Abstract
Long-horizon planning enables autonomous vehicles to anticipate scene evolution and potential risks, supporting safe and stable decisions in complex interactions. However, existing methods struggle to propagate motion trends from observed history into the future. Long rollouts based on a single latent state may further attenuate useful dynamics, retain stale motion patterns, and disrupt reliable near-term plans. We introduce MomWorld, a momentum-aware latent world model for long-horizon planning. MomWorld extracts scene motion trends from historical-to-current observations and propagates latent momentum into future horizons, jointly predicting future configuration and momentum states. A learnable momentum persistence mechanism preserves stable trends, scene-conditioned momentum updates adapt future dynamics, and a scene-adaptive reset gate suppresses stale momentum under abrupt changes. We further propose MoFlow, a momentum-conditioned flow-matching module that refines a base trajectory to align with the predicted future scene evolution in only a few integration steps, with a horizon-aware residual fusion that preserves near-term planning stability while permitting stronger long-range corrections. Extensive experiments on NAVSIM, nuScenes and Bench2Drive demonstrate that MomWorld improves long-horizon planning consistency and reduces the average collision rate by 12.2% relative to MomAD over a 6-second planning horizon.
Abstract (translated)
URL
https://arxiv.org/abs/2609.33737
