This repository provides a curated list of papers for World Models for General Video Generation, Embodied AI, and Autonomous Driving. Template from Awesome-LLM-Robotics and Awesome-World-Model
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- Foundation paper of World Model
- Blog or Technical Report
- Surveys
- Benchmarks
- General World Models
- World Models for Embodied AI
- World Models for Autonomous Driving
- Citation
1X Technologies, 1X World Model. [Blog]Runway, Introducing General World Models. [Blog]Wayve, Introducing GAIA-1: A Cutting-Edge Generative AI Model for Autonomy. [Paper] [Blog]Yann LeCun, A Path Towards Autonomous Machine Intelligence. [Paper]
- "Understanding World or Predicting Future? A Comprehensive Survey of World Models",
arXiv 2024.11. [Paper] - "World Models: The Safety Perspective",
ISSRE WDMD. [Paper] - "Exploring the Interplay Between Video Generation and World Models in Autonomous Driving: A Survey",
arXiv 2024.11. [Paper] - "From Efficient Multimodal Models to World Models: A Survey",
arXiv 2024.07. [Paper] - "Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI",
arXiv 2024.07. [Paper] [Code] - "Is Sora a World Simulator? A Comprehensive Survey on General World Models and Beyond",
arXiv 2024.05. [Paper] [Code] - "World Models for Autonomous Driving: An Initial Survey",
TIV. [Paper] - "A survey on multimodal large language models for autonomous driving",
WACVW 2024. [Paper] [Code]
- ACT-Bench: "ACT-Bench: Towards Action Controllable World Models for Autonomous Driving",
arxiv 2024.12. [Paper] - WorldSimBench: "WorldSimBench: Towards Video Generation Models as World Simulators",
arxiv 2024.10. [Paper] [Website] - EVA: "EVA: An Embodied World Model for Future Video Anticipation",
arxiv 2024.10. [Paper] [Website] - AeroVerse: "AeroVerse: UAV-Agent Benchmark Suite for Simulating, Pre-training, Finetuning, and Evaluating Aerospace Embodied World Models",
arxiv 2024.08. [Paper] - CityBench: "CityBench: Evaluating the Capabilities of Large Language Model as World Model",
arXiv 2024.6. [Paper] [Code] - "Imagine the Unseen World: A Benchmark for Systematic Generalization in Visual World Models",
NIPS 2023. [Paper]
- "Towards Physically Interpretable World Models: Meaningful Weakly Supervised Representations for Visual Trajectory Prediction",
arXiv 2024.12. [Paper] - "Transformers Use Causal World Models in Maze-Solving Tasks",
arXiv 2024.12. [Paper] - "Causal World Representation in the GPT Model",
NIPS 2024 Workshop. [Paper] - Owl-1: "Owl-1: Omni World Model for Consistent Long Video Generation",
arXiv 2024.12. [Paper] - "Navigation World Models",
arXiv 2024.12. [Paper] [Website] - "Evaluating World Models with LLM for Decision Making",
arXiv 2024.11. [Paper] - LLMPhy: "LLMPhy: Complex Physical Reasoning Using Large Language Models and World Models",
arXiv 2024.11. [Paper] - WebDreamer: "Is Your LLM Secretly a World Model of the Internet? Model-Based Planning for Web Agents",
arXiv 2024.11. [Paper] [Code] - "Scaling Laws for Pre-training Agents and World Models",
arXiv 2024.11. [Paper] - DINO-WM: "DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning",
arXiv 2024.11. [Paper] [Website] - "Learning World Models for Unconstrained Goal Navigation",
NIPS 2024. [Paper] - "How Far is Video Generation from World Model: A Physical Law Perspective",
