Realistic and Diverse Rollouts 4/4

Realistic and Diverse Rollouts 3/4

Realistic and Diverse Rollouts 2/4

Realistic and Diverse Rollouts 1/4

We ask how continuous vs. discrete models and their tokenizers shape long-horizon behavior.

Findings:
Continuous models (Flow Matching) are
• Far less brittle to design choices
• Produce realistic, stable rollouts up to 20s
• And generalize better to unseen driving conditions

Continuous > Discrete

Driving world models look good for a few frames, then they drift, blur, or freeze, especially when a turn or complex scene appears. These failures reveal a deeper issue: models aren’t capturing real dynamics. We introduce new metrics to measure such breakdowns.