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We confront this with a compact latent world model that, given the present front-camera latent and a sequence of ego-actions, predicts future scene latents a frozen decoder renders to $256 \\times 256$ frames up to 8 seconds ahead, evaluated on 150 held-out nuScenes scenes. We first benchmark where to predict: across six frozen encoders spanning four representation families, V-JEPA2 with temporal context reduces steering RMSE by 40% over the best single-frame encoder. We then train a latent Diffusion Transformer (DiT) and, through a controlled diagnosis, identify the four ingre","title":"Diffusion Transformer World-Action Model for AV Scene Prediction","url":"https://arxiv.org/abs/2606.12987","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.12987v1 Announce Type: cross \nAbstract: Action-conditioned world models let an autonomous vehicle predict future camera scenes from its own planned controls, enabling planning and simulation without real-world rollouts, but at compact, trainable scale the futures are ambiguous and the field's standard distortion metrics actively mislead: they reward a blurry regression mean over a realistic prediction. We confront this with a compact latent world model that, given the present front-camera latent and a sequence of ego-actions, predicts future scene latents a frozen decoder renders to $256 \\times 256$ frames up to 8 seconds ahead, evaluated on 150 held-out nuScenes scenes. We first benchmark where to predict: across six frozen encoders spanning four representation families, V-JEPA2 with temporal context reduces steering RMSE by 40% over the best single-frame encoder. We then train a latent Diffusion Transformer (DiT) and, through a controlled diagnosis, identify the four ingre","title":"Diffusion Transformer World-Action Model for AV Scene Prediction","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-12T04:43:44Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.12987"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:89cc4ed033fcd2add26714eda04bd946f91f2385bed3a5d2a37171c23714e9135db0a30a0f8a5529d4fe1649afe47d63732175c95c5c25ce3ef27c042de14000","signer":"crovia.substrate","subject":{"observed_at":"2026-06-12T04:43:44Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.12987"},"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":"eac9da58efe77e69933e0b3c7223d7b9d859f05cca572007272eecad30618181","leaf_index":229739,"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":"37fa1253f084f34b85313558f7326ec041b880c0dc27efe7fbd54100241f4887","side":"left"},{"sibling":"87ba98298a778fd5c806d041d0dcdc22ec1b208a4d0643616a6cc07568370432","side":"left"},{"sibling":"56bf338cad38fc6d1410d2c94931734e6dbabcd8b1343b07f0c6471c41802ee5","side":"right"},{"sibling":"7ef78452ea8b399634b8673833dfdcba325e5d17b601261a86c17489232c8861","side":"left"},{"sibling":"b3efcf964025968395e5314d4b8ae99f25a6280a1ee7a9ee1a62d854514e2e07","side":"right"},{"sibling":"7bbaf87f5d2e6723a9c31bb7342d51c712aaa28826b0cfa484add4cb52704a3b","side":"left"},{"sibling":"0ca5d90d5f62d6d9de0ef1d339c845218f95e05c41fdf78f0b9091a094387002","side":"left"},{"sibling":"2654c48172d365d1cff889fbe9c8f8e481d6ccd161a53a1f187cd0415e9830c1","side":"right"},{"sibling":"99d288e6cd43a807fba958865176bb1c08b82471afe942f6e4989eaeeb7275aa","side":"left"},{"sibling":"d385017d38a86f6abc492026a7cd60ceb3b3ff2486142dc49e5acb179f4b7d11","side":"right"},{"sibling":"bde25d7e94e64717e426a97f6fcb4907e92b5c61fc89d92d7e0947a2249c3f6b","side":"right"},{"sibling":"d10d772a4984cae00e65ab24af21d1d260e475bbaae3f17871859eb705bd3999","side":"right"},{"sibling":"e79159853f2f35ddae8e3247d515e433c534277b287d65bbd77ae989aa4992fa","side":"right"},{"sibling":"3054319f1840cce0eaaf0bc4b1ae38e5bf8b6210927d924a750775cc7d77cca6","side":"right"},{"sibling":"0fd8b5059f279c4a4a6688de2472fdbc25543fee183df19b21dacca880354cff","side":"right"},{"sibling":"a04392fb9f2a3a620840e3b3fecd93d12e6d224e481c162389d8ae64e7194599","side":"left"},{"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":232015,"merkle_root":"62bfb7809bb55667ad7eeebdb48267b9b2c1ee89bb808ea1e6d3a814a15aa402","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260617T133701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-17T13:39:59Z","sig_algorithm":"ed25519","signature":"930a3563c643cc7518d048b12a1f5392a96a5edce49533ba0a56f11b6cc69319bb1c800aacc46b52a6941c4d05dae255a45cac757d6093c971b96852c24f140e","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_8ebf0d178f060b999b292ce6bb4cd38ab5ef131303c5b66d0b556a3f7832f363"}}