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However, existing LWM-based planners usually generate trajectories directly from entangled latent representations. This compact latent-to-planner pathway lacks explicit modeling of risk, drivability, and diverse style preferences, making driving-style dynamics difficult to supervise, inspect, or modulate before a final trajectory is selected. We propose PLAN-S (PLANning with latent Style dynamics), a planner-facing bridge that addresses this compactness-controllability dilemma by decoding a style-conditioned, four-channel semantic cost map from the latent representation. The cost map is conditioned on ego state and driving style and is consumed up-stream of the planning decision through two host-side interfaces: attention-level fusion for regression planners and reward-level fusion for anchor-score pla","title":"PLAN-S: Bridging Planning with Latent Style Dynamics for Autonomous Driving World Models","url":"https://arxiv.org/abs/2606.06014","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.06014v1 Announce Type: new \nAbstract: Latent world models (LWMs) have strengthened end-to-end autonomous driving by forecasting compact scene dynamics for downstream planning. However, existing LWM-based planners usually generate trajectories directly from entangled latent representations. This compact latent-to-planner pathway lacks explicit modeling of risk, drivability, and diverse style preferences, making driving-style dynamics difficult to supervise, inspect, or modulate before a final trajectory is selected. We propose PLAN-S (PLANning with latent Style dynamics), a planner-facing bridge that addresses this compactness-controllability dilemma by decoding a style-conditioned, four-channel semantic cost map from the latent representation. The cost map is conditioned on ego state and driving style and is consumed up-stream of the planning decision through two host-side interfaces: attention-level fusion for regression planners and reward-level fusion for anchor-score pla","title":"PLAN-S: Bridging Planning with Latent Style Dynamics for Autonomous Driving World Models","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-06T04:43:19Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.06014"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:e150d7dd7c8ad97e911b2ee04158e8b3604c1901c18fa2a944061aa1fdea4ae4254902dafd1d25e5f563d08b54764455368627a84f4b12a1f60eb2f6859fa00f","signer":"crovia.substrate","subject":{"observed_at":"2026-06-06T04:43:19Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.06014"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"5850c169a578ce85b391109032f855c5ff3a8af2e39a61e16043bfae0690ed8e","leaf_index":219206,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"0ae07cb2f4a67e693519f34ea78d44776cec3d8505b4d121fcdbf27e00dec1db","side":"right"},{"sibling":"0aa8cdb4c80c574e30ae6d7c4a55a14dede9c0ea8cc701b74f556e130e152c08","side":"left"},{"sibling":"f0f103f05e6751ce2c561f0b4e324e67083524be6f3ccb39d8a90c5297f17fe1","side":"left"},{"sibling":"478fd4966e882f13edc8d0c9b15a22a2368123197f2603bd1d43b08264e77d51","side":"right"},{"sibling":"df12227c6bce1ac6503d4c8f1a8b3f5e8706a35545c1a96e217b00b5d27813b9","side":"right"},{"sibling":"54a29ea507e360ebe80a86f0756bc1afaf2a0bae92bafa210f0b67fa7c7e821e","side":"right"},{"sibling":"63213cfb37562a3ef2d70c7ab846d4203323a4985a9908a7078e73d8d4ab2f65","side":"left"},{"sibling":"8f35ffd1b994bec37a9cc24e0047790f92b64b006d85bef48f319d6d28a40687","side":"right"},{"sibling":"bd0dfa76bed61a2c5e95135a7304a2b8c4fd064958dbf768664232880d0abaa5","side":"right"},{"sibling":"84d2509eab51047589142ed6da8c496305d2fbcbe148e0e6755163db2c7a4bc4","side":"right"},{"sibling":"9e3ea17e834fab022f2eabcfedb8ea0ac95c1f9fb57edc5004dded68522d3c9e","side":"right"},{"sibling":"41d58fea95a95071715ee23ef8bcd15f5867a3639da28e62a0641bc95eb83094","side":"left"},{"sibling":"27ad9d6a9ab792d708709017242a61b9ca519da4e035f87a342811aae221d000","side":"left"},{"sibling":"5f303e2a7840c60038ff2d035b1cd911feefb0fba880de2d737c6671ace594d4","side":"right"},{"sibling":"b2590791b920ca2a4ed39de126d2c0b1a10d9e7e62f572f12425f214e767b6e1","side":"left"},{"sibling":"1a61eadbf0217d063ab78291ccafdc0c92907f7d6ccdc3357534ef89f07d78ae","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":219672,"merkle_root":"d3e32d3a61ca02ce6b1f0b2db86721107770b250e8a5bf762a2c225d2f03c870","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260606T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-06T05:38:35Z","sig_algorithm":"ed25519","signature":"dab214c2d4d857f01383c8e93a521a774b1aba60eaee5677d4e43e4074f0342b2c6a9b9bfcff0eba74f7ac81fcb490dd0e43727979c1a7e8979c7e11547fb101","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_561f41e912f84fe63982d331f95645e20ad4c3295d01898c861a2d3d35d871aa"}}