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arXiv · 2602.20685

RAYNOVA: Scale-Temporal Autoregressive World Modeling in Ray Space

Yichen Xie·Chensheng Peng·Mazen Abdelfattah·Yihan Hu·Jiezhi Yang·Eric Higgins·Ryan Brigden·Masayoshi Tomizuka·Wei Zhan
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Abstract

World foundation models aim to simulate the evolution of the real world with physically plausible behavior. Unlike prior methods that handle spatial and temporal correlations separately, we propose RAYNOVA, a geometry-agonistic multiview world model for driving scenarios that employs a dual-causal autoregressive framework. It follows both scale-wise and temporal topological orders in the autoregressive process, and leverages global attention for unified 4D spatio-temporal reasoning. Different from existing works that impose strong 3D geometric priors, RAYNOVA constructs an isotropic spatio-temporal representation across views, frames, and scales based on relative Plücker-ray positional encoding, enabling robust generalization to diverse camera setups and ego motions. We further introduce a recurrent training paradigm to alleviate distribution drift in long-horizon video generation. RAYNOVA achieves state-of-the-art multi-view video generation results on nuScenes, while offering higher throughput and strong controllability under diverse input conditions, generalizing to novel views and camera configurations without explicit 3D scene representation. Our code will be released at https://raynova-ai.github.io/.

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Yichen Xie, Chensheng Peng, Mazen Abdelfattah, Yihan Hu, Jiezhi Yang, Eric Higgins, Ryan Brigden, Masayoshi Tomizuka, Wei Zhan. 2026-02-25. RAYNOVA: Scale-Temporal Autoregressive World Modeling in Ray Space. https://arxiv.org/abs/2602.20685

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