{"id":"https://openalex.org/W7148938948","doi":"https://doi.org/10.48550/arxiv.2604.01765","title":"DriveDreamer-Policy: A Geometry-Grounded World-Action Model for Unified Generation and Planning","display_name":"DriveDreamer-Policy: A Geometry-Grounded World-Action Model for Unified Generation and Planning","publication_year":2026,"publication_date":"2026-04-02","ids":{"openalex":"https://openalex.org/W7148938948","doi":"https://doi.org/10.48550/arxiv.2604.01765"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.01765","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01765","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.01765","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132839698","display_name":"Yang Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132879860","display_name":"Xiaofeng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xiaofeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132844328","display_name":"Hao Shao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132914529","display_name":"Letian Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Letian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132908823","display_name":"Guosheng Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Guosheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054166410","display_name":"Jianbo Shao","orcid":"https://orcid.org/0000-0002-4224-3057"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Jiangnan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100670090","display_name":"Jiagang Zhu","orcid":"https://orcid.org/0000-0002-0419-1743"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Jiagang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102335531","display_name":"Tingdong Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Tingdong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132916098","display_name":"Zheng Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Zheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132844912","display_name":"Guan Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Guan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132912014","display_name":"Steven L. Waslander","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Waslander, Steven L.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5866000056266785,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5866000056266785,"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"}},{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.1444000005722046,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.07620000094175339,"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/modular-design","display_name":"Modular design","score":0.6725999712944031},{"id":"https://openalex.org/keywords/unified-model","display_name":"Unified Model","score":0.5641000270843506},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5633999705314636},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5238000154495239},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.5184999704360962},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.48350000381469727},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.48010000586509705},{"id":"https://openalex.org/keywords/futures-contract","display_name":"Futures contract","score":0.3386000096797943},{"id":"https://openalex.org/keywords/iterative-and-incremental-development","display_name":"Iterative and incremental development","score":0.3357999920845032}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7017999887466431},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6725999712944031},{"id":"https://openalex.org/C45493050","wikidata":"https://www.wikidata.org/wiki/Q7884934","display_name":"Unified Model","level":2,"score":0.5641000270843506},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5633999705314636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5411999821662903},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5238000154495239},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.5184999704360962},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.48350000381469727},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.48010000586509705},{"id":"https://openalex.org/C106306483","wikidata":"https://www.wikidata.org/wiki/Q183984","display_name":"Futures contract","level":2,"score":0.3386000096797943},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.3357999920845032},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.3181000053882599},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.31130000948905945},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3043999969959259},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.30320000648498535},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2903999984264374},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C179603123","wikidata":"https://www.wikidata.org/wiki/Q1941921","display_name":"Modeling language","level":3,"score":0.2816999852657318},{"id":"https://openalex.org/C189474733","wikidata":"https://www.wikidata.org/wiki/Q917912","display_name":"Model building","level":2,"score":0.27970001101493835},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2623000144958496},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.26010000705718994}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.01765","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01765","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.01765","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01765","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.48463520407676697,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recently,":[0],"world-action":[1,57],"models":[2,10],"(WAM)":[3],"have":[4],"emerged":[5],"to":[6,81,110,201],"bridge":[7],"vision-language-action":[8],"(VLA)":[9],"and":[11,17,20,66,87,99,107,115,129,137,145,158,172,187,204],"world":[12,22,105,159],"models,":[13],"unifying":[14],"their":[15],"reasoning":[16],"instruction-following":[18],"capabilities":[19],"spatio-temporal":[21],"modeling.":[23],"However,":[24],"existing":[25,179],"WAM":[26],"approaches":[27,181],"often":[28],"focus":[29],"on":[30,141,154,169,175],"modeling":[31],"2D":[32],"appearance":[33],"or":[34],"latent":[35],"representations,":[36],"with":[37],"limited":[38],"geometric":[39],"grounding-an":[40],"essential":[41],"element":[42],"for":[43],"embodied":[44],"systems":[45],"operating":[46],"in":[47],"the":[48,121,142],"physical":[49],"world.":[50],"We":[51],"present":[52],"DriveDreamer-Policy,":[53],"a":[54,70,77,103,118],"unified":[55,119],"driving":[56,132],"model":[58,75,80,123,165],"that":[59,94,149,194],"integrates":[60],"depth":[61,188,196],"generation,":[62,65],"future":[63,97,113,185],"video":[64,186,202],"motion":[67],"planning":[68,116,157,206],"within":[69,117],"single":[71],"modular":[72],"architecture.":[73],"The":[74],"employs":[76],"large":[78],"language":[79,83],"process":[82],"instructions,":[84],"multi-view":[85],"images,":[86],"actions,":[88,133],"followed":[89],"by":[90],"three":[91],"lightweight":[92],"generators":[93],"produce":[95],"depth,":[96],"video,":[98],"actions.":[100],"By":[101],"learning":[102,197],"geometry-aware":[104],"representation":[106],"using":[108],"it":[109],"guide":[111],"both":[112,155],"prediction":[114],"framework,":[120],"proposed":[122],"produces":[124],"more":[125,130],"coherent":[126],"imagined":[127],"futures":[128],"informed":[131],"while":[134,182],"maintaining":[135],"modularity":[136],"controllable":[138],"latency.":[139],"Experiments":[140],"Navsim":[143,170,176],"v1":[144,171],"v2":[146],"benchmarks":[147],"demonstrate":[148],"DriveDreamer-Policy":[150],"achieves":[151],"strong":[152],"performance":[153],"closed-loop":[156],"generation":[160],"tasks.":[161],"In":[162],"particular,":[163],"our":[164],"reaches":[166],"89.2":[167],"PDMS":[168],"88.7":[173],"EPDMS":[174],"v2,":[177],"outperforming":[178],"world-model-based":[180],"producing":[183],"higher-quality":[184],"predictions.":[189],"Ablation":[190],"studies":[191],"further":[192],"show":[193],"explicit":[195],"provides":[198],"complementary":[199],"benefits":[200],"imagination":[203],"improves":[205],"robustness.":[207]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-04T00:00:00"}