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[TPAMI 2026] 3D and 4D World Modeling: A Survey

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README

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:sunglasses: Awesome 3D and 4D World Models

This survey reviews state-of-the-art 3D and 4D world models - systems that learn, predict, and simulate the geometry and dynamics of real environments from multi-modal signals.

We unify terminology, scope, and evaluations, and organize the space into three complementary paradigms by representation:
Learn generative or predictive models from sequential video streams with geometric and temporal constraints. VideoGen focuses on long-horizon consistency, controllability, and scene-level generation, enabling agents to imagine or forecast plausible video rollouts.
Model 3D/4D occupancy grids that encode geometry and semantics in voxel space. OccGen provides a physics-consistent scaffold for robust perception, forecasting, and simulation, bridging low-level sensor data and high-level reasoning.
Leverage point cloud sequences from LiDAR sensors to generate or predict geometry-grounded scenes. LiDARGen emphasizes high-fidelity 3D structure, robustness to environment changes, and applications in safety-critical domains such as autonomous driving.

For more details, kindly refer to our paper and project page. :rocket:

:books: Citation

If you find this work helpful for your research, please kindly consider citing our papers:

@article{survey_3d_4d_world_models,
    title   = {{3D} and {4D} World Modeling: A Survey},
    author  = {Lingdong Kong and Yu Yang and Jianbiao Mei and Youquan Liu and Ao Liang and Dekai Zhu and Dongyue Lu and Wei Yin and Xiaotao Hu and Mingkai Jia and Junyuan Deng and Kaiwen Zhang and Yang Wu and Tianyi Yan and Shenyuan Gao and Song Wang and Linfeng Li and Liang Pan and Yong Liu and Jianke Zhu and Wei Tsang Ooi and Steven C. H. Hoi and Ziwei Liu},
    journal = {arXiv preprint arXiv:2509.07996},
    year    = {2025}
}

@inproceedings{worldlens,
    title     = {{WorldLens}: Full-Spectrum Evaluations of Driving World Models in Real World},
    author    = {Ao Liang and Lingdong Kong and Tianyi Yan and Hongsi Liu and Wesley Yang and Ziqi Huang and Wei Yin and Jialong Zuo and Yixuan Hu and Dekai Zhu and Dongyue Lu and Youquan Liu and Guangfeng Jiang and Linfeng Li and Xiangtai Li and Long Zhuo and Lai Xing Ng and Benoit R. Cottereau and Changxin Gao and Liang Pan and Wei Tsang Ooi and Ziwei Liu},
    booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
    pages     = {36385-36399},
    year      = {2026}
}

Table of Contents

Background
World modeling has become a cornerstone of modern AI, enabling agents to understand, represent, and predict dynamic environments. While prior research has focused primarily on 2D images and videos, the rapid emergence of native 3D and 4D representations (e.g., RGB-D, occupancy grids, LiDAR point clouds) calls for a dedicated study.

What Are Native 3D Representations?

Unlike 2D projections, native 3D/4D signals directly encode metric geometry, visibility, and motion in the physical coordinates where agents act. Examples include:

  • RGB-D imagery (2D images with depth channels)
  • Occupancy grids (voxelized maps of free vs. occupied space)
  • LiDAR point clouds (3D coordinates from active sensing)
  • Neural fields (e.g., NeRF, Gaussian Splatting)

What Are World Models in 3D and 4D?

A 3D/4D world model is an internal representation that allows an agent to imagine, forecast, and interact with its environment in the 3D space.
Generative World Models:
synthesize plausible 3D/4D worlds under conditions (e.g., text prompts, trajectories).
Predictive World Models:
anticipate the future evolution of 3D/4D scenes given past observations and actions.

Together, these models provide the foundation for simulation, planning, and embodied intelligence in complex environments.

1. Benchmarks & Datasets

Benchmarks
WorldLens VBench WorldScore

Workshops

Theme Venue Date Location Recording
Workshop on 4D World Models: Bridging Generation and Reconstruction CVPR 2026 TBD Denver -
The 2nd Workshop on World Models ICLR 2026 April 23, 2026 Rio de Janeiro -
Workshop on World Modeling - February 4-6, 2026 Montréal -
Workshop on Embodied World Models for Decision Making NeurIPS 2025 December 6, 2025 San Diego -
Workshop on Reliable and Interactable World Models: Geometry, Physics, Interactivity and Real-World Generalization ICCV 2025 October 19, 2025 Hawai'i -
Workshop on Building Physically Plausible World Models ICML 2025 July 19, 2025 Vancouver -
Workshop on Assessing World Models ICML 2025 July 18, 2025 Vancouver -
Workshop on Benchmarking World Models CVPR 2025 June 12, 2025 Nashville -
Workshop on World Models: Understanding, Modelling and Scaling ICLR 2025 April 28, 2025 Singapore -
Workshop on Foundation Models for Autonomous Systems CVPR 2024 June 17, 2025 Seattle [YouTube]

Datasets

:timer_clock: In chronological order, from the earliest to the latest.

