AffordDrive3D: דגימת-זיהוי-מצב-פעולה עם הבנה-מרחבית

תקציר מקורי באנגליתarXiv:2610.11060v1 Announce Type: cross Abstract: World-action models have recently improved autonomous driving by jointly learning future scene prediction and trajectory generation. Most existing approaches model the future primarily through RGB appearance, and recent works have begun to incorporate geometric prediction to improve spatial understanding. However, dense geometry describes the spatial layout of the entire scene without indicating which parts are most relevant to the ego vehicle's action. For driving, the model must also identify and anticipate where it can safely move and which regions may pose collision risks. Jointly modeling action-relevant regions and future geometry can provide the policy with both driving-relevant cues and their corresponding spatial structure. We ther