arXiv 2024.11. [Paper] [Website] [Code] - Adaptive World Models: "Adaptive World Models: Learning Behaviors by Latent Imagination Under Non-Stationarity",
NIPS 2024 Workshop Adaptive Foundation Models. [Paper] - LLMCWM: "Language Agents Meet Causality -- Bridging LLMs and Causal World Models",
arXiv 2024.10. [Paper] [Code] - "Reward-free World Models for Online Imitation Learning",
arXiv 2024.10. [Paper] - "Web Agents with World Models: Learning and Leveraging Environment Dynamics in Web Navigation",
arXiv 2024.10. [Paper] - AVID: "AVID: Adapting Video Diffusion Models to World Models",
arXiv 2024.10. [Paper] [Code] - SMAC: "Grounded Answers for Multi-agent Decision-making Problem through Generative World Model",
NeurIPS 2024. [Paper] - OSWM: "One-shot World Models Using a Transformer Trained on a Synthetic Prior",
arXiv 2024.9. [Paper] - "Making Large Language Models into World Models with Precondition and Effect Knowledge",
arXiv 2024.9. [Paper] - "Efficient Exploration and Discriminative World Model Learning with an Object-Centric Abstraction",
arXiv 2024.8. [Paper] - MoReFree: "World Models Increase Autonomy in Reinforcement Learning",
arXiv 2024.8. [Paper] [Project] - UrbanWorld: "UrbanWorld: An Urban World Model for 3D City Generation",
arXiv 2024.7. [Paper] - PWM: "PWM: Policy Learning with Large World Models",
arXiv 2024.7. [Paper] [Code] - "Predicting vs. Acting: A Trade-off Between World Modeling & Agent Modeling",
arXiv 2024.7. [Paper] - GenRL: "GenRL: Multimodal foundation world models for generalist embodied agents",
arXiv 2024.6. [Paper] [Code] - DLLM: "World Models with Hints of Large Language Models for Goal Achieving",
arXiv 2024.6. [Paper] - "Cognitive Map for Language Models: Optimal Planning via Verbally Representing the World Model",
arXiv 2024.6. [Paper] - CoDreamer: "CoDreamer: Communication-Based Decentralised World Models",
arXiv 2024.6. [Paper] - Pandora: "Pandora: Towards General World Model with Natural Language Actions and Video States",
arXiv 2024.6. [Paper] [Code] - EBWM: "Cognitively Inspired Energy-Based World Models",
arXiv 2024.6. [Paper] - "Evaluating the World Model Implicit in a Generative Model",
arXiv 2024.6. [Paper] [Code] - "Transformers and Slot Encoding for Sample Efficient Physical World Modelling",
arXiv 2024.5. [Paper] [Code] - Puppeteer: "Hierarchical World Models as Visual Whole-Body Humanoid Controllers",
arXiv 2024.5. [Paper] [Code] - BWArea Model: "BWArea Model: Learning World Model, Inverse Dynamics, and Policy for Controllable Language Generation",
arXiv 2024.5. [Paper] - WKM: "Agent Planning with World Knowledge Model",
arXiv 2024.5. [Paper] [Code] - Diamond: "Diffusion for World Modeling: Visual Details Matter in Atari",
arXiv 2024.5. [Paper] [Code] - "Compete and Compose: Learning Independent Mechanisms for Modular World Models",
arXiv 2024.4. [Paper] - "Dreaming of Many Worlds: Learning Contextual World Models Aids Zero-Shot Generalization",
arXiv 2024.3. [Paper] [Code] - V-JEPA: "V-JEPA: Video Joint Embedding Predictive Architecture",
Meta AI. [Blog] [Paper] [Code] - IWM: "Learning and Leveraging World Models in Visual Representation Learning",
Meta AI. [Paper] - Genie: "Genie: Generative Interactive Environments",
DeepMind. [Paper] [Blog] - Sora: "Video generation models as world simulators",
OpenAI. [Technical report] - LWM: "World Model on Million-Length Video And Language With RingAttention",