Model Paper Venue Website
RoboPhys-3D arXiv
RoboPhys-3D: A Comprehensive Embodied World Model Evaluation via 3D Reconstruction arXiv 2026 -
VehDyn arXiv
VehDyn: A Driving World Model Benchmark for Vehicle Dynamics arXiv 2026 -
Graph LiDAR Diagnostics arXiv
Geometry vs Structure: Graph-Based Diagnostics for LiDAR Point-Cloud Simulation Fidelity arXiv 2026 -
M3ISR arXiv
M$^3$ISR: A Multi-Modal Multi-View Benchmark for 3D/4D Gaussian Splatting and Feedforward Compression arXiv 2026 -
SIREN arXiv
SIREN-Bench: Behavior-Driven Generation and Evaluation of Emergency-Vehicle Interactions arXiv 2026 -
V2XBench arXiv
Roadside-Cooperative Autonomous Driving: From Data Platform to Vision-Language End-to-End Reasoning arXiv 2026 -
PAWBench arXiv
PAWBench: How Far Are We from Probabilistically Aligned World Modeling? arXiv 2026 -
R2M-Bench arXiv
R2M-Bench: Evaluating Revisit Memory via Relative Consistency in Interactive Video World Models arXiv 2026 -
WM-Break arXiv
Where World Models Break: Natural-Input Failure Discovery arXiv 2026 -
CG arXiv
CG-World: A Large-Scale World-State Dataset and Protocol for World Models arXiv 2026 -
Apple arXiv
Apple-$π$: Benchmarking Thinking with Video Towards Law-Grounded Physical Intelligence arXiv 2026 -
Thinking arXiv
Thinking in Video: Can Video Generators Really Reason About the Real World? arXiv 2026 -
WorldExam arXiv
WorldExam: Benchmarking World Models from Apparent Appearance to Inherent Reactivity arXiv 2026 -
GAUGE arXiv
GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models arXiv 2026 -
KITTI Are We Ready for Autonomous Driving? The KITTI Vision Benchmark Suite CVPR 2012 Website
NYUv2 Indoor Segmentation and Support Inference from RGBD Images ECCV 2012 Website
CARLA arXiv
CARLA: An Open Urban Driving Simulator CoRL 2017 Website
SemanticKITTI arXiv
SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences ICCV 2019 Website
nuScenes arXiv
nuScenes: A Multimodal Dataset for Autonomous Driving CVPR 2020 Website
Waymo Open arXiv
Scalability in Perception for Autonomous Driving: Waymo Open Dataset CVPR 2020 Website
STF arXiv
Seeing Through Fog Without Seeing Fog: Deep Multimodal Sensor Fusion in Unseen Adverse Weather CVPR 2020 Website
Virtual KITTI 2 arXiv
Virtual KITTI 2 arXiv 2020 Website
Argoverse 2 arXiv
Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting NeurIPS 2021 Website
Lyft-Level5 arXiv
One Thousand and One Hours: Self-Driving Motion Prediction Dataset CoRL 2021 Website
nuPlan arXiv
nuPlan: A Closed-Loop ML-Based Planning Benchmark for Autonomous Vehicles CVPRW 2021 Website
PandaSet arXiv
PandaSet: Advanced Sensor Suite Dataset for Autonomous Driving ITSC 2022 Website
OpenCOOD arXiv
OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication ICRA 2022 Website
KITTI-360 arXiv
KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D TPAMI 2022 Website
CarlaSC arXiv
MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments RA-L 2022 Website
Robo3D arXiv
Robo3D: Towards Robust and Reliable 3D Perception against Corruptions ICCV 2023 Website
OpenOccupancy arXiv
OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception ICCV 2023 Website
Occ3D-nuScenes arXiv
Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving NeurIPS 2023 Website
OpenDV-YouTube arXiv
GenAD: Generalized Predictive Model for Autonomous Driving CVPR 2024 Website
SSCBench arXiv
SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving IROS 2024 Website
NAVSIM arXiv
NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking NeurIPS 2024 Website
DrivingDojo arXiv
DrivingDojo Dataset: Advancing Interactive and Knowledge-Enriched Driving World Model NeurIPS 2024 Website
EUVS arXiv
Extrapolated Urban View Synthesis Benchmark ICCV 2025 Website
Pi3DET arXiv
Perspective-Invariant 3D Object Detection ICCV 2025 Website
DrivingGen arXiv
DrivingGen: A Comprehensive Benchmark for Generative Video World Models in Autonomous Driving arXiv 2026 -
World-in-World arXiv
World-in-World: World Models in a Closed-Loop World arXiv 2025 -
4DWorldBench arXiv
4DWorldBench: A Comprehensive Evaluation Framework for 3D/4D World Generation Models arXiv 2025 -
DriveE2E arXiv
DriveE2E: Closed-Loop Benchmark for End-to-End Autonomous Driving through Real-to-Simulation arXiv 2025 -
nuPlan-R arXiv
nuPlan-R: A Closed-Loop Planning Benchmark for Autonomous Driving via Reactive Multi-Agent Simulation arXiv 2025 -
ReactSim-Bench arXiv
ReactSim-Bench: Benchmarking Reactive Behavior World Model Simulation in Autonomous Driving arXiv 2026 -
Nuplan-Occ arXiv
Scaling Up Occupancy-centric Driving Scene Generation: Dataset and Method arXiv 2025 -
4DLidarOpen arXiv
4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving arXiv 2026 -
OccInteract-85k arXiv
OccDirector: Language-Guided Behavior and Interaction Generation in 4D Occupancy Space arXiv 2026 -
TerraZero arXiv
TerraZero: Procedural Driving Simulation for Zero-Demonstration Self-Play at Scale arXiv 2026 -
Admissibility arXiv
Validate the Dream Before You Trust Its Verdict: Admissibility for World-Model Simulators arXiv 2026 -
Seriality Gap arXiv
The Seriality Gap in Video Diffusion Models arXiv 2026 -
VISA arXiv
VISA: VLM-Guided Instance Semantic Auditing for 3D Occupancy World Models arXiv 2026 -

2. World Modeling from Video Generation

:one: Data Engines

:timer_clock: In chronological order, from the earliest to the latest.

