/flow-matching","display_name":"flow matching","score":0.9330000281333923},{"id":"https://openalex.org/keywords/trajectory-refinement","display_name":"trajectory refinement","score":0.8130000233650208},{"id":"https://openalex.org/keywords/residual-fusion","display_name":"residual fusion","score":0.5830000042915344},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.4909999966621399}],"concepts":[{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.7225000262260437},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6021999716758728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5605999827384949},{"id":"https://openalex.org/C2779795794","wikidata":"https://www.wikidata.org/wiki/Q7315343","display_name":"Reset (finance)","level":2,"score":0.5527999997138977},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5081999897956848},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4934999942779541},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4503999948501587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38179999589920044},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3573000133037567},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.33379998803138733},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.3246999979019165},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.32199999690055847},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.29280000925064087},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2736999988555908},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26989999413490295},{"id":"https://openalex.org/C147297375","wikidata":"https://www.wikidata.org/wiki/Q6674930","display_name":"Look-ahead","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2526000142097473},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2609.33737","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.33737","pdf_url":"https://arxiv.org/pdf/2609.33737","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2609.33737","doi":"https://doi.org/10.48550/arxiv.2609.33737","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2609.33737","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2609.33737","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.33737","pdf_url":"https://arxiv.org/pdf/2609.33737","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7214766241.pdf","grobid_xml":"https://content.openalex.org/works/W7214766241.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7204197592","https://openalex.org/W7203719443","https://openalex.org/W7164935292","https://openalex.org/W4416111222","https://openalex.org/W7208733957","https://openalex.org/W7160934311","https://openalex.org/W7165671954","https://openalex.org/W7221796344","https://openalex.org/W6948168325","https://openalex.org/W7214067357"],"abstract_inverted_index":{"Long-horizon":[0],"planning":[1,149,168,184],"enables":[2],"autonomous":[3],"vehicles":[4],"to":[5,24,127,179],"anticipate":[6],"scene":[7,69,133],"evolution":[8,134],"and":[9,14,51,75,86,103,161,170],"potential":[10],"risks,":[11],"supporting":[12],"safe":[13],"stable":[15,95],"decisions":[16],"in":[17,135],"complex":[18],"interactions.":[19],"However,":[20],"existing":[21],"methods":[22],"struggle":[23],"propagate":[25],"motion":[26,49,70],"trends":[27,71],"from":[28,72],"observed":[29],"history":[30],"into":[31,79],"the":[32,130,172],"future.":[33],"Long":[34],"rollouts":[35],"based":[36],"on":[37,158],"a":[38,59,104,118,124,137,142,182],"single":[39],"latent":[40,61,77],"state":[41],"may":[42],"further":[43,115],"attenuate":[44],"useful":[45],"dynamics,":[46,102],"retain":[47],"stale":[48,109],"patterns,":[50],"disrupt":[52],"reliable":[53],"near-term":[54,148],"plans.":[55],"We":[56,114],"introduce":[57],"MomWorld,":[58],"momentum-aware":[60],"world":[62],"model":[63],"for":[64],"long-horizon":[65,167],"planning.":[66],"MomWorld":[67,165],"extracts":[68],"historical-to-current":[73],"observations":[74],"propagates":[76],"momentum":[78,87,91,98,110],"future":[80,84,101,132],"horizons,":[81],"jointly":[82],"predicting":[83],"configuration":[85],"states.":[88],"A":[89],"learnable":[90],"persistence":[92],"mechanism":[93],"preserves":[94,147],"trends,":[96],"scene-conditioned":[97],"updates":[99],"adapt":[100],"scene-adaptive":[105],"reset":[106],"gate":[107],"suppresses":[108],"under":[111],"abrupt":[112],"changes.":[113],"propose":[116],"MoFlow,":[117],"momentum-conditioned":[119],"flow-matching":[120],"module":[121],"that":[122,146,164],"refines":[123],"base":[125],"trajectory":[126],"align":[128],"with":[129,141],"predicted":[131],"only":[136],"few":[138],"integration":[139],"steps,":[140],"horizon-aware":[143],"residual":[144],"fusion":[145],"stability":[150],"while":[151],"permitting":[152],"stronger":[153],"long-range":[154],"corrections.":[155],"Extensive":[156],"experiments":[157],"NAVSIM,":[159],"nuScenes":[160],"Bench2Drive":[162],"demonstrate":[163],"improves":[166],"consistency":[169],"reduces":[171],"average":[173],"collision":[174],"rate":[175],"by":[176],"12.2%":[177],"relative":[178],"MomAD":[180],"over":[181],"6-second":[183],"horizon.":[185]},"counts_by_year":[],"updated_date":"2026-11-06T12:05:46.655746","created_date":"2026-09-30T00:00:00"}