arXiv 2024.2. [Paper] [Code] - "Planning with an Ensemble of World Models",
OpenReview. [Paper] - WorldDreamer: "WorldDreamer: Towards General World Models for Video Generation via Predicting Masked Tokens",
arXiv 2024.1. [Paper] [Code] - CWM: "Understanding Physical Dynamics with Counterfactual World Modeling",
ECCV 2024. [Paper] [Code] - Δ-IRIS: "Efficient World Models with Context-Aware Tokenization",
ICML 2024. [Paper] [Code] - LLM-Sim: "Can Language Models Serve as Text-Based World Simulators?",
ACL. [Paper] [Code] - AD3: "AD3: Implicit Action is the Key for World Models to Distinguish the Diverse Visual Distractors",
ICML 2024. [Paper] - MAMBA: "MAMBA: an Effective World Model Approach for Meta-Reinforcement Learning",
ICLR 2024. [Paper] [Code] - R2I: "Mastering Memory Tasks with World Models",
ICLR 2024. [Paper] [Website] [Code] - HarmonyDream: "HarmonyDream: Task Harmonization Inside World Models",
ICML 2024. [Paper] [Code] - REM: "Improving Token-Based World Models with Parallel Observation Prediction",
ICML 2024. [Paper] [Code] - "Do Transformer World Models Give Better Policy Gradients?"",
ICML 2024. [Paper] - DreamSmooth: "DreamSmooth: Improving Model-based Reinforcement Learning via Reward Smoothing",
ICLR 2024. [Paper] - TD-MPC2: "TD-MPC2: Scalable, Robust World Models for Continuous Control",
ICLR 2024. [Paper] [Torch Code] - Hieros: "Hieros: Hierarchical Imagination on Structured State Space Sequence World Models",
ICML 2024. [Paper] - CoWorld: "Making Offline RL Online: Collaborative World Models for Offline Visual Reinforcement Learning",
NeurIPS 2024. [Paper]
- Dream to Manipulate: "Dream to Manipulate: Compositional World Models Empowering Robot Imitation Learning with Imagination",
arXiv 2024.12. [Paper] [Website] - WHALE: "WHALE: Towards Generalizable and Scalable World Models for Embodied Decision-making",
arXiv 2024.11. [Paper] - VisualPredicator: "VisualPredicator: Learning Abstract World Models with Neuro-Symbolic Predicates for Robot Planning",
arXiv 2024.10. [Paper] - "Multi-Task Interactive Robot Fleet Learning with Visual World Models",
CoRL 2024. [Paper] [Code] - X-MOBILITY: "X-MOBILITY: End-To-End Generalizable Navigation via World Modeling",
arXiv 2024.10. [Paper] - PIVOT-R: "PIVOT-R: Primitive-Driven Waypoint-Aware World Model for Robotic Manipulation",
NeurIPS 2024. [Paper] - GLIMO: "Grounding Large Language Models In Embodied Environment With Imperfect World Models",
arXiv 2024.10. [Paper] - EVA: "EVA: An Embodied World Model for Future Video Anticipation",
arxiv 2024.10. [Paper] [Website] - PreLAR: "PreLAR: World Model Pre-training with Learnable Action Representation",
ECCV 2024. [Paper] [Code] - WMP: "World Model-based Perception for Visual Legged Locomotion",
arXiv 2024.9. [Paper] [Project] - R-AIF: "R-AIF: Solving Sparse-Reward Robotic Tasks from Pixels with Active Inference and World Models",
arXiv 2024.9. [Paper] - "Representing Positional Information in Generative World Models for Object Manipulation"
arXiv 2024.9[Paper] - DexSim2Real$^2$: "DexSim2Real$^2: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation",
arXiv 2024.9. [Paper] - DWL: "Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning",
RSS 2024 (Best Paper Award Finalist). [Paper] - "Physically Embodied Gaussian Splatting: A Realtime Correctable World Model for Robotics",
arXiv 2024.6. [Paper] [Website] - HRSSM: "Learning Latent Dynamic Robust Representations for World Models",
