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arXiv · 2608.00298

WM-Cov: Test Adequacy for Interactive World-Model-Style Autonomous Driving Simulation

Jianxun Cui·Ping Wu·Stanisa Peric·Marko Milojkovic·Vladan Devedzic
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Abstract

World models and generative simulators are emerging as interactive testing infrastructure for autonomous driving because they can react to the ego planner and produce counterfactual, rare, and safety-critical rollouts. This changes a test scenario from a fixed replayed trajectory into an interactive scenario family whose realized evolution depends on the planner under test. The unresolved question is therefore not only whether dangerous rollouts can be generated, but what valid closed-loop evidence is enough to support a specified testing intent and stopping decision. This paper formulates interactive world-model-style testing adequacy and introduces WM-Cov, a provider-agnostic evaluation layer that converts raw provider outputs into requested, realized, and valid evidence. WM-Cov reports adequacy through coverage growth, valid-failure discovery, failure-mode diversity, realism, artifact suppression, duplicate accounting, and valid-evidence precision. Studies on executed TeraSim/SUMO events, WM-like mixed trace pools, and a real DriveArena TrafficManager--WorldDreamer matrix show that dangerous-looking events can include valid ADS failures, duplicates, partial realizations, and artifacts. The DriveArena matrix evaluates two planners, two horizons, six prompt conditions, and 360 ego-route requests; 304 attempts become fully realized evidence and 56 remain partial. A disjoint 80-request route-slice check yields 74 fully realized and 6 partial attempts. The results support evaluating world-model-style testing by convergence of valid interactive evidence under budget, rather than by raw generated failures or prompt coverage alone.

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Jianxun Cui, Ping Wu, Stanisa Peric, Marko Milojkovic, Vladan Devedzic. 2026-07-31. WM-Cov: Test Adequacy for Interactive World-Model-Style Autonomous Driving Simulation. https://arxiv.org/abs/2608.00298

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