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arXiv · 2605.24354

SparseWorld: Enhancing End-to-End Autonomous Driving via World Models with Sparse Scene Representation

Ruoyu Wang·Jingke Wang·Yukai Ma·Yuehao Huang·Shuangming Lei·Guanglin Xu·Aixue Ye·Yong Liu
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Abstract

Recently, world models have made significant progress in enhancing end-to-end driving systems through both future situation forecasting and improved scene understanding. However, existing driving world models are typically built upon dense scene representations, causing high computational costs and redundant information. In this paper, we present SparseWorld, a lightweight world model that focuses on predicting only the critical layout of the scene, enabling efficient future forecasting for end-to-end driving systems. SparseWorld first performs autoregressive rollout to forecast future map elements and surrounding agents, enabling the model to learn how driving scenarios evolve over time. It then leverages these predicted futures to refine downstream motion prediction and trajectory planning. Specifically, we propose a Sparse Dreamer that anticipates future instances in the latent space through joint temporal and spatial attention. By interacting with predicted future instances, the motion planner captures more accurate motion patterns and generates more informed and safety-aware trajectories. Extensive experiments demonstrate that SparseWorld significantly reduces collision risk and achieves state-of-the-art performance on the open-loop planning metrics of the nuScenes dataset with a collision rate of 0.05\%. Moreover, it substantially outperforms the baseline method in closed-loop planning metrics on the Bench2Drive benchmark. Supplementary material is available at the project page: https://wryzju.github.io/SparseWorld/.

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Ruoyu Wang, Jingke Wang, Yukai Ma, Yuehao Huang, Shuangming Lei, Guanglin Xu, Aixue Ye, Yong Liu. 2026-06-22. SparseWorld: Enhancing End-to-End Autonomous Driving via World Models with Sparse Scene Representation. https://arxiv.org/abs/2605.24354

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