# RenderWorld: World Model with Self-Supervised 3D Label

arXiv: https://arxiv.org/abs/2409.11356 · HTML: https://mlsanity.com/paper/2409.11356/

## Key facts

- Cited by 46 papers in the map (data through 14 Oct 2026).
- Placed in World models for autonomous driving, one of 11 directions in World models.
- Builds on 48 of its 59 references that are in the map.
- First posted on arXiv 17 Sep 2024.

## Placed in

- World models / [World models for autonomous driving](https://mlsanity.com/wm/world-models-for-autonomous-driving/)
- End-to-end autonomous driving / [Generative simulation for driving](https://mlsanity.com/driving/generative-simulation-for-driving/)

## Builds on (most cited first, 30 of 48)

- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [End to End Learning for Self-Driving Cars](https://mlsanity.com/paper/1604.07316/) (2016)
- [BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation](https://mlsanity.com/paper/2205.13542/) (2022)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [Scaffold-GS: Structured 3D Gaussians for View-Adaptive Rendering](https://mlsanity.com/paper/2312.00109/) (2023)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [VAD: Vectorized Scene Representation for Efficient Autonomous Driving](https://mlsanity.com/paper/2303.12077/) (2023)
- [BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection](https://mlsanity.com/paper/2206.10092/) (2022)
- [DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models](https://mlsanity.com/paper/2402.12289/) (2024)
- [Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction](https://mlsanity.com/paper/2302.07817/) (2023)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning](https://mlsanity.com/paper/2207.07601/) (2022)
- [MonoScene: Monocular 3D Semantic Scene Completion](https://mlsanity.com/paper/2112.00726/) (2021)
- [BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detection](https://mlsanity.com/paper/2203.17054/) (2022)
- [Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving](https://mlsanity.com/paper/2304.14365/) (2023)
- [SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Driving](https://mlsanity.com/paper/2303.09551/) (2023)
- [BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervision](https://mlsanity.com/paper/2211.10439/) (2022)
- [OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction](https://mlsanity.com/paper/2304.05316/) (2023)
- [End-to-end Interpretable Neural Motion Planner](https://mlsanity.com/paper/2101.06679/) (2021)
- [FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Cameras](https://mlsanity.com/paper/2104.10490/) (2021)
- [OccWorld: Learning a 3D Occupancy World Model for Autonomous Driving](https://mlsanity.com/paper/2311.16038/) (2023)
- [Scene as Occupancy](https://mlsanity.com/paper/2306.02851/) (2023)
- [BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Driving](https://mlsanity.com/paper/2205.09743/) (2022)
- [FB-OCC: 3D Occupancy Prediction based on Forward-Backward View Transformation](https://mlsanity.com/paper/2307.01492/) (2023)

