# Generative simulation for driving

Area: [End-to-end autonomous driving](https://mlsanity.com/driving/index.md). HTML: https://mlsanity.com/driving/generative-simulation-for-driving/

## Key facts

- Generative simulation for driving: 255 papers on arXiv since 2021 (data through 7 Oct 2026).
- 64 of its 255 mapped papers (25%) cite “GAIA-1: A Generative World Model for Autonomous Driving” (2023, arXiv 2309.17080).
- 56 of its 255 mapped papers (22%) cite “Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability” (2024, arXiv 2405.17398).
- 18 new papers 17 Sep–7 Oct.

## Most cited here

- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023), cited by 64 papers here
- [Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability](https://mlsanity.com/paper/2405.17398/) (2024), cited by 56 papers here
- [Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving](https://mlsanity.com/paper/2311.17918/) (2023), cited by 55 papers here
- [Epona: Autoregressive Diffusion World Model for Autonomous Driving](https://mlsanity.com/paper/2506.24113/) (2025), cited by 39 papers here
- [DriveDreamer-2: LLM-Enhanced World Models for Diverse Driving Video Generation](https://mlsanity.com/paper/2403.06845/) (2024), cited by 35 papers here
- [GenAD: Generative End-to-End Autonomous Driving](https://mlsanity.com/paper/2402.11502/) (2024), cited by 32 papers here
- [DriveDreamer: Towards Real-world-driven World Models for Autonomous Driving](https://mlsanity.com/paper/2309.09777/) (2023), cited by 30 papers here
- [OccWorld: Learning a 3D Occupancy World Model for Autonomous Driving](https://mlsanity.com/paper/2311.16038/) (2023), cited by 30 papers here
- [DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving](https://mlsanity.com/paper/2510.12796/) (2025), cited by 29 papers here
- [DriveArena: A Closed-loop Generative Simulation Platform for Autonomous Driving](https://mlsanity.com/paper/2408.00415/) (2024), cited by 24 papers here

## New (17 Sep–7 Oct)

- [Controllable and Photorealistic Pedestrian Risky Motion Generation for End-to-End Driving Safety Evaluation](https://mlsanity.com/paper/2610.06171/) (2026-10-05)
- [MomWorld: Momentum-Aware Latent World Model for Long-Horizon Autonomous Driving](https://mlsanity.com/paper/2609.33737/) (2026-09-30)
- [PhysWAM: Physically Consistent World Action Model for Autonomous Driving](https://mlsanity.com/paper/2609.37970/) (2026-09-29)
- [World4Scorer: Outcome-Grounded World Modeling for Autonomous Driving](https://mlsanity.com/paper/2609.36438/) (2026-09-29)
- [CoDrive: Cross-Vehicle World-Consistent Video Generation with Precise Trajectory Control for Cooperative Driving](https://mlsanity.com/paper/2609.34749/) (2026-09-28)
- [AD-E2E-JEPA: A Joint-Embedding Predictive Architecture For End-to-End Autonomous Driving](https://mlsanity.com/paper/2609.34085/) (2026-09-28)
- [ReDrive: Shaping Representations with World Modeling for End-to-End Driving](https://mlsanity.com/paper/2609.33854/) (2026-09-27)
- [VehDyn: A Driving World Model Benchmark for Vehicle Dynamics](https://mlsanity.com/paper/2609.33264/) (2026-09-27)
- [OneFixer: High-Quality and Consistent One-Step Autoregressive 3DGS Refinement for Driving Scenes](https://mlsanity.com/paper/2609.32175/) (2026-09-26)
- [RECAST: From Log Replay to Closed-Loop Driving Simulation with View-Complete Actors](https://mlsanity.com/paper/2609.31374/) (2026-09-25)
- [WALT: Learning World-Model-Aligned Latent Trajectories for Autonomous Driving](https://mlsanity.com/paper/2609.30436/) (2026-09-24)
- [HelloWorld: Towards Practical Applications of Generative Driving World Models](https://mlsanity.com/paper/2609.28931/) (2026-09-24)
- [DreamStream: Towards Policy-Oriented Generative Simulation for End-to-End Driving](https://mlsanity.com/paper/2609.26792/) (2026-09-22)
- [ForeDrive: Foresight-Guided End-to-End Autonomous Driving with a Planning-Relevant Latent World Model](https://mlsanity.com/paper/2609.26299/) (2026-09-22)
- [Relationally Grounded Latent World Models for Autonomous Driving](https://mlsanity.com/paper/2609.24626/) (2026-09-21)
- [DriveReferee: Geometric Safety Verdicts Need Not Be Learned for Driving World-Action Models](https://mlsanity.com/paper/2609.22762/) (2026-09-19)
- [ZYT-World: A Real-Time Controllable World Model for Closed-Loop Autonomous-Driving Simulation](https://mlsanity.com/paper/2609.21712/) (2026-09-18)
- [MM-Future: Multi-Mode Joint World-Action Modeling for Autonomous Driving](https://mlsanity.com/paper/2609.20377/) (2026-09-17)