arxivcs.RO2026-07-15
Ego-Dynamics-Augmented World Model for Autonomous Driving with Zero-Shot Cross-Chassis Adaptation
Zhidong Wang, Jingsong Liang, Zirui Li, Zhan Chen, Han Yu, Chen Lv
World model (WM)-based reinforcement learning enables sample-efficient end-to-end autonomous driving learning by imagining long-horizon trajectories in latent space. However, most driving WMs operate on bird's-eye-view (BEV) representations that are inherently egocentric: the tra…