SOURCE-LINKED INTELLIGENCE
PV-WM: A Heterogeneous Micro-Macro World Model for Articulated Pedestrian-Vehicle Co-Rollout
Local pedestrian-vehicle forecasting spans heterogeneous physical scales: pedestrians combine root locomotion with articulated motion, whereas vehicles are rigid bodies described by kinematic state and oriented extent. Existing road-agent forecasters typically omit pedestrian articulation, while pose forecasters leave vehicle futures outside the learned rollout. We introduce PV-WM, a history-only world model over structured post-perception tracks. It recurrently advances pedestrian root motion, 15-joint articulation, and learned vehicle states within a synchronized heterogeneous state. The gen
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-07T10:45:26.000Z
First collected: 2026-09-20T20:52:10.320Z. This is not the publication date.