ForeDrive: Foresight-Guided End-to-End Autonomous Driving with a Planning-Relevant Latent World Model

arXiv:2609.26299 · cs.CV · Submitted 2026-09-22 · Read on arXiv

cs.CV

Submitted: 2026-09-22

Updated: 2026-09-23

Terminology

• World Model — 27× in this paper · explained in 7 episodes
• Ablation — 18× in this paper · explained in 1 episode
• Embeddings — 10× in this paper · explained in 2 episodes
• Latent Representation — 9× in this paper · explained in 2 episodes
• Transformer — 8× in this paper · explained in 2 episodes
• Accuracy — 7× in this paper · explained in 1 episode
• Latent Representations — 7× in this paper · explained in 3 episodes
• Trajectory-Adaptive Bias — 7× in this paper
• Adaptation — 4× in this paper · explained in 1 episode
• Alignment — 4× in this paper · explained in 1 episode
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Ablation study — 3× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Decode — 2× in this paper · explained in 2 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Distillation — 2× in this paper · explained in 2 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Latent World Models — 2× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning
• Back to the Features: DINO as a Foundation for Video World Models
• DINO-Foresight: Looking into the Future with DINO
• Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation
• DINOv3
• Drive-JEPA: Video JEPA Meets Multimodal Trajectory Distillation for End-to-End Driving
• Latent-WAM: Latent World Action Modeling for End-to-End Autonomous Driving

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