DriveWorld: 4D Pre-Trained Scene Understanding via World Models for Autonomous Driving

Chen Min, Dawei Zhao, Liang Xiao, Jian Zhao, Xinli Xu, Zheng Zhu, Lei Jin, Jianshu Li, Yulan Guo, Junliang Xing, Liping Jing, Yiming Nie, Bin Dai

Abstract: Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pretraining is essential for extracting a universal representation. However, current vision-centric pretraining typically relies on either 2D or 3D pre-text tasks, overlooking the temporal characteristics of autonomous driving as a 4D scene understanding task. In this paper, we address this challenge by introducing a world model-based autonomous driving 4D representation learning framework, dubbed DriveWorld, which is capable of pretraining from multi-camera driving videos in a spatiotemporal fashion. Specifically, we propose a Memory State-Space Model for spatiotemporal modelling, which consists of a Dynamic Memory Bank module for learning temporal-aware latent dynamics to predict future changes and a Static Scene Propagation module for learning spatial-aware latent statics to offer comprehensive scene contexts. We additionally introduce a Task Prompt to decouple task-aware features for various downstream tasks. The experiments demonstrate that DriveWorld delivers promising results on various autonomous driving tasks. When pretrained with the OpenScene dataset, DriveWorld achieves a 7.5% increase in mAP for 3D object detection, a 3.0% increase in IoU for online mapping, a 5.0% increase in AMOTA for multi-object tracking, a 0.1m decrease in minADE for motionforecasting, a 3.0% increase in IoU for occupancy prediction, and a 0.34m reduction in average L2 error for planning.