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<!doctype html>
<html lang="en">
<head>
<title>3D and 4D World Modeling: A Survey</title>
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<div class="header-container", id="header-container">
<div class="header-content">
<h1 style="font-size:3.7rem;">
3D and 4D World Modeling: A Survey
</h1>
<h2 style="margin:2.2rem 0 1.8rem; display:flex; align-items:center; gap:0.4rem;">
<span class="icon is-small">
<img src="assets_common/icons/worldbench-circle.png" style="height:1.8em; vertical-align:text-top;">
</span> WorldBench Team
</h2>
<div class="button-container">
<a href="https://arxiv.org/abs/2509.07996" class="button paper-link" target="_blank">
<span class="icon is-small">
<i class="ai ai-arxiv " style="height: 1.5em;"></i>
</span><span>arXiv</span>
</a>
<a href="assets_common/papers/survey.pdf" class="button paper-link" target="_blank">
<span class="icon is-small">
<img src="assets_common/icons/pdf.png" style="height: 1.4em;">
</span><span>PDF</span>
</a>
<a href="https://github.com/worldbench/survey" class="button" target="_blank">
<span class="icon is-small">
<img src="assets_common/icons/github.png" style="height: 1.4em;">
</span><span>GitHub</span>
</a>
<a href="https://huggingface.co/spaces/worldbench/WorldLens" class="button" target="_blank">
<span class="icon is-small">
<img src="assets_common/icons/hf.png" style="height: 1.5em;">
</span><span>Leaderboard</span>
</a>
</div>
</div>
<div class="header-image">
<img src="assets/survey/figures/anni.webp" alt="header" class="teaser-image">
</div>
</div>
</div>
<d-article>
<d-contents>
<nav>
<h4>Contents</h4>
<div><a href="#definition">Definition</a></div>
<div><a href="#taxonomy">Taxonomy</a></div>
<div><a href="#examples">Examples</a></div>
<div><a href="#projects">Collections</a></div>
<div><a href="#contributors">Contributors</a></div>
</nav>
</d-contents>
<section id="introduction">
<div class="wb-section">
<div class="wb-kicker">Introduction</div>
<div class="wb-hr"></div>
<p class="wb-lead">
World modeling has become a cornerstone in AI research, enabling agents to understand, represent, and predict the dynamic environments they inhabit.
</p>
<p class="wb-lead">
While prior work largely emphasizes generative methods for 2D image and video data, they overlook the rapidly growing body of work that leverages native 3D and 4D representations such as RGB-D imagery, occupancy grids, and LiDAR point clouds for large-scale scene modeling.
</p>
<figure style="width: 100%; max-width: 1000px; display: block; margin: 32px auto;">
<img src="assets/survey/figures/teaser.png">
</figure>
<p class="wb-lead">
This survey reviews <strong>3D and 4D world models</strong> — models that learn, predict, and simulate the geometry and dynamics of real environments from multi-