ICML 2024. [Paper] [Code] - RoboDreamer: "RoboDreamer: Learning Compositional World Models for Robot Imagination",
ICML 2024. [Paper] [Code] - COMBO: "COMBO: Compositional World Models for Embodied Multi-Agent Cooperation",
ECCV 2024. [Paper] [Website] [Code] - 3D-VLA: "3D-VLA: A 3D Vision-Language-Action Generative World Model",
ICML 2024. [Paper] - ManiGaussian: "ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation",
arXiv 2024.3. [Paper] [Code]
- "An Efficient Occupancy World Model via Decoupled Dynamic Flow and Image-assisted Training",
arXiv 2024.12. [Paper] - GEM: "GEM: A Generalizable Ego-Vision Multimodal World Model for Fine-Grained Ego-Motion, Object Dynamics, and Scene Composition Control",
arXiv 2024.12. [Paper] [Project Page] - GaussianWorld: "GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Prediction",
arXiv 2024.12. [Paper] [Code] - Doe-1: "Doe-1: Closed-Loop Autonomous Driving with Large World Model",
arXiv 2024.12. [Paper] [Project Page] [Code] - "Pysical Informed Driving World Model",
arXiv 2024.12. [Paper] [Project Page] - InfiniCube: "InfiniCube: Unbounded and Controllable Dynamic 3D Driving Scene Generation with World-Guided Video Models",
arXiv 2024.12. [Paper] [Project Page] - InfinityDrive: "InfinityDrive: Breaking Time Limits in Driving World Models",
arXiv 2024.12. [Paper] [Project Page] - ReconDreamer: "ReconDreamer: Crafting World Models for Driving Scene Reconstruction via Online Restoration",
arXiv 2024.11. [Paper] [Project Page] - Imagine-2-Drive: "Imagine-2-Drive: High-Fidelity World Modeling in CARLA for Autonomous Vehicles",
ICRA 2025. [Paper] [Project Page] - DriveDreamer4D: "World Models Are Effective Data Machines for 4D Driving Scene Representation",
arXiv 2024.10. [Paper] [Project Page] - DOME: "Taming Diffusion Model into High-Fidelity Controllable Occupancy World Model",
arXiv 2024.10. [Paper] [Project Page] - SSR: "Does End-to-End Autonomous Driving Really Need Perception Tasks?",
arXiv 2024.9. [Paper] [Code] - "Mitigating Covariate Shift in Imitation Learning for Autonomous Vehicles Using Latent Space Generative World Models",
arXiv 2024.9. [Paper] - LatentDriver: "Learning Multiple Probabilistic Decisions from Latent World Model in Autonomous Driving",
arXiv 2024.9. [Paper] [Code] - RenderWorld: "World Model with Self-Supervised 3D Label",
arXiv 2024.9. [Paper] - OccLLaMA: "An Occupancy-Language-Action Generative World Model for Autonomous Driving",
arXiv 2024.9. [Paper] - DriveGenVLM: "Real-world Video Generation for Vision Language Model based Autonomous Driving",
arXiv 2024.8. [Paper] - Drive-OccWorld: "Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving",
arXiv 2024.8. [Paper] - CarFormer: "Self-Driving with Learned Object-Centric Representations",
ECCV 2024. [Paper] [Code] - BEVWorld: "A Multimodal World Model for Autonomous Driving via Unified BEV Latent Space",
arXiv 2024.7. [Paper] [Code] - TOKEN: "Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving",
arXiv 2024.7. [Paper] - UMAD: "Unsupervised Mask-Level Anomaly Detection for Autonomous Driving",
arXiv 2024.6. [Paper] - SimGen: "Simulator-conditioned Driving Scene Generation",
arXiv 2024.6. [Paper] [Code] - AdaptiveDriver: "Planning with Adaptive World Models for Autonomous Driving",
arXiv 2024.6. [Paper] [Code] - UnO: "Unsupervised Occupancy Fields for Perception and Forecasting",
