DriVerse: Navigation World Model for Driving Simulation via Multimodal Trajectory Prompting and Motion Alignment

摘要

This paper presents DriVerse, a generative model for simulating navigation-driven driving scenes from a single image and a future trajectory. Previous autonomous driving world models either directly feed the trajectory or discrete control signals into the generation pipeline, leading to poor alignment between the control inputs and the implicit features of the 2D base generative model, which results in low-fidelity video outputs. Some methods use coarse textual commands or discrete vehicle control signals, which lack the precision to guide fine-grained, trajectory-specific video generation, making them unsuitable for evaluating actual autonomous driving algorithms. DriVerse introduces explicit trajectory guidance in two complementary forms: it tokenizes trajectories into textual prompts using a predefined trend vocabulary for seamless language integration, and converts 3D trajectories into 2D spatial motion priors to enhance control over static content within the driving scene. To better handle dynamic objects, we further introduce a lightweight motion alignment module, which focuses on the inter-frame consistency of dynamic pixels, significantly enhancing the temporal coherence of moving elements over long sequences. We also propose an inference-time strategy to address issues caused by rapid vehicle heading changes. With minimal training and no need for additional data, DriVerse outperforms specialized models on future video generation tasks across both the nuScenes and Waymo datasets. Code is available at https://github.com/shalfun/DriVerse