PV-WM: A Heterogeneous Micro-Macro World Model for Articulated Pedestrian-Vehicle Co-Rollout
PV-WM, a history-only world model over structured post-perception tracks, recurrently advances pedestrian root motion, 15-joint articulation, and learned vehicle states within a synchronized heterogeneous state while preserving type-specific pedestrian and vehicle dynamics.
Hao-Zhuang Chi, Jing-Song Liang, Zi-Ying Song et al.
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