# FAR-Drive: Frame-AutoRegressive Video Generation in Closed-Loop Autonomous Driving

arXiv: https://arxiv.org/abs/2603.14938 · HTML: https://mlsanity.com/paper/2603.14938/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in Generative simulation for driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 52 of its 55 references that are in the map.
- First posted on arXiv 16 Mar 2026.

## Placed in

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

## Builds on (most cited first, 30 of 52)

- [Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformer](https://mlsanity.com/paper/1910.10683/) (2019)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Scaling Rectified Flow Transformers for High-Resolution Image Synthesis](https://mlsanity.com/paper/2403.03206/) (2024)
- [Wan: Open and Advanced Large-Scale Video Generative Models](https://mlsanity.com/paper/2503.20314/) (2025)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [HunyuanVideo: A Systematic Framework For Large Video Generative Models](https://mlsanity.com/paper/2412.03603/) (2024)
- [Towards Accurate Generative Models of Video: A New Metric & Challenges](https://mlsanity.com/paper/1812.01717/) (2018)
- [One-step Diffusion with Distribution Matching Distillation](https://mlsanity.com/paper/2311.18828/) (2023)
- [End to End Learning for Self-Driving Cars](https://mlsanity.com/paper/1604.07316/) (2016)
- [FLUX.1 Kontext: Flow Matching for In-Context Image Generation and Editing in Latent Space](https://mlsanity.com/paper/2506.15742/) (2025)
- [Scheduled Sampling for Sequence Prediction with Recurrent Neural Networks](https://mlsanity.com/paper/1506.03099/) (2015)
- [Deep Reinforcement Learning for Autonomous Driving: A Survey](https://mlsanity.com/paper/2002.00444/) (2020)
- [Improved Distribution Matching Distillation for Fast Image Synthesis](https://mlsanity.com/paper/2405.14867/) (2024)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [Self Forcing: Bridging the Train-Test Gap in Autoregressive Video Diffusion](https://mlsanity.com/paper/2506.08009/) (2025)
- [A Survey of Deep Learning Techniques for Autonomous Driving](https://mlsanity.com/paper/1910.07738/) (2019)
- [ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst](https://mlsanity.com/paper/1812.03079/) (2018)
- [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)
- [DriveDreamer: Towards Real-world-driven World Models for Autonomous Driving](https://mlsanity.com/paper/2309.09777/) (2023)
- [A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles](https://mlsanity.com/paper/1604.07446/) (2016)
- [MagicDrive: Street View Generation with Diverse 3D Geometry Control](https://mlsanity.com/paper/2310.02601/) (2023)
- [GenAD: Generative End-to-End Autonomous Driving](https://mlsanity.com/paper/2402.11502/) (2024)
- [Deep Compression Autoencoder for Efficient High-Resolution Diffusion Models](https://mlsanity.com/paper/2410.10733/) (2024)
- [Self-Forcing++: Towards Minute-Scale High-Quality Video Generation](https://mlsanity.com/paper/2510.02283/) (2025)
- [DriveDreamer-2: LLM-Enhanced World Models for Diverse Driving Video Generation](https://mlsanity.com/paper/2403.06845/) (2024)

## Built on by (most cited first, 3 of 3)

- [OpenLongTail: Generative Scaling of Long-Tail Driving Data](https://mlsanity.com/paper/2607.09655/) (2026)
- [ZYT-World: A Real-Time Controllable World Model for Closed-Loop Autonomous-Driving Simulation](https://mlsanity.com/paper/2609.21712/) (2026)
- [HelloWorld: Towards Practical Applications of Generative Driving World Models](https://mlsanity.com/paper/2609.28931/) (2026)

## Abstract (arXiv)

Despite rapid progress in autonomous driving, reliable training and evaluation of driving systems remain fundamentally constrained by the lack of scalable and interactive simulation environments. Recent generative video models achieve remarkable visual fidelity, yet most operate in open-loop settings and fail to support fine-grained frame-level interaction between agent actions and environment evolution. Building a learning-based closed-loop simulator for autonomous driving poses three major challenges: maintaining long-horizon temporal and cross-view consistency, mitigating autoregressive degradation under iterative self-conditioning, and satisfying low-latency inference constraints. In this work, we propose FAR-Drive, a frame-level autoregressive video generation framework for autonomous driving. We introduce a multi-view diffusion transformer with fine-grained structured control, enabling geometrically consistent multi-camera generation. To address long-horizon consistency and iterative degradation, we design a two-stage training strategy consisting of adaptive reference horizon conditioning and blend-forcing autoregressive training, which progressively improves consistency and robustness under self-conditioning. To meet low-latency interaction requirements, we further integrate system-level efficiency optimizations for inference acceleration. Experiments on the nuScenes dataset demonstrate that our method achieves state-of-the-art performance among existing closed-loop autonomous driving simulation approaches, while maintaining sub-second latency on a single GPU.