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arXiv 提交日期: 2026-05-08
📄 Abstract - GEM: Generating LiDAR World Model via Deformable Mamba

World models, which simulate environmental dynamics and generate sensor observations, are gaining increasing attention in autonomous driving. However, progress in LiDAR-based world models has lagged behind those built on camera videos or occupancy data, primarily due to two core challenges: the inherent disorder of LiDAR point clouds and the difficulty of distinguishing dynamic objects from static structures. To address these issues, we propose GEM: a Generative LiDAR world model that leverages deformable mamba architecture, significantly improving fidelity and imaginative capability. Specifically, leveraging the structural similarity between sequential laser scanning and Mamba's processing mechanism, we first tokenize LiDAR sweeps into compact representations via a custom LiDAR scene tokenizer. After unsupervised disentanglement of tokenized features via a dynamic-static separator, a tri-path deformable Mamba is introduced to perform selective scanning and adaptive gating fusion over the disentangled features, leading to enhanced spatial-temporal understanding of the world evolution. Optionally, a planner and a BEV layout controller can be integrated to explore the model's capability for autonomous rollout and its potential to generate ``what-if" scenarios. Extensive experiments show that GEM achieves state-of-the-art performances across diverse benchmarks and evaluation settings, demonstrating its superiority and effectiveness. Project page: this https URL.

顶级标签: machine learning autonomous driving model training
详细标签: lidar world model deformable mamba point cloud tokenization dynamic-static separation what-if scenario generation 或 搜索:

GEM:基于可变形Mamba的激光雷达世界模型生成方法 / GEM: Generating LiDAR World Model via Deformable Mamba


1️⃣ 一句话总结

本文提出了一种名为GEM的激光雷达世界模型,通过创新的可变形Mamba架构和动态-静态特征分离技术,解决了激光雷达点云无序性和动态物体难区分的问题,在自动驾驶场景中实现了更逼真、更具想象力的环境模拟与预测。

源自 arXiv: 2605.07326