Model Paper Venue Website GitHub
HelloWorld (Driving) arXiv
HelloWorld: Towards Practical Applications of Generative Driving World Models arXiv 2026 Project -
4Director arXiv
4Director: Controlling Video World Models with Rigid 3D Geometry arXiv 2026 Project -
MIVIFI arXiv
MIVIFI: Bridging Perspective and Fisheye Domains for Training Multi-View Fisheye Image Generation Models arXiv 2026 - -
SpatialCrafter arXiv
SpatialCrafter: Single Image World Modeling with Generative 3D Proxies arXiv 2026 Project -
4DStreamCtrl arXiv
4DStreamCtrl: Interactive Video Generation with Online 4D Control arXiv 2026 Project -
ReWorld arXiv
ReWorld: An Interactive World Model with Long-Horizon Memory arXiv 2026 - -
NeoWorld-Pro arXiv
NeoWorld-Pro: Programming Interactive Scenes from Monocular Images for Embodied Simulation arXiv 2026 - -
MiniWorld arXiv
MiniWorld: Democratizing the Training of Video World Models from Scratch arXiv 2026 - -
RealWeather arXiv
RealWeather: Realistic and Scene-Faithful Weather Translation with Driving World Models arXiv 2026 - -
muSync arXiv
muSync-GS: Physics-Synchronized Driving Video Synthesis for Weather and Geometric Road Hazards arXiv 2026 - -
ABot arXiv
ABot-3DWorld 0: A Universal World Model to Explore Any 3D Space arXiv 2026 - -
Sekai2 arXiv
Sekai2: From World Exploration to Interactive World Modeling arXiv 2026 - -
Xiaomi arXiv
Xiaomi-Robotics-U0: Unified Embodied Synthesis with World Foundation Model arXiv 2026 - -
EmbodiedVAE arXiv
EmbodiedVAE: Disentangled Video VAE for Efficient and Controllable Embodied Manipulation arXiv 2026 - -
H2R arXiv
H2R-Bench: Benchmarking Human-to-Robot Manipulation Video Generation in World Models arXiv 2026 - -
BEVControl arXiv
BEVControl: Accurately Controlling Street-View Elements with Multi-Perspective Consistency via BEV Sketch Layout arXiv 2023 - -
BEVGen arXiv
Street-View Image Generation from a Bird's-Eye View Layout RA-L 2024 Website GitHub
MagicDrive arXiv
MagicDrive: Street View Generation with Diverse 3D Geometry Control ICLR 2024 Website GitHub
Panacea arXiv
Panacea: Panoramic and Controllable Video Generation for Autonomous Driving CVPR 2024 Website GitHub
DrivingDiffusion arXiv
DrivingDiffusion: Layout-Guided Multi-View Driving Scene Video Generation with Latent Diffusion Model ECCV 2024 Website GitHub
WoVoGen arXiv
WoVoGen: World Volume-Aware Diffusion for Controllable Multi-Camera Driving Scene Generation ECCV 2024 - GitHub
Delphi arXiv
Unleashing Generalization of End-to-End Autonomous Driving with Controllable Long Video Generation arXiv 2024 Website GitHub
SimGen arXiv
SimGen: Simulator-Conditioned Driving Scene Generation NeurIPS 2024 Website GitHub
BEVWorld arXiv
BEVWorld: A Multimodal World Simulator for Autonomous Driving via Scene-Level BEV Latents arXiv 2024 - -
Panacea+ arXiv
Panacea+: Panoramic and Controllable Video Generation for Autonomous Driving arXiv 2024 Website -
DiVE arXiv
DiVE: DiT-Based Video Generation with Enhanced Control arXiv 2024 Website GitHub
MyGo arXiv
MyGo: Consistent and Controllable Multi-View Driving Video Generation with Camera Control arXiv 2024 - -
SyntheOcc arXiv
SyntheOcc: Synthesize Geometric-Controlled Street View Images through 3D Semantic MPIs arXiv 2024 Website GitHub
HoloDrive arXiv
HoloDrive: Holistic 2D-3D Multi-Modal Street Scene Generation for Autonomous Driving arXiv 2024 - -
CogDriving arXiv
Seeing Beyond Views: Multi-View Driving Scene Video Generation with Holistic Attention arXiv 2024 Website -
UniMLVG arXiv
UniMLVG: Unified Framework for Multi-View Long Video Generation with Comprehensive Control Capabilities for Autonomous Driving arXiv 2024 - GitHub
DrivePhysica arXiv
Physical Informed Driving World Model arXiv 2024 Website -
DriveDreamer-2 arXiv
DriveDreamer-2: LLM-Enhanced World Models for Diverse Driving Video Generation AAAI 2025 Website GitHub
SubjectDrive arXiv
SubjectDrive: Scaling Generative Data in Autonomous Driving via Subject Control AAAI 2025 Website -
Glad arXiv
Glad: A Streaming Scene Generator for Autonomous Driving ICLR 2025 - GitHub
DualDiff arXiv
DualDiff: Dual-Branch Diffusion Model for Autonomous Driving with Semantic Fusion ICRA 2025 - GitHub
UniScene arXiv
UniScene: Unified Occupancy-Centric Driving Scene Generation CVPR 2025 Website GitHub
DriveScape arXiv
DriveScape: Towards High-Resolution Controllable Multi-View Driving Video Generation CVPR 2025 Website -
PerLDiff arXiv
PerLDiff: Controllable Street View Synthesis Using Perspective-Layout Diffusion Models ICCV 2025 Website GitHub
MagicDrive-V2 arXiv
MagicDrive-V2: High-Resolution Long Video Generation for Autonomous Driving with Adaptive Control ICCV 2025 Website -
DINO-Foresight arXiv
DINO-Foresight: Looking into the Future with DINO NeurIPS 2025 Website GitHub
Cosmos-Transfer1 arXiv
Cosmos-Transfer1: Conditional World Generation with Adaptive Multimodal Control arXiv 2025 Website GitHub
DualDiff+ arXiv
DualDiff+: Dual-Branch Diffusion for High-Fidelity Video Generation with Reward Guidance arXiv 2025 - GitHub
CoGen arXiv
CoGen: 3D Consistent Video Generation via Adaptive Conditioning for Autonomous Driving arXiv 2025 Website -
NoiseController arXiv
NoiseController: Towards Consistent Multi-View Video Generation via Noise Decomposition and Collaboration arXiv 2025 - -
STAGE arXiv
STAGE: A Stream-Centric Generative World Model for Long-Horizon Driving-Scene Simulation arXiv 2025 - -
WMReward arXiv
Inference-time Physics Alignment of Video Generative Models with Latent World Models arXiv 2026 - -
AutoScape arXiv
AutoScape: Geometry-Consistent Long-Horizon Scene Generation arXiv 2025 - -
Rethinking-DWM arXiv
Rethinking Driving World Model as Synthetic Data Generator for Perception Tasks arXiv 2025 - -
OmniDrive arXiv
OmniDrive: An LLM-Choreographed Multi-Agent World Model with Unified Latent Co-Compression for Multi-View Driving Video Generation arXiv 2026 - -
OpenLongTail arXiv
OpenLongTail: Generative Scaling of Long-Tail Driving Data arXiv 2026 - -
OmniSCS arXiv
OmniSCS: Omni Safety-Critical Scenario Synthesis for Autonomous Driving via a Fully Editable Driving World arXiv 2026 - -
DriveWeaver arXiv
DriveWeaver: Point-Conditioned Video Inpainting for Controllable Vehicle Insertion in Autonomous Driving Simulation arXiv 2026 - -

:two: Action Interpreters

:timer_clock: In chronological order, from the earliest to the latest.

