# STAGE: A Stream-Centric Generative World Model for Long-Horizon Driving-Scene Simulation

arXiv: https://arxiv.org/abs/2506.13138 · HTML: https://mlsanity.com/paper/2506.13138/

## Key facts

- Cited by 5 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 27 of its 31 references that are in the map.
- First posted on arXiv 16 Jun 2025.

## 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, 27 of 27)

- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Rethinking the Inception Architecture for Computer Vision](https://mlsanity.com/paper/1512.00567/) (2015)
- [Elucidating the Design Space of Diffusion-Based Generative Models](https://mlsanity.com/paper/2206.00364/) (2022)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [Towards Accurate Generative Models of Video: A New Metric & Challenges](https://mlsanity.com/paper/1812.01717/) (2018)
- [VideoGPT: Video Generation using VQ-VAE and Transformers](https://mlsanity.com/paper/2104.10157/) (2021)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [Latent Video Diffusion Models for High-Fidelity Long Video Generation](https://mlsanity.com/paper/2211.13221/) (2022)
- [Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability](https://mlsanity.com/paper/2405.17398/) (2024)
- [Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving](https://mlsanity.com/paper/2311.17918/) (2023)
- [NuScenes-QA: A Multi-modal Visual Question Answering Benchmark for Autonomous Driving Scenario](https://mlsanity.com/paper/2305.14836/) (2023)
- [MagicDrive: Street View Generation with Diverse 3D Geometry Control](https://mlsanity.com/paper/2310.02601/) (2023)
- [StreamingT2V: Consistent, Dynamic, and Extendable Long Video Generation from Text](https://mlsanity.com/paper/2403.14773/) (2024)
- [NUWA-XL: Diffusion over Diffusion for eXtremely Long Video Generation](https://mlsanity.com/paper/2303.12346/) (2023)
- [Panacea: Panoramic and Controllable Video Generation for Autonomous Driving](https://mlsanity.com/paper/2311.16813/) (2023)
- [Model-Based Imitation Learning for Urban Driving](https://mlsanity.com/paper/2210.07729/) (2022)
- [GenAD: Generalized Predictive Model for Autonomous Driving](https://mlsanity.com/paper/2403.09630/) (2024)
- [FIFO-Diffusion: Generating Infinite Videos from Text without Training](https://mlsanity.com/paper/2405.11473/) (2024)
- [Generating Long Videos of Dynamic Scenes](https://mlsanity.com/paper/2206.03429/) (2022)
- [Street-View Image Generation from a Bird's-Eye View Layout](https://mlsanity.com/paper/2301.04634/) (2023)
- [BEVControl: Accurately Controlling Street-view Elements with Multi-perspective Consistency via BEV Sketch Layout](https://mlsanity.com/paper/2308.01661/) (2023)
- [MagicDrive-V2: High-Resolution Long Video Generation for Autonomous Driving with Adaptive Control](https://mlsanity.com/paper/2411.13807/) (2024)
- [World Models for Autonomous Driving: An Initial Survey](https://mlsanity.com/paper/2403.02622/) (2024)
- [GeoDiffusion: Text-Prompted Geometric Control for Object Detection Data Generation](https://mlsanity.com/paper/2306.04607/) (2023)
- [DreamForge: Motion-Aware Autoregressive Video Generation for Multi-View Driving Scenes](https://mlsanity.com/paper/2409.04003/) (2024)
- [Glad: A Streaming Scene Generator for Autonomous Driving](https://mlsanity.com/paper/2503.00045/) (2025)

## Built on by (most cited first, 5 of 5)

- [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)
- [Video Generation Models as World Models: Efficient Paradigms, Architectures and Algorithms](https://mlsanity.com/paper/2603.28489/) (2026)
- [HybridWorldSim: A Scalable and Controllable High-fidelity Simulator for Autonomous Driving](https://mlsanity.com/paper/2511.22187/) (2025)
- [FrozenDrive: Zero-Shot Text-Guided Driving Scene Generation and Data Augmentation with Parameter-Free Frozen Diffusion Model](https://mlsanity.com/paper/2606.20110/) (2026)

## Abstract (arXiv)

The generation of temporally consistent, high-fidelity driving videos over extended horizons presents a fundamental challenge in autonomous driving world modeling. Existing approaches often suffer from error accumulation and feature misalignment due to inadequate decoupling of spatio-temporal dynamics and limited cross-frame feature propagation mechanisms. To address these limitations, we present STAGE (Streaming Temporal Attention Generative Engine), a novel auto-regressive framework that pioneers hierarchical feature coordination and multi-phase optimization for sustainable video synthesis. To achieve high-quality long-horizon driving video generation, we introduce Hierarchical Temporal Feature Transfer (HTFT) and a novel multi-stage training strategy. HTFT enhances temporal consistency between video frames throughout the video generation process by modeling the temporal and denoising process separately and transferring denoising features between frames. The multi-stage training strategy is to divide the training into three stages, through model decoupling and auto-regressive inference process simulation, thereby accelerating model convergence and reducing error accumulation. Experiments on the Nuscenes dataset show that STAGE has significantly surpassed existing methods in the long-horizon driving video generation task. In addition, we also explored STAGE's ability to generate unlimited-length driving videos. We generated 600 frames of high-quality driving videos on the Nuscenes dataset, which far exceeds the maximum length achievable by existing methods.