VGGTWorld-VLA：自動運転のための意図条件付き3D世界進化
VGGTWorld-VLA: Intent-Conditioned 3D World Evolution for Autonomous Driving
VGGTベースの3D世界モデルに運転意図と行動を条件として注入し、同一シーンから異なる未来の3D形状を予測できるようにした自動運転向け手法。
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著者: Zhaoyang Liu, Kun Jiang, Ziying Song, Diange Yang
分類: cs.CV, cs.RO
原文アブストラクト
VGGT provides a strong foundation for geometry-centric world models by recovering unified 3D scene geometry from visual observations. Although recent extensions enable temporal 3D prediction, their future evolution remains weakly conditioned on driving intentions and actions, limiting their ability to model alternative action-dependent futures. We propose VGGTWorld-VLA, an intention-conditioned extension of VGGT-World for controllable 3D world evolution in autonomous driving. First, we introduce an action--semantic conditioning mechanism that injects complementary driving semantics and ego-motion representations into the future-token stream, enabling different future geometry predictions for the same observed scene under alternative ego actions. Second, we develop a geometry--language--action bridge that adapts historical geometry, VLA semantic features, and maneuver and trajectory representations for joint conditioning of future geometry prediction. We evaluate future geometry prediction on NAVSIM, while conditioning ablations further examine the contributions of semantic and action information. Compared with the baseline, our method demonstrates competitive geometry prediction performance. Ablation studies further support the effectiveness of semantic and action conditioning. These results demonstrate the potential of semantic and action conditioning for controllable VGGT-based world prediction in autonomous driving.