Model Paper Venue Website GitHub
CoDrive arXiv
CoDrive: Cross-Vehicle World-Consistent Video Generation with Precise Trajectory Control for Cooperative Driving arXiv 2026 Project -
SA-WAM arXiv
Spatially Aware World Action Model via Geometric Latent Diffusion arXiv 2026 Project -
UniDynamics arXiv
UniDynamics: Event-RGB Fusion for Unified Future 4D Dynamic Scene Generation arXiv 2026 - -
GeoWAM arXiv
GeoWAM: Visual Geometry World Action Models for Autonomous Driving arXiv 2026 - -
4DGS-WAM arXiv
4DGS-WAM: Bridging Past and Future with an Object-Centric World Action Model based on 4D Gaussian Splatting arXiv 2026 - -
WALL-SS arXiv
WALL-SS: Scaling Long-horizon World Models via Next-Scale Autoregression arXiv 2026 - -
Cycle arXiv
Cycle-World: Mitigating Error Accumulation in Long-term Video World Models via Reverse-Prediction Cycle Consistency arXiv 2026 - -
Adaptive arXiv
Adaptive-WAM: Quality-Guided Early-Exit Planning from Intermediate Video-Diffusion Features arXiv 2026 - -
ForgeWM arXiv
ForgeWM: Progressive Causal Training for Few-Step Action-Conditioned Video World Models arXiv 2026 - -
DriveCache arXiv
DriveCache: Action-Aware Caching for Driving World Model Inference arXiv 2026 - -
ContactFlow arXiv
ContactFlow: A video action conditioning that transfers across embodiments arXiv 2026 - -
GeniWorld arXiv
GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions arXiv 2026 - -
DreamX arXiv
DreamX-Phi 1.0: Action-Conditioned Video World Model for Robotic Manipulation arXiv 2026 - -
GAIA-1 arXiv
GAIA-1: A Generative World Model for Autonomous Driving arXiv 2023 Website -
ADriver-I arXiv
ADriver-I: A General World Model for Autonomous Driving arXiv 2023 - -
Drive-WM arXiv
Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving CVPR 2024 Website GitHub
DriveDreamer arXiv
DriveDreamer: Towards Real-World-Driven World Models for Autonomous Driving ECCV 2024 Website GitHub
GenAD arXiv
GenAD: Generalized Predictive Model for Autonomous Driving CVPR 2024 - GitHub
GenAD (Gen-E2E) arXiv
GenAD: Generative End-to-End Autonomous Driving ECCV 2024 - -
Vista arXiv
Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability NeurIPS 2024 Website GitHub
InfinityDrive arXiv
InfinityDrive: Breaking Time Limits in Driving World Models arXiv 2024 Website -
DrivingGPT arXiv
DrivingGPT: Unifying Driving World Modeling and Planning with Multi-Modal Autoregressive Transformers arXiv 2024 Website -
DrivingWorld arXiv
DrivingWorld: Constructing World Model for Autonomous Driving via Video GPT arXiv 2024 Website GitHub
GEM arXiv
GEM: A Generalizable Ego-Vision Multimodal World Model for Fine-Grained Ego-Motion, Object Dynamics, and Scene Composition Control CVPR 2025 Website GitHub
MaskGWM arXiv
MaskGWM: A Generalizable Driving World Model with Video Mask Reconstruction CVPR 2025 - GitHub
Epona arXiv
Epona: Autoregressive Diffusion World Model for Autonomous Driving ICCV 2025 Website GitHub
VaViM & VaVAM arXiv
VaViM and VaVAM: Autonomous Driving through Video Generative Modeling arXiv 2025 Website GitHub
MiLA arXiv
MiLA: Multi-View Intensive-Fidelity Long-Term Video Generation World Model for Autonomous Driving arXiv 2025 - GitHub
GAIA-2 arXiv
GAIA-2: A Controllable Multi-View Generative World Model for Autonomous Driving arXiv 2025 Website -
Ego-Other-WM arXiv
Other Vehicle Trajectories Are Also Needed: A Driving World Model Unifies Ego-Other Vehicle Trajectories in Video Latent Space arXiv 2025 - -
DriVerse arXiv
DriVerse: Navigation World Model for Driving Simulation via Multimodal Trajectory Prompting and Motion Alignment arXiv 2025 - -
PosePilot arXiv
PosePilot: Steering Camera Pose for Generative World Models with Self-Supervised Depth arXiv 2025 - -
ProphetDWM arXiv
ProphetDWM: A Driving World Model for Rolling Out Future Actions and Videos arXiv 2025 - -
LongDWM arXiv
LongDWM: Cross-Granularity Distillation for Building A Long-Term Driving World Model arXiv 2025 Website GitHub
UniDrive-WM arXiv
UniDrive-WM: Unified Understanding, Planning and Generation World Model For Autonomous Driving arXiv 2026 Website -
DriveVA arXiv
DriveVA: Video Action Models are Zero-Shot Drivers ECCV 2026 - GitHub
DeepSight arXiv
DeepSight: Long-Horizon World Modeling via Latent States Prediction for End-to-End Autonomous Driving arXiv 2026 - -

:three: Neural Simulators

:timer_clock: In chronological order, from the earliest to the latest.

