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ZYT-World: A Real-Time Controllable World Model for Closed-Loop Autonomous-Driving Simulation

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Generative world models offer controllable and repeatable closed-loop simulation for end-to-end and vision-language-action driving policies, but production deployment exposes three unresolved requirements: faithfully reproducing a mixed fisheye-pinhole rig at native resolutions; reconciling causal, per-timestep interaction with long-horizon stability and low latency; and preserving scene identity when a location is revisited. We present ZYT-World, a single architecture that natively generates four fisheye views with field of view > 180° and three pinhole views. Projection-specific Plucker adap

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