提出场景中心控制框架,让自动驾驶世界模型更精准预测环境变化。
COME: Adding Scene-Centric Forecasting Control to Occupancy World Model
- 用场景坐标系分离车辆自身运动与环境变化,实现解耦建模。
- 在nuScenes-Occ3D上,相比SOTA方法提升26.3%(mIoU)。
- 适合做高精度交通场景预测与可控仿真研究的开发者使用。
世界模型对自动驾驶模拟环境动态和生成合成数据至关重要。现有方法难以区分自车运动(视角变化)与场景演化(智能体交互),导致预测效果不佳。本文提出将环境变化与自车运动解耦,利用场景中心坐标系构建新框架COME:先通过场景中心预测分支生成与自车无关、空间一致的未来特征,再用定制ControlNet将其转为场景条件特征,注入占用率世界模型中,实现更准确、可控制的未来占用预测。在nuScenes-Occ3D数据集上的实验表明,无论输入来源(真值、基于相机、融合)或预测时长(3秒、8秒),COME均显著优于当前最优方法。例如,在相同设置下,其mIoU指标比DOME提升26.3%,比UniScene提升23.7%。结果验证了解耦表示学习对提升世界模型时空预测保真度的有效性。代码与视频将在https://github.com/synsin0/COME发布。
原文摘要 · Abstract (English)
World models are critical for autonomous driving to simulate environmental dynamics and generate synthetic data. Existing methods struggle to disentangle ego-vehicle motion (perspective shifts) from scene evolvement (agent interactions), leading to suboptimal predictions. Instead, we propose to separate environmental changes from ego-motion by leveraging the scene-centric coordinate systems. In this paper, we introduce COME: a framework that integrates scene-centric forecasting Control into the Occupancy world ModEl. Specifically, COME first generates ego-irrelevant, spatially consistent future features through a scene-centric prediction branch, which are then converted into scene condition using a tailored ControlNet. These condition features are subsequently injected into the occupancy world model, enabling more accurate and controllable future occupancy predictions. Experimental results on the nuScenes-Occ3D dataset show that COME achieves consistent and significant improvements over state-of-the-art (SOTA) methods across diverse configurations, including different input sources (ground-truth, camera-based, fusion-based occupancy) and prediction horizons (3s and 8s). For example, under the same settings, COME achieves 26.3% better mIoU metric than DOME and 23.7% better mIoU metric than UniScene. These results highlight the efficacy of disentangled representation learning in enhancing spatio-temporal prediction fidelity for world models. Code and videos will be available at https://github.com/synsin0/COME.
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