Model Paper Venue Website GitHub
WorldWeave arXiv
WorldWeave: Growing Persistent Geometric Worlds for Video Generation arXiv 2026 - -
WorldCrafter arXiv
WorldCrafter: Consistent Video World Model with Implicit 3D-aware Memory arXiv 2026 - -
NeuIDO arXiv
NeuIDO: Neural Intrinsic Dynamics Operator for Physics-Informed 4D World Models arXiv 2026 - -
VideoTok4D arXiv
VideoTok4D: A 4D-Aware Video Tokenizer for Compact World Representation arXiv 2026 - -
TourPhysics arXiv
TourPhysics: Bringing Physics to World Models for Exploration and Manipulation from a Single Image arXiv 2026 - -
SPVC arXiv
SPVC: Structured and Panoptic Video Fixing for Cross-Dataset Driving Scene Rendering arXiv 2026 - -
4DSynth arXiv
4DSynth: Controllable Procedural World Synthesis for Dynamic Embodied Simulation arXiv 2026 - -
BehaviorWorldGen arXiv
BehaviorWorldGen: Closing the Loop between Action Models and World Simulators via Controllable Behavior-Aware Structured World Generation arXiv 2026 - -
CLAP arXiv
CLAP: Cross-Embodiment Video World Models are Zero-Shot Physical Simulators arXiv 2026 - -
From arXiv
From Pixels to States: Rethinking Interactive World Models as Game Engines arXiv 2026 - -
Streaming arXiv
Streaming Multi-Agent Autoregressive Diffusion Model with World State Registers arXiv 2026 - -
Population arXiv
Population-Scalable Multi-Agent World Modeling arXiv 2026 - -
Wonder arXiv
Wonder: Video World Model Done Better arXiv 2026 - -
Mitigating arXiv
Mitigating Compounding Error via Video Representation Regularization arXiv 2026 - -
HelloWorld arXiv
HelloWorld: Enabling Socially Interactive Characters in Video World Models arXiv 2026 - -
CrossScope arXiv
CrossScope: A Role-Asymmetric World Model for Joint Dual-Scope Surgical Video Prediction arXiv 2026 - -
Surg arXiv
Surg-UniWorld: A Unified Surgical World Model with Multimodal Control Experts arXiv 2026 - -
Stream4D arXiv
Stream4D: 4D-Consistency for Streaming Autoregressive Diffusion Video Models arXiv 2026 - -
Closing arXiv
Closing the Loop: Training-Free Revisit Consistency for Autoregressive Generative Rendering arXiv 2026 - -
MagicDrive3D arXiv
MagicDrive3D: Controllable 3D Generation for Any-View Rendering in Street Scenes arXiv 2024 Website GitHub
DreamForge arXiv
DreamForge: Motion-Aware Autoregressive Video Generation for Multi-View Driving Scenes arXiv 2024 Website GitHub
Doe-1 arXiv
Doe-1: Closed-Loop Autonomous Driving with Large World Model arXiv 2024 Website GitHub
DrivingSphere arXiv
DrivingSphere: Building A High-Fidelity 4D World for Closed-Loop Simulation CVPR 2025 Website GitHub
UMGen arXiv
Generating Multimodal Driving Scenes via Next-Scene Prediction CVPR 2025 Website GitHub
DriveArena arXiv
DriveArena: A Closed-Loop Generative Simulation Platform for Autonomous Driving ICCV 2025 Website GitHub
InfiniCube arXiv
InfiniCube: Unbounded and Controllable Dynamic 3D Driving Scene Generation with World-Guided Video Models ICCV 2025 Website GitHub
DiST-4D arXiv
DiST-4D: Disentangled Spatiotemporal Diffusion with Metric Depth for 4D Driving Scene Generation ICCV 2025 Website GitHub
UniFuture arXiv
Seeing the Future, Perceiving the Future: A Unified Driving World Model for Future Generation and Perception arXiv 2025 Website GitHub
Nexus arXiv
Decoupled Diffusion Sparks Adaptive Scene Generation arXiv 2025 Website GitHub
Challenger arXiv
Challenger: Affordable Adversarial Driving Video Generation arXiv 2025 Website GitHub
Cosmos-Drive arXiv
Cosmos-Drive-Dreams: Scalable Synthetic Driving Data Generation with World Foundation Models arXiv 2025 Website GitHub
ReSim arXiv
ReSim: Reliable World Simulation for Autonomous Driving arXiv 2025 - -
OmniDreams arXiv
NVIDIA OmniDreams: Real-Time Generative World Model for Closed-Loop Autonomous Vehicle Simulation arXiv 2026 - -
Xiaomi Auto WM arXiv
Xiaomi Auto World Model: A Joint World Model Integrating Reconstruction and Generation for Autonomous Driving arXiv 2026 - -
HERMES++ arXiv
HERMES++: Toward a Unified Driving World Model for 3D Scene Understanding and Generation arXiv 2026 - -
CausalDrive arXiv
CausalDrive: Real-time Causal World Models for Autonomous Driving arXiv 2026 - -
Point-as-Skeleton arXiv
Point as Skeleton: Accumulated Point Cloud Enhanced Autoregressive Generation for Closed-Loop Autonomous Driving Simulation arXiv 2026 - -
Cam2Sim arXiv
Cam2Sim: Neural Scenario Reconstruction for Closed-Loop Autonomous Driving Simulation arXiv 2026 - -
CARLA-GS arXiv
CARLA-GS: Decoupling Representation, Reasoning, and Physics Simulation for Autonomous Driving Corner-Case Synthesis arXiv 2026 - -

:four: Scene Reconstructors

:timer_clock: In chronological order, from the earliest to the latest.