CVPR 2024. [Paper] [Code] - LAW: "Enhancing End-to-End Autonomous Driving with Latent World Model",
arXiv 2024.6. [Paper] [Code] - Delphi: "Unleashing Generalization of End-to-End Autonomous Driving with Controllable Long Video Generation",
arXiv 2024.6. [Paper] [Code] - OccSora: "4D Occupancy Generation Models as World Simulators for Autonomous Driving",
arXiv 2024.5. [Paper] [Code] - MagicDrive3D: "Controllable 3D Generation for Any-View Rendering in Street Scenes",
arXiv 2024.5. [Paper] [Code] - Vista: "A Generalizable Driving World Model with High Fidelity and Versatile Controllability",
NeurIPS 2024. [Paper] [Code] - CarDreamer: "Open-Source Learning Platform for World Model based Autonomous Driving",
arXiv 2024.5. [Paper] [Code] - DriveSim: "Probing Multimodal LLMs as World Models for Driving",
arXiv 2024.5. [Paper] [Code] - DriveWorld: "4D Pre-trained Scene Understanding via World Models for Autonomous Driving",
CVPR 2024. [Paper] - LidarDM: "Generative LiDAR Simulation in a Generated World",
arXiv 2024.4. [Paper] [Code] - SubjectDrive: "Scaling Generative Data in Autonomous Driving via Subject Control",
arXiv 2024.3. [Paper] [Project] - DriveDreamer-2: "LLM-Enhanced World Models for Diverse Driving Video Generation",
arXiv 2024.3. [Paper] [Code] - Think2Drive: "Efficient Reinforcement Learning by Thinking in Latent World Model for Quasi-Realistic Autonomous Driving",
ECCV 2024. [Paper] - MARL-CCE: "Modelling Competitive Behaviors in Autonomous Driving Under Generative World Model",
ECCV 2024. [Paper] [Code] - GenAD: "Generalized Predictive Model for Autonomous Driving",
CVPR 2024. [Paper] [Data] - GenAD: "Generative End-to-End Autonomous Driving",
ECCV 2024. [Paper] [Code] - NeMo: "Neural Volumetric World Models for Autonomous Driving",
ECCV 2024. [Paper] - MARL-CCE: "Modelling-Competitive-Behaviors-in-Autonomous-Driving-Under-Generative-World-Model",
ECCV 2024. [Code] - ViDAR: "Visual Point Cloud Forecasting enables Scalable Autonomous Driving",
CVPR 2024. [Paper] [Code] - Drive-WM: "Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving",
CVPR 2024. [Paper] [Code] - Cam4DOCC: "Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications",
CVPR 2024. [Paper] [Code] - Panacea: "Panoramic and Controllable Video Generation for Autonomous Driving",
CVPR 2024. [Paper] [Code] - OccWorld: "Learning a 3D Occupancy World Model for Autonomous Driving",
ECCV 2024. [Paper] [Code] - Copilot4D: "Learning Unsupervised World Models for Autonomous Driving via Discrete Diffusion",
ICLR 2024. [Paper] - DrivingDiffusion: "Layout-Guided multi-view driving scene video generation with latent diffusion model",
ECCV 2024. [Paper] [Code] - SafeDreamer: "Safe Reinforcement Learning with World Models",
ICLR 2024. [Paper] [Code] - MagicDrive: "Street View Generation with Diverse 3D Geometry Control",
ICLR 2024. [Paper] [Code] - DriveDreamer: "Towards Real-world-driven World Models for Autonomous Driving",
ECCV 2024. [Paper] [Code] - SEM2: "Enhance Sample Efficiency and Robustness of End-to-end Urban Autonomous Driving via Semantic Masked World Model",
TITS. [Paper]
If you find this repository useful, please consider citing this list:
@misc{leo2024worldmodelspaperslist,
title = {Awesome-World-Models},
author = {Leo Fan},
journal = {GitHub repository},
url = {https://github.com/leofan90/Awesome-World-Models},
year = {2024},
}