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Author

Fabian Schmidt

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Preprint Sep 2026

Relationally Grounded Latent World Models for Autonomous Driving

This work constructs actor-centric scene graphs from nuScenes 3D annotations, encode their serialized relational structure using a frozen text embedding model, and align the visual latent representations with this semantic target during training, supporting the benefit of explicit relational structure for latent world-...

Fabian Schmidt, Markus Enzweiler, Abhinav Valada · 0 citations

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