# Bridging Scene Generation and Planning: Driving with World Model via Unifying Vision and Motion Representation

arXiv: https://arxiv.org/abs/2603.14948 · HTML: https://mlsanity.com/paper/2603.14948/

## Key facts

- Cited by 13 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 57 of its 61 references that are in the map.
- First posted on arXiv 16 Mar 2026.

## 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 57)

- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [CogVideoX: Text-to-Video Diffusion Models with An Expert Transformer](https://mlsanity.com/paper/2408.06072/) (2024)
- [Towards Accurate Generative Models of Video: A New Metric & Challenges](https://mlsanity.com/paper/1812.01717/) (2018)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [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)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving](https://mlsanity.com/paper/2205.15997/) (2022)
- [NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking](https://mlsanity.com/paper/2406.15349/) (2024)
- [Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability](https://mlsanity.com/paper/2405.17398/) (2024)
- [DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving](https://mlsanity.com/paper/2411.15139/) (2024)
- [Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving](https://mlsanity.com/paper/2311.17918/) (2023)
- [VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning](https://mlsanity.com/paper/2402.13243/) (2024)
- [Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation](https://mlsanity.com/paper/2406.06978/) (2024)
- [Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?](https://mlsanity.com/paper/2312.03031/) (2023)
- [SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representation](https://mlsanity.com/paper/2405.19620/) (2024)
- [OccWorld: Learning a 3D Occupancy World Model for Autonomous Driving](https://mlsanity.com/paper/2311.16038/) (2023)
- [Enhancing End-to-End Autonomous Driving with Latent World Model](https://mlsanity.com/paper/2406.08481/) (2024)
- [FutureSightDrive: Thinking Visually with Spatio-Temporal CoT for Autonomous Driving](https://mlsanity.com/paper/2505.17685/) (2025)
- [End-to-End Driving with Online Trajectory Evaluation via BEV World Model](https://mlsanity.com/paper/2504.01941/) (2025)
- [GenAD: Generalized Predictive Model for Autonomous Driving](https://mlsanity.com/paper/2403.09630/) (2024)
- [Pseudo-Simulation for Autonomous Driving](https://mlsanity.com/paper/2506.04218/) (2025)
- [DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving](https://mlsanity.com/paper/2510.12796/) (2025)
- [DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Driving](https://mlsanity.com/paper/2503.07656/) (2025)
- [Epona: Autoregressive Diffusion World Model for Autonomous Driving](https://mlsanity.com/paper/2506.24113/) (2025)
- [Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives](https://mlsanity.com/paper/2303.09824/) (2023)
- [UniScene: Unified Occupancy-centric Driving Scene Generation](https://mlsanity.com/paper/2412.05435/) (2024)
- [ADriver-I: A General World Model for Autonomous Driving](https://mlsanity.com/paper/2311.13549/) (2023)

## Built on by (most cited first, 13 of 13)

- [DriveWAM: Video Generative Priors Enable Scalable World-Action Modeling for Autonomous Driving](https://mlsanity.com/paper/2605.28544/) (2026)
- [CoWorld-VLA: Thinking in a Multi-Expert World Model for Autonomous Driving](https://mlsanity.com/paper/2605.10426/) (2026)
- [Metis: A Generalizable and Efficient World-Action Model for Autonomous Driving and Urban Navigation](https://mlsanity.com/paper/2606.15869/) (2026)
- [ChainFlow-VLA: Causal Flow Planning with Vision-Language Models](https://mlsanity.com/paper/2605.23270/) (2026)
- [Truncated Rectified Flow Policy for Reinforcement Learning with One-Step Sampling](https://mlsanity.com/paper/2604.09159/) (2026)
- [ReWorld: Representation Learning for World Action Models](https://mlsanity.com/paper/2606.27504/) (2026)
- [GeoWorldAD: Geometry World Action Model for Autonomous Driving](https://mlsanity.com/paper/2607.17521/) (2026)
- [Multi-Agent Embodied Autonomous Driving (MAEAD): From V2X Information Exchange to Shared World Models](https://mlsanity.com/paper/2606.13840/) (2026)
- [Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms](https://mlsanity.com/paper/2608.20111/) (2026)
- [WALT: Learning World-Model-Aligned Latent Trajectories for Autonomous Driving](https://mlsanity.com/paper/2609.30436/) (2026)
- [ReWAM: Reciprocal World Action Models for Interactive Autonomous Driving](https://mlsanity.com/paper/2609.39245/) (2026)
- [A Survey on End-to-End Autonomous Driving Training from the Perspectives of Data, Strategy, and Platform](https://mlsanity.com/paper/2610.00926/) (2026)
- [PlanWAM: Planning-Shaped Future Representations for End-to-End Autonomous Driving](https://mlsanity.com/paper/2610.11382/) (2026)

## Abstract (arXiv)

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving scene. However, existing driving world models primarily focus on visual scene representation, and motion representation is not explicitly designed to be planner-shared and inheritable, leaving a schism between the optimization of visual scene generation and the requirements of precise motion planning. We present WorldDrive, a holistic framework that couples scene generation and real-time planning via unifying vision and motion representation. We first introduce a Trajectory-aware Driving World Model, which conditions on a trajectory vocabulary to enforce consistency between visual dynamics and motion intentions, enabling the generation of diverse and plausible future scenes conditioned on a specific trajectory. We transfer the vision and motion encoders to a downstream Multi-modal Planner, ensuring the driving policy operates on mature representations pre-optimized by scene generation. A simple interaction between motion representation, visual representation, and ego status can generate high-quality, multi-modal trajectories. Furthermore, to exploit the world model's foresight, we propose a Future-aware Rewarder, which distills future latent representation from the frozen world model to evaluate and select optimal trajectories in real-time. Extensive experiments on the NAVSIM, NAVSIM-v2, and nuScenes benchmarks demonstrate that WorldDrive achieves leading planning performance among vision-only methods while maintaining high-fidelity action-controlled video generation capabilities, providing strong evidence for the effectiveness of unifying vision and motion representation for robust autonomous driving.