{"id":"https://openalex.org/W7137982449","doi":"https://doi.org/10.1609/aaai.v40i5.37347","title":"SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries","display_name":"SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7137982449","doi":"https://doi.org/10.1609/aaai.v40i5.37347"},"language":null,"primary_location":{"id":"doi:10.1609/aaai.v40i5.37347","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i5.37347","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37347/41309","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37347/41309","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5122918021","display_name":"Chenxu Dang","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenxu Dang","raw_affiliation_strings":["Huazhong University of Science and Technology\nInstitute for AI Industry Research (AIR), Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology\nInstitute for AI Industry Research (AIR), Tsinghua University","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129693169","display_name":"Haiyan Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156165","display_name":"Lenovo (China)","ror":"https://ror.org/04srd9d93","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210156165"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiyan Liu","raw_affiliation_strings":["Lenovo Group Limited"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lenovo Group Limited","institution_ids":["https://openalex.org/I4210156165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120363164","display_name":"Jason Bao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156165","display_name":"Lenovo (China)","ror":"https://ror.org/04srd9d93","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210156165"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jason Bao","raw_affiliation_strings":["Lenovo Group Limited"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lenovo Group Limited","institution_ids":["https://openalex.org/I4210156165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122776387","display_name":"Pei An","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pei An","raw_affiliation_strings":["Huazhong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120411325","display_name":"Xinyue Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156165","display_name":"Lenovo (China)","ror":"https://ror.org/04srd9d93","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210156165"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyue Tang","raw_affiliation_strings":["Lenovo Group Limited"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lenovo Group Limited","institution_ids":["https://openalex.org/I4210156165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085124830","display_name":"Anqi Pan","orcid":"https://orcid.org/0000-0002-5100-3071"},"institutions":[{"id":"https://openalex.org/I1294991024","display_name":"Air University","ror":"https://ror.org/05jwcsm16","country_code":"US","type":"education","lineage":["https://openalex.org/I1294991024","https://openalex.org/I1330347796","https://openalex.org/I2802362820","https://openalex.org/I4210102105"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"An Pan","raw_affiliation_strings":["AIR Wuxi Innovation Center, Tsinghua University (AIRIC)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AIR Wuxi Innovation Center, Tsinghua University (AIRIC)","institution_ids":["https://openalex.org/I1294991024"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129696991","display_name":"Jie Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Ma","raw_affiliation_strings":["Huazhong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109631422","display_name":"Bingchuan Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156165","display_name":"Lenovo (China)","ror":"https://ror.org/04srd9d93","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210156165"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingchuan Sun","raw_affiliation_strings":["Lenovo Group Limited"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lenovo Group Limited","institution_ids":["https://openalex.org/I4210156165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129654870","display_name":"Yan O. Wang","orcid":null},"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":"Yan Wang","raw_affiliation_strings":["Institute for AI Industry Research (AIR), Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research (AIR), Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"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":"40","issue":"5","first_page":"3497","last_page":"3505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11980","display_name":"Human Mobility and Location-Based Analysis","score":0.2425999939441681,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11980","display_name":"Human Mobility and Location-Based Analysis","score":0.2425999939441681,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.21490000188350677,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T10799","display_name":"Data Visualization and Analytics","score":0.08640000224113464,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.7480000257492065},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7110999822616577},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6043000221252441},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5231999754905701},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5221999883651733},{"id":"https://openalex.org/keywords/real-world-data","display_name":"Real world data","score":0.3765000104904175},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.3621000051498413}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.767300009727478},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.7480000257492065},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7110999822616577},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6043000221252441},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5231999754905701},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5221999883651733},{"id":"https://openalex.org/C3020493868","wikidata":"https://www.wikidata.org/wiki/Q55631277","display_name":"Real world data","level":2,"score":0.3765000104904175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3653999865055084},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3621000051498413},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3400000035762787},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.32580000162124634},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.31949999928474426},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.31439998745918274},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3005000054836273},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C197298091","wikidata":"https://www.wikidata.org/wiki/Q5318963","display_name":"Dynamic data","level":2,"score":0.259799987077713},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.25279998779296875}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/aaai.v40i5.37347","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i5.37347","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37347/41309","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/aaai.v40i5.37347","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i5.37347","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37347/41309","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6363942623138428}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7137982449.pdf","grobid_xml":"https://content.openalex.org/works/W7137982449.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Semantic":[0],"occupancy":[1,22,68],"has":[2],"emerged":[3],"as":[4],"a":[5,47,65,85,119,147],"powerful":[6],"representation":[7],"in":[8,89,183],"world":[9,23,69],"models":[10,24],"for":[11],"its":[12],"ability":[13],"to":[14,105,152],"capture":[15,111],"rich":[16],"spatial":[17],"semantics.":[18],"However,":[19],"most":[20],"existing":[21],"rely":[25],"on":[26],"static":[27],"and":[28,53,75,80,100,155,169,174,188],"fixed":[29],"embeddings":[30],"or":[31],"grids,":[32],"which":[33,90,123],"inherently":[34],"limit":[35],"the":[36,51,96,112,115,132,136,139,179],"flexibility":[37],"of":[38,56,114,138,181,185],"perception.":[39,108],"Moreover,":[40],"their":[41],"``in-place":[42],"classification\"":[43],"over":[44],"grids":[45],"exhibits":[46],"potential":[48],"misalignment":[49],"with":[50,102,127,135],"dynamic":[52,81,133],"continuous":[54],"nature":[55],"real":[57],"scenarios.":[58],"In":[59,142],"this":[60],"paper,":[61],"we":[62,117],"propose":[63,84],"SparseWorld,":[64],"novel":[66],"4D":[67,140],"model":[70],"that":[71,161],"is":[72],"flexible,":[73],"adaptive,":[74],"efficient,":[76],"powered":[77],"by":[78,95],"sparse":[79],"queries.":[82],"We":[83,144],"Range-Adaptive":[86],"Perception":[87],"module,":[88,122],"learnable":[91],"queries":[92,134],"are":[93],"modulated":[94],"ego":[97],"vehicle":[98],"states":[99],"enriched":[101],"temporal-spatial":[103],"associations":[104],"enable":[106,153],"extended-range":[107],"To":[109],"effectively":[110],"dynamics":[113],"scene,":[116],"design":[118],"State-Conditioned":[120],"Forecasting":[121],"replaces":[124],"classification-based":[125],"forecasting":[126],"regression-guided":[128],"formulation,":[129],"precisely":[130],"aligning":[131],"continuity":[137],"environment.":[141],"addition,":[143],"specifically":[145],"devise":[146],"Temporal-Aware":[148],"Self-Scheduling":[149],"training":[150],"strategy":[151],"smooth":[154],"efficient":[156],"training.":[157],"Extensive":[158],"experiments":[159],"demonstrate":[160],"SparseWorld":[162,182],"achieves":[163],"state-of-the-art":[164],"performance":[165],"across":[166],"perception,":[167],"forecasting,":[168],"planning":[170],"tasks.":[171],"Comprehensive":[172],"visualizations":[173],"ablation":[175],"studies":[176],"further":[177],"validate":[178],"advantages":[180],"terms":[184],"flexibility,":[186],"adaptability,":[187],"efficiency.":[189]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-03-18T00:00:00"}
