ReWAM: Reciprocal World Action Models for Interactive Autonomous Driving

arXiv:2609.39245v1 Announce Type: new Abstract: In interactive scenarios, an autonomous driving system is required to generate ego actions under the influence of other agents' behaviors. Existing World Action Models (WAMs) typically model other agents as components of the world model rather than as decision-makers that fundamentally shape the action of the ego agent, which impairs their performance in dense interaction scenarios. We introduce Reciprocal World Action Models (ReWAM), a game-theoretic world action modeling framework that captures the reciprocal influence between the ego agent and other agents by representing them as conditional responders whose actions are mutually influenced. We instantiate this framework with a Level-$k$ response hierarchy, where role-specific ego and other action DiTs exchange compact strategy tokens through cross-agent attention while remaining grounded in a shared representation of the future driving world. To learn the response policy of the ego agent from demonstrations, we formulate expert actions as samples from the best response distribution and jointly optimize the entire hierarchy using conditional flow matching. Our framework is evaluated on the NAVSIM dataset and achieves state-of-the-art performance compared to baselines. The improvement is particularly significant in interactive scenarios, validating that modeling reciprocal responses provides a more effective foundation for interaction-aware world action generation.

Abstract:In interactive scenarios, an autonomous driving system is required to generate ego actions under the influence of other agents' behaviors. Existing World Action Models (WAMs) typically model other agents as components of the world model rather than as decision-makers that fundamentally shape the action of the ego agent, which impairs their performance in dense interaction scenarios. We introduce Reciprocal World Action Models (ReWAM), a game-theoretic world action modeling framework that captures the reciprocal influence between the ego agent and other agents by representing them as conditional responders whose actions are mutually influenced. We instantiate this framework with a Level-$k$ response hierarchy, where role-specific ego and other action DiTs exchange compact strategy tokens through cross-agent attention while remaining grounded in a shared representation of the future driving world. To learn the response policy of the ego agent from demonstrations, we formulate expert actions as samples from the best response distribution and jointly optimize the entire hierarchy using conditional flow matching. Our framework is evaluated on the NAVSIM dataset and achieves state-of-the-art performance compared to baselines. The improvement is particularly significant in interactive scenarios, validating that modeling reciprocal responses provides a more effective foundation for interaction-aware world action generation.

Robotics (cs.RO)

arXiv:2609.39245 [cs.RO]

(or arXiv:2609.39245v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.39245 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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ReWAM: Reciprocal World Action Models for Interactive Autonomous Driving

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