{"id":"https://openalex.org/W4413925063","doi":"https://doi.org/10.1109/icra55743.2025.11127709","title":"Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving","display_name":"Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925063","doi":"https://doi.org/10.1109/icra55743.2025.11127709"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063275464","display_name":"Hunter Schofield","orcid":"https://orcid.org/0000-0002-0647-1300"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Hunter Schofield","raw_affiliation_strings":["Noah&#x0027;s Ark Lab, Huawei Technologies,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah&#x0027;s Ark Lab, Huawei Technologies,Canada","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000554621","display_name":"Mohammed Elmahgiubi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Mohammed Elmahgiubi","raw_affiliation_strings":["Noah&#x0027;s Ark Lab, Huawei Technologies,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah&#x0027;s Ark Lab, Huawei Technologies,Canada","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078758172","display_name":"Kasra Rezaee","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Kasra Rezaee","raw_affiliation_strings":["Noah&#x0027;s Ark Lab, Huawei Technologies,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah&#x0027;s Ark Lab, Huawei Technologies,Canada","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071093853","display_name":"Jinjun Shan","orcid":"https://orcid.org/0000-0002-4911-6739"},"institutions":[{"id":"https://openalex.org/I192455969","display_name":"York University","ror":"https://ror.org/05fq50484","country_code":"CA","type":"education","lineage":["https://openalex.org/I192455969"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jinjun Shan","raw_affiliation_strings":["York University,Toronto,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"York University,Toronto,Canada","institution_ids":["https://openalex.org/I192455969"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21580593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1308","last_page":"1314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.8852999806404114,"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":0.8852999806404114,"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/T11195","display_name":"Simulation Techniques and Applications","score":0.8485000133514404,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.8366000056266785,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.8659732341766357},{"id":"https://openalex.org/keywords/causality","display_name":"Causality (physics)","score":0.7657591104507446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5332044959068298},{"id":"https://openalex.org/keywords/industrial-engineering","display_name":"Industrial engineering","score":0.35069215297698975},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.25760072469711304},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21507078409194946},{"id":"https://openalex.org/keywords/management","display_name":"Management","score":0.10863500833511353}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8659732341766357},{"id":"https://openalex.org/C64357122","wikidata":"https://www.wikidata.org/wiki/Q1149766","display_name":"Causality (physics)","level":2,"score":0.7657591104507446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5332044959068298},{"id":"https://openalex.org/C13736549","wikidata":"https://www.wikidata.org/wiki/Q4489420","display_name":"Industrial engineering","level":1,"score":0.35069215297698975},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.25760072469711304},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21507078409194946},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.10863500833511353},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2963195425","https://openalex.org/W3040033967","https://openalex.org/W3088310808","https://openalex.org/W3089594962","https://openalex.org/W3101227657","https://openalex.org/W3135588948","https://openalex.org/W3156216502","https://openalex.org/W3203076355","https://openalex.org/W3214824629","https://openalex.org/W4206391787","https://openalex.org/W4383108225","https://openalex.org/W4389666601","https://openalex.org/W4400647277","https://openalex.org/W4401413975"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699"],"abstract_inverted_index":{"World":[0],"models":[1,22,39,136,169,179,190],"have":[2],"become":[3],"increasingly":[4],"popular":[5],"in":[6,102],"acting":[7],"as":[8,40,56,180],"learned":[9],"traffic":[10,18,41],"simulators.":[11],"Recent":[12],"work":[13],"has":[14],"explored":[15],"replacing":[16],"traditional":[17],"simulators":[19,42],"with":[20],"world":[21,38,54,77,93,107,168,178,189],"for":[23,51,59,182],"policy":[24,60,183],"training.":[25,61],"In":[26],"this":[27],"work,":[28],"we":[29,63,99,109,159],"explore":[30],"the":[31,46,65,69,84,92,104,111,123,145,152,165,175],"robustness":[32],"of":[33,132,167,177],"existing":[34],"metrics":[35,48,162],"to":[36,43,116,122,150,163,170],"evaluate":[37,174],"see":[44],"if":[45],"same":[47],"are":[49,86,100,120],"suitable":[50],"evaluating":[52,103],"a":[53,57,129],"model":[55,78,94],"pseudo-environment":[58],"Specifically,":[62],"analyze":[64,186],"metametric":[66],"employed":[67],"by":[68,91],"Waymo":[70],"Open":[71],"Sim-Agents":[72],"Challenge":[73],"(WOSAC)":[74],"and":[75,173,185],"compare":[76],"predictions":[79],"on":[80],"standard":[81,112],"scenarios":[82,133],"where":[83,134],"agents":[85,118],"fully":[87],"or":[88],"partially":[89],"controlled":[90],"(partial":[95],"replay).":[96],"Furthermore,":[97],"since":[98],"interested":[101],"ego":[105,124,146],"actionconditioned":[106],"model,":[108],"extend":[110],"WOSAC":[113],"evaluation":[114],"domain":[115],"include":[117],"that":[119],"causal":[121],"vehicle.":[125],"Our":[126],"evaluations":[127],"reveal":[128],"significant":[130],"number":[131],"top-ranking":[135],"perform":[137],"well":[138],"under":[139,191],"no":[140],"perturbation":[141],"but":[142],"fail":[143],"when":[144],"agent":[147],"is":[148],"forced":[149],"replay":[151],"original":[153],"trajectory.":[154],"To":[155],"address":[156],"these":[157,192],"cases,":[158],"propose":[160],"new":[161,193],"highlight":[164],"sensitivity":[166],"uncontrollable":[171],"objects":[172],"performance":[176],"pseudo-environments":[181],"training":[184],"some":[187],"state-of-the-art":[188],"metrics.":[194]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
