# DISK: Dynamic Inference SKipping for World Models

arXiv: https://arxiv.org/abs/2602.00440 · HTML: https://mlsanity.com/paper/2602.00440/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Video-generation world models and simulators, one of 11 directions in World models.
- Builds on 5 of its 48 references that are in the map.
- First posted on arXiv 31 Jan 2026.

## Placed in

- World models / [Video-generation world models and simulators](https://mlsanity.com/wm/video-generation-world-models-and-simulators/)
- Diffusion models / [Video generation](https://mlsanity.com/diffusion/video-generation/)

## Builds on (most cited first, 5 of 5)

- [Accelerating Diffusion Models via Early Stop of the Diffusion Process](https://mlsanity.com/paper/2205.12524/) (2022)
- [xDiT: an Inference Engine for Diffusion Transformers (DiTs) with Massive Parallelism](https://mlsanity.com/paper/2411.01738/) (2024)
- [Doe-1: Closed-Loop Autonomous Driving with Large World Model](https://mlsanity.com/paper/2412.09627/) (2024)
- [Training-free Diffusion Acceleration with Bottleneck Sampling](https://mlsanity.com/paper/2503.18940/) (2025)
- [AdaDiff: Accelerating Diffusion Models through Step-Wise Adaptive Computation](https://mlsanity.com/paper/2309.17074/) (2023)

## Abstract (arXiv)

We present DISK, a training-free adaptive inference method for autoregressive world models. DISK coordinates two coupled diffusion transformers for video and ego-trajectory via dual-branch controllers with cross-modal skip decisions, preserving motion-appearance consistency without retraining. We extend higher-order latent-difference skip testing to the autoregressive chain-of-forward regime and propagate controller statistics through rollout loops for long-horizon stability. When integrated into closed-loop driving rollouts on 1500 NuPlan and NuScenes samples using an NVIDIA L40S GPU, DISK achieves 2x speedup on trajectory diffusion and 1.6x speedup on video diffusion while maintaining L2 planning error, visual quality (FID/FVD), and NAVSIM PDMS scores, demonstrating practical long-horizon video-and-trajectory prediction at substantially reduced cost.