X-World 1.6: Building Controllable Virtual Cities with World Models

Abstract

Deploying generative world models for end-to-end closed-loop evaluation and policy learning requires precise scenario control, consistent observations, and sustained generation quality during extended interactions. This report presents \emph{X-World~1.6}, advancing X-World~1.0 toward a more reliable and versatile driving simulator. The upgraded base model offers finer-grained control over traffic semantics, including traffic lights and road markings, together with improved spatial consistency across cameras. Virtual City capabilities broaden scenario construction through a family of models conditioned on diverse 2D and 3D references, including support for generating multi-camera future videos from a single image. An enhanced post-training framework enables efficient causal, few-step generation with stronger temporal coherence, better quality retention over longer rollouts, and improved alignment with human preferences. We also introduce a dedicated evaluation suite to support systematic assessment and guide model iteration. Together, these upgrades expand the scenarios X-World can simulate and improve the efficiency and reliability of its generated observations, supporting broader use in autonomous-driving development.