Model Paper Venue Website GitHub
RoGSW4RLD arXiv
RoGSW4RLD: Feed-Forward 4D Gaussian Lifting for Robot World Model Rollouts arXiv 2026 - -
PhysReal arXiv
PhysReal: Learning Real-World Deformable Object Physics via Hybrid Constitutive Modeling arXiv 2026 - -
Streaming4D arXiv
Streaming4D: Accelerate 4D World Models via Block-wise Video Generation and Incremental Reconstruction arXiv 2026 - -
M3GD arXiv
M3GD: Multi-Modal Multi-View Geometric Diffusion for Camera--LiDAR Novel View Synthesis arXiv 2026 - -
4DGS-Fixer arXiv
4DGS-Fixer: Generative Sparse-View 4D Gaussian Splatting with Iterative Refinement Guided by Video Diffusion Priors arXiv 2026 - -
DAV4 arXiv
Depth Anything V4: Dynamic 4D Scene Reconstruction via Riemannian Flow Matching on 4D Gaussian Splatting arXiv 2026 - -
UniQuery4R arXiv
UniQuery4R: Unified 4D Scene Reconstruction from a Single Query arXiv 2026 - -
SceneReGen arXiv
SceneReGen: Generative Reconstruction of 3D Scenes from a Single Image arXiv 2026 - -
Gallileo-4D arXiv
Gallileo-4D: Frozen Backbone Ensemble for Dynamic 4D Reconstruction arXiv 2026 - -
LagrangeGS arXiv
LagrangeGS: Non-Conservative Lagrangian System on Dynamic 3D Gaussian Splatting arXiv 2026 - -
VersaGauss arXiv
VersaGauss: A Versatile Framework for Generating Multiphase Dynamics with 3D Gaussians arXiv 2026 - -
3DGS arXiv
3D Gaussian Splatting for Real-Time Radiance Field Rendering TOG 2023 Website GitHub
StreetGaussian arXiv
Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting ECCV 2024 Website GitHub
4DGF arXiv
Dynamic 3D Gaussian Fields for Urban Areas NeurIPS 2024 Website GitHub
SCube arXiv
SCube: Instant Large-Scale Scene Reconstruction using VoxSplats NeurIPS 2024 Website GitHub
HUGS arXiv
HUGS: Holistic Urban 3D Scene Understanding via Gaussian Splatting CVPR 2024 Website GitHub
MagicDrive3D arXiv
MagicDrive3D: Controllable 3D Generation for Any-View Rendering in Street Scenes arXiv 2024 Website GitHub
S3Gaussian arXiv
S3Gaussian: Self-Supervised Street Gaussians for Autonomous Driving arXiv 2024 Website GitHub
VDG arXiv
VDG: Vision-Only Dynamic Gaussian for Driving Simulation arXiv 2024 Website GitHub
UniGaussian arXiv
UniGaussian: Driving Scene Reconstruction from Multiple Camera Models via Unified Gaussian Representations arXiv 2024 - -
Stag-1 arXiv
Stag-1: Towards Realistic 4D Driving Simulation with Video Generation Model arXiv 2024 Website GitHub
DrivingRecon arXiv
DrivingRecon: Large 4D Gaussian Reconstruction Model For Autonomous Driving arXiv 2024 - GitHub
OccScene arXiv
OccScene: Semantic Occupancy-Based Cross-Task Mutual Learning for 3D Scene Generation arXiv 2024 - -
SGD arXiv
SGD: Street View Synthesis with Gaussian Splatting and Diffusion Prior WACV 2025 - -
OmniRe arXiv
OmniRe: Omni Urban Scene Reconstruction ICLR 2025 Website GitHub
DriveDreamer4D arXiv
DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representation CVPR 2025 Website GitHub
DeSiRe-GS arXiv
DeSiRe-GS: 4D Street Gaussians for Static-Dynamic Decomposition and Surface Reconstruction for Urban Driving Scenes CVPR 2025 - GitHub
SplatAD arXiv
SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Driving CVPR 2025 Website GitHub
ReconDreamer arXiv
ReconDreamer: Crafting World Models for Driving Scene Reconstruction via Online Restoration CVPR 2025 Website GitHub
FreeSim arXiv
FreeSim: Toward Free-Viewpoint Camera Simulation in Driving Scenes CVPR 2025 Website -
StreetCrafter arXiv
StreetCrafter: Street View Synthesis with Controllable Video Diffusion Models CVPR 2025 Website GitHub
FlexDrive arXiv
FlexDrive: Toward Trajectory Flexibility in Driving Scene Reconstruction and Rendering CVPR 2025 - -
S-NeRF++ arXiv
S-NeRF++: Autonomous Driving Simulation via Neural Reconstruction and Generation TPAMI 2025 - -
InfiniCube arXiv
InfiniCube: Unbounded and Controllable Dynamic 3D Driving Scene Generation with World-Guided Video Models ICCV 2025 Website GitHub
DiST-4D arXiv
Disentangled Spatiotemporal Diffusion with Metric Depth for 4D Driving Scene Generation ICCV 2025 Website GitHub
DreamDrive arXiv
DreamDrive: Generative 4D Scene Modeling from Street View Images arXiv 2025 Website -
Uni-Gaussians arXiv
Uni-Gaussians: Unifying Camera and Lidar Simulation with Gaussians for Dynamic Driving Scenarios arXiv 2025 Website -
MuDG arXiv
MuDG: Taming Multi-Modal Diffusion with Gaussian Splatting for Urban Scene Reconstruction arXiv 2025 Website GitHub
UniFuture arXiv
Seeing the Future, Perceiving the Future: A Unified Driving World Model for Future Generation and Perception arXiv 2025 Website GitHub
SceneCrafter arXiv
Unraveling the Effects of Synthetic Data on End-to-End Autonomous Driving Humanoid Robots arXiv 2025 - GitHub
ReconDreamer++ arXiv
ReconDreamer++: Harmonizing Generative and Reconstructive Models for Driving Scene Representation arXiv 2025 Website GitHub
RealEngine arXiv
RealEngine: Simulating Autonomous Driving in Realistic Context arXiv 2025 - GitHub
GeoDrive arXiv
GeoDrive: 3D Geometry-Informed Driving World Model with Precise Action Control arXiv 2025 - GitHub
PseudoSimulation arXiv
Pseudo-Simulation for Autonomous Driving arXiv 2025 - GitHub
Dreamland arXiv
Dreamland: Controllable World Creation with Simulator and Generative Models arXiv 2025 Website -
Diff4Splat arXiv
Diff4Splat: Controllable 4D Scene Generation with Latent Dynamic Reconstruction Models arXiv 2025 Website GitHub
SpaceTimePilot arXiv
SpaceTimePilot: Generative Rendering of Dynamic Scenes Across Space and Time arXiv 2025 Website GitHub
FLAG-4D arXiv
FLAG-4D: Flow-Guided Local-Global Dual-Deformation Model for 4D Reconstruction arXiv 2026 - GitHub
MotionCrafter arXiv
MotionCrafter: Dense Geometry and Motion Reconstruction with a 4D VAE arXiv 2026 Website GitHub
WorldSplat arXiv
WorldSplat: Gaussian-Centric Feed-Forward 4D Scene Generation for Autonomous Driving arXiv 2025 - -
GaussianDWM arXiv
GaussianDWM: 3D Gaussian Driving World Model for Unified Scene Understanding and Multi-Modal Generation arXiv 2025 - -
RealityBridge arXiv
RealityBridge: Bridging Editable 3D Gaussian Splatting Driving Simulations and Real-World Videos arXiv 2026 - -
Adaptive Gaussian Graph arXiv
Beyond Perfect Priors: Adaptive Gaussian Graph for 4D Driving Reconstruction in the Wild arXiv 2026 - -
Glob3R arXiv
Glob3R: Global Structure-from-Motion with 3D Foundation Models arXiv 2026 - -
NoDrift3R arXiv
NoDrift3R: Raymap-Guided Coupling for Drift-Robust Unposed Feed-Forward 3D Reconstruction arXiv 2026 - -
OmniX arXiv
OmniX: Any-view and Any-time 4D Reconstruction via Feed-forward Trajectory Fields arXiv 2026 - -

3. World Modeling from Occupancy Generation

:one: Scene Representors

:timer_clock: In chronological order, from the earliest to the latest.