## Built on by (most cited first, 30 of 46)

- [GaussianFormer-2: Probabilistic Gaussian Superposition for Efficient 3D Occupancy Prediction](https://mlsanity.com/paper/2412.04384/) (2024)
- [A Comprehensive Survey on World Models for Embodied AI](https://mlsanity.com/paper/2510.16732/) (2025)
- [3D and 4D World Modeling: A Survey](https://mlsanity.com/paper/2509.07996/) (2025)
- [A Survey of World Models for Autonomous Driving](https://mlsanity.com/paper/2501.11260/) (2025)
- [HERMES: A Unified Self-Driving World Model for Simultaneous 3D Scene Understanding and Generation](https://mlsanity.com/paper/2501.14729/) (2025)
- [A Survey: Learning Embodied Intelligence from Physical Simulators and World Models](https://mlsanity.com/paper/2507.00917/) (2025)
- [Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis](https://mlsanity.com/paper/2506.11526/) (2025)
- [Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future](https://mlsanity.com/paper/2512.16760/) (2025)
- [The Role of World Models in Shaping Autonomous Driving: A Comprehensive Survey](https://mlsanity.com/paper/2502.10498/) (2025)
- [Medical SAM3: A Foundation Model for Universal Prompt-Driven Medical Image Segmentation](https://mlsanity.com/paper/2601.10880/) (2026)
- [3DSceneEditor: Controllable 3D Scene Editing with Gaussian Splatting](https://mlsanity.com/paper/2412.01583/) (2024)
- [QuadricFormer: Scene as Superquadrics for 3D Semantic Occupancy Prediction](https://mlsanity.com/paper/2506.10977/) (2025)
- [TR-DQ: Time-Rotation Diffusion Quantization](https://mlsanity.com/paper/2503.06564/) (2025)
- [GeoDrive: 3D Geometry-Informed Driving World Model with Precise Action Control](https://mlsanity.com/paper/2505.22421/) (2025)
- [An Efficient Occupancy World Model via Decoupled Dynamic Flow and Image-assisted Training](https://mlsanity.com/paper/2412.13772/) (2024)
- [Unifying Appearance Codes and Bilateral Grids for Driving Scene Gaussian Splatting](https://mlsanity.com/paper/2506.05280/) (2025)
- [COME: Adding Scene-Centric Forecasting Control to Occupancy World Model](https://mlsanity.com/paper/2506.13260/) (2025)
- [Four Principles for Physically Interpretable World Models](https://mlsanity.com/paper/2503.02143/) (2025)
- [Towards foundational LiDAR world models with efficient latent flow matching](https://mlsanity.com/paper/2506.23434/) (2025)
- [AGO: Adaptive Grounding for Open World 3D Occupancy Prediction](https://mlsanity.com/paper/2504.10117/) (2025)
- [ICM-Fusion: In-Context Meta-Optimized LoRA Fusion for Multi-Task Adaptation](https://mlsanity.com/paper/2508.04153/) (2025)
- [Occupancy World Model for Robots](https://mlsanity.com/paper/2505.05512/) (2025)
- [I2-World: Intra-Inter Tokenization for Efficient Dynamic 4D Scene Forecasting](https://mlsanity.com/paper/2507.09144/) (2025)
- [Semantic Causality-Aware Vision-Based 3D Occupancy Prediction](https://mlsanity.com/paper/2509.08388/) (2025)
- [Foundation Models for Autonomous Driving Perception: A Survey Through Core Capabilities](https://mlsanity.com/paper/2509.08302/) (2025)
- [Delta-Triplane Transformers as Occupancy World Models](https://mlsanity.com/paper/2503.07338/) (2025)
- [A Definition and Roadmap for World Models](https://mlsanity.com/paper/2607.06401/) (2026)
- [GM-MoE: Low-Light Enhancement with Gated-Mechanism Mixture-of-Experts](https://mlsanity.com/paper/2503.07417/) (2025)
- [WPT: World-to-Policy Transfer via Online World Model Distillation](https://mlsanity.com/paper/2511.20095/) (2025)
- [SparseWorld-TC: Trajectory-Conditioned Sparse Occupancy World Model](https://mlsanity.com/paper/2511.22039/) (2025)

## Abstract (arXiv)

End-to-end autonomous driving with vision-only is not only more cost-effective compared to LiDAR-vision fusion but also more reliable than traditional methods. To achieve a economical and robust purely visual autonomous driving system, we propose RenderWorld, a vision-only end-to-end autonomous driving framework, which generates 3D occupancy labels using a self-supervised gaussian-based Img2Occ Module, then encodes the labels by AM-VAE, and uses world model for forecasting and planning. RenderWorld employs Gaussian Splatting to represent 3D scenes and render 2D images greatly improves segmentation accuracy and reduces GPU memory consumption compared with NeRF-based methods. By applying AM-VAE to encode air and non-air separately, RenderWorld achieves more fine-grained scene element representation, leading to state-of-the-art performance in both 4D occupancy forecasting and motion planning from autoregressive world model.