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SV-WAM: An Efficient Surround-View World-Action Model for End-to-End Autonomous Driving

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

World models (WMs) have demonstrated strong potential for end-to-end autonomous driving by learning predictive representations of future scene dynamics. However, generating future videos during inference introduces substantial computational overhead, leading many recent driving WMs to adopt a single front camera as input for efficient deployment. This design restricts spatial coverage in safety-critical maneuvers such as lane changes, merges, and turns. To address this limitation, we propose SV-WAM, a surround-view world-action model (WAM) that preserves full six-camera observations while main

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