Model Paper Venue Website GitHub
Occupancy Filtering arXiv
Diagnosing and Dynamically Filtering Occupancy World Models for Active Mapping arXiv 2026 - -
GSSC arXiv
Generative Semantic Scene Completion arXiv 2026 - -
GaussianDWM++ arXiv
GaussianDWM++: Language-Grounded 3D Gaussian Driving World Model for Unified Scene Understanding, Editing, and Multi-Modal Generation arXiv 2026 - -
SSD arXiv
Diffusion Probabilistic Models for Scene-Scale 3D Categorical Data arXiv 2023 - GitHub
SemCity arXiv
SemCity: Semantic Scene Generation with Triplane Diffusion CVPR 2024 Website GitHub
WoVoGen arXiv
WoVoGen: World Volume-Aware Diffusion for Controllable Multi-Camera Driving Scene Generation ECCV 2024 - GitHub
UrbanDiff arXiv
Urban Scene Diffusion through Semantic Occupancy Map arXiv 2024 Website -
OccGen arXiv
OccGen: Generative Multi-modal 3D Occupancy Prediction for Autonomous Driving arXiv 2024 - -
DrivingSphere arXiv
DrivingSphere: Building A High-Fidelity 4D World for Closed-Loop Simulation CVPR 2025 Website GitHub
UniScene arXiv
UniScene: Unified Occupancy-Centric Driving Scene Generation CVPR 2025 Website GitHub
OccScene arXiv
OccScene: Semantic Occupancy-Based Cross-Task Mutual Learning for 3D Scene Generation arXiv 2024 - -
InfiniCube arXiv
InfiniCube: Unbounded and Controllable Dynamic 3D Driving Scene Generation with World-Guided Video Models ICCV 2025 Website GitHub
Control-3D-Scene arXiv
Controllable 3D Outdoor Scene Generation via Scene Graphs ICCV 2025 Website GitHub
X-Scene arXiv
X-Scene: Large-Scale Driving Scene Generation with High Fidelity and Flexible Controllability arXiv 2025 Website GitHub
GenieDrive arXiv
GenieDrive: Towards Physics-Aware Driving World Model with 4D Occupancy Guided Video Generation CVPR 2026 Website GitHub
EditSSC arXiv
EditSSC: Toward Editable Semantic Occupancy Scenes with Unconditional Diffusion Models arXiv 2026 - -

:two: Occupancy Forecasters

:timer_clock: In chronological order, from the earliest to the latest.

Model Paper Venue Website GitHub
TriO arXiv
TriO: Tri-Modal Unsupervised Occupancy World Model for Anything Perception arXiv 2026 - -
InterOCF arXiv
InterOCF: Spatio-Temporal 2D-3D Interaction for Camera-Only 4D Occupancy Forecasting arXiv 2026 - -
Geometry arXiv
Geometry-Aware Spatio-Temporal Context Modeling for 4D Occupancy Forecasting arXiv 2026 - -
Emergent-Occ arXiv
Differentiable Raycasting for Self-supervised Occupancy Forecasting ECCV 2022 - GitHub
FF4D arXiv
Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting CVPR 2023 Website GitHub
UniWorld arXiv
UniWorld: Autonomous Driving Pre-Training via World Models arXiv 2023 - -
UniScene arXiv
UniScene: Multi-Camera Unified Pre-Training via 3D Scene Reconstruction for Autonomous Driving arXiv 2023 - GitHub
OccWorld arXiv
OccWorld: Learning A 3D Occupancy World Model for Autonomous Driving ECCV 2024 Website GitHub
Cam4DOcc arXiv
Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications CVPR 2024 - GitHub
DriveWorld arXiv
DriveWorld: 4D Pre-Trained Scene Understanding via World Models for Autonomous Driving CVPR 2024 - -
OccSora arXiv
OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Driving arXiv 2024 Website GitHub
UnO arXiv
UnO: Unsupervised Occupancy Fields for Perception and Forecasting CVPR 2024 Website -
LOPR arXiv
Self-Supervised Multi-Future Occupancy Forecasting for Autonomous Driving arXiv 2024 - -
FSF-Net arXiv
FSF-Net: Enhance 4D Occupancy Forecasting with Coarse BEV Scene Flow for Autonomous Driving arXiv 2024 - -
OccLLaMA arXiv
OccLLaMA: An Occupancy-Language-Action Generative World Model for Autonomous Driving arXiv 2024 - -
DOME arXiv
DOME: Taming Diffusion Model into High-Fidelity Controllable Occupancy World Model arXiv 2024 Website GitHub
GaussianAD arXiv
GaussianAD: Gaussian-Centric End-to-End Autonomous Driving arXiv 2024 Website GitHub
GaussianWorld arXiv
GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Prediction CVPR 2025 - GitHub
DFIT-OccWorld arXiv
An Efficient Occupancy World Model via Decoupled Dynamic Flow and Image-Assisted Training arXiv 2024 - -
Drive-OccWorld arXiv
Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving AAAI 2025 Website GitHub
PreWorld arXiv
Semi-Supervised Vision-Centric 3D Occupancy World Model for Autonomous Driving ICLR 2025 - GitHub
OccProphet arXiv
OccProphet: Pushing Efficiency Frontier of Camera-Only 4D Occupancy Forecasting with Observer-Forecaster-Refiner Framework ICLR 2025 - GitHub
RenderWorld arXiv
RenderWorld: World Model with Self-Supervised 3D Label ICRA 2025 - -
Occ-LLM arXiv
Occ-LLM: Enhancing Autonomous Driving with Occupancy-Based Large Language Models ICRA 2025 - -
EfficientOCF arXiv
Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting CVPR 2025 - -
DIO arXiv
DIO: Decomposable Implicit 4D Occupancy-Flow World Model CVPR 2025 - -
T³Former arXiv
Temporal Triplane Transformers as Occupancy World Models arXiv 2025 - -
UniOcc arXiv
UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Driving ICCV 2025 Website GitHub
COME arXiv
COME: Adding Scene-Centric Forecasting Control to Occupancy World Model arXiv 2025 - GitHub
I²World arXiv
I²-World: Intra-Inter Tokenization for Efficient Dynamic 4D Scene Forecasting ICCV 2025 - GitHub
OmniNWM arXiv
OmniNWM: Omniscient Driving Navigation World Models arXiv 2025 - GitHub
SparseOccVLA arXiv
SparseOccVLA: Bridging Occupancy and Vision-Language Models via Sparse Queries for Unified 4D Scene Understanding and Planning arXiv 2026 - GitHub
GenieDrive arXiv
GenieDrive: Towards Physics-Aware Driving World Model with 4D Occupancy Guided Video Generation CVPR 2026 Website GitHub
OccTENS arXiv
OccTENS: 3D Occupancy World Model via Temporal Next-Scale Prediction arXiv 2025 - -
SparseWorld arXiv
SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries arXiv 2025 - -
IR-WM arXiv
Vision-Centric 4D Occupancy Forecasting and Planning via Implicit Residual World Models arXiv 2025 - -
ForecastOcc arXiv
ForecastOcc: Vision-based Semantic Occupancy Forecasting arXiv 2026 - -
GEM (Occ) arXiv
GEM: Gaussian Evolution Model for Occupancy Forecasting and Motion Planning arXiv 2026 - -
OWMDrive arXiv
OWMDrive: Causality-Aware End-to-End Autonomous Driving via 4D Occupancy World Model arXiv 2026 - -
CascadeOcc arXiv
CascadeOcc: Rethinking 3D Occupancy World Models with Cascaded VQ Representations arXiv 2026 - -

