OmniNWM: Omniscient Driving Navigation World Models
Authors: name: Bohan Li, name: Zhuang Ma, name: Dalong Du, name: Baorui Peng, name: Zhujin Liang, name: Zhenqiang Liu, name: Chao Ma, name: Yueming Jin, name: Hao Zhao, name: Wenjun Zeng, name: Xin Jin

Autonomous driving world models are expected to work effectively across three
core dimensions: state, action, and reward. Existing models, however, are
typically restricted to limited state modalities, short video sequences,
imprecise action control, and a lack of reward awareness. In this paper, we
introduce OmniNWM, an omniscient panoramic navigation world model that
addresses all three dimensions within a unified framework. For state, OmniNWM
jointly generates panoramic videos of RGB, semantics, metric depth, and 3D
occupancy. A flexible forcing strategy enables high-quality long-horizon
auto-regressive generation. For action, we introduce a normalized panoramic
Plucker ray-map representation that encodes input trajectories into pixel-level
signals, enabling highly precise and generalizable control over panoramic video
generation. Regarding reward, we move beyond learning reward functions with
external image-based models: instead, we leverage the generated 3D occupancy to
directly define rule-based dense rewards for driving compliance and safety.
Extensive experiments demonstrate that OmniNWM achieves state-of-the-art
performance in video generation, control accuracy, and long-horizon stability,
while providing a reliable closed-loop evaluation framework through
occupancy-grounded rewards. Project page is available at
https://github.com/Arlo0o/OmniNWM.