:three: Autoregressive Simulators

:timer_clock: In chronological order, from the earliest to the latest.

Model Paper Venue Website GitHub
SemCity arXiv
SemCity: Semantic Scene Generation with Triplane Diffusion CVPR 2024 Website GitHub
XCube arXiv
XCube: Large-Scale 3D Generative Modeling using Sparse Voxel Hierarchies CVPR 2024 Website GitHub
PDD arXiv
Pyramid Diffusion for Fine 3D Large Scene Generation ECCV 2024 Website GitHub
OccSora arXiv
OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Driving arXiv 2024 Website GitHub
DynamicCity arXiv
DynamicCity: Large-Scale 4D Occupancy Generation from Dynamic Scenes ICLR 2025 Website GitHub
DrivingSphere arXiv
DrivingSphere: Building A High-Fidelity 4D World for Closed-Loop Simulation CVPR 2025 Website GitHub
InfiniCube arXiv
InfiniCube: Unbounded and Controllable Dynamic 3D Driving Scene Generation with World-Guided Video Models ICCV 2025 Website GitHub
X-Scene arXiv
X-Scene: Large-Scale Driving Scene Generation with High Fidelity and Flexible Controllability arXiv 2025 Website GitHub
PrITTI arXiv
PrITTI: Primitive-Based Generation of Controllable and Editable 3D Semantic Scenes arXiv 2025 Website GitHub
OccSim arXiv
OccSim: Multi-kilometer Simulation with Long-horizon Occupancy World Models arXiv 2026 - -
AutoWorld arXiv
AutoWorld: Scaling Multi-Agent Traffic Simulation with Self-Supervised World Models arXiv 2026 - -
OccDirector arXiv
OccDirector: Language-Guided Behavior and Interaction Generation in 4D Occupancy Space arXiv 2026 - -

4. World Modeling from LiDAR Generation

:one: Data Engines

:timer_clock: In chronological order, from the earliest to the latest.

Model Paper Venue Website GitHub
LiDAR4D-Anno arXiv
Bootstrapping a 4D LiDAR Annotation Tool from Video Foundation Models arXiv 2026 - -
DUSty arXiv
Learning to Drop Points for LiDAR Scan Synthesis IROS 2021 Website GitHub
LiDARGen arXiv
Learning to Generate Realistic LiDAR Point Clouds ECCV 2022 - GitHub
DUSty v2 arXiv
Generative Range Imaging for Learning Scene Priors of 3D LiDAR Data WACV 2023 Website GitHub
UltraLiDAR arXiv
UltraLiDAR: Learning Compact Representations for LiDAR Completion and Generation CVPR 2023 Website -
Copilot4D arXiv
Copilot4D: Learning Unsupervised World Models for Autonomous Driving via Discrete Diffusion ICLR 2024 Website -
R2DM arXiv
LiDAR Data Synthesis with Denoising Diffusion Probabilistic Models ICRA 2024 Website GitHub
ViDAR arXiv
Visual Point Cloud Forecasting enables Scalable Autonomous Driving CVPR 2024 - GitHub
LiDiff arXiv
Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion CVPR 2024 - GitHub
LiDM arXiv
Towards Realistic Scene Generation with LiDAR Diffusion Models CVPR 2024 - GitHub
RangeLDM arXiv
RangeLDM: Fast Realistic LiDAR Point Cloud Generation ECCV 2024 - GitHub
Text2LiDAR arXiv
Text2LiDAR: Text-Guided LiDAR Point Cloud Generation via Equirectangular Transformer ECCV 2024 - GitHub
LiDARGRIT arXiv
Taming Transformers for Realistic LiDAR Point Cloud Generation arXiv 2024 - GitHub
BEVWorld arXiv
BEVWorld: A Multimodal World Simulator for Autonomous Driving via Scene-Level BEV Latents arXiv 2024 - GitHub
SDS arXiv
Simultaneous Diffusion Sampling for Conditional LiDAR Generation arXiv 2024 - -
DiffSSC arXiv
DiffSSC: Semantic LiDAR Scan Completion using Denoising Diffusion Probabilistic Models IROS 2025 - -
HoloDrive arXiv
HoloDrive: Holistic 2D-3D Multi-Modal Street Scene Generation for Autonomous Driving arXiv 2024 - -
LOGen arXiv
LOGen: Toward LiDAR Object Generation by Point Diffusion arXiv 2024 Website [GitHub](https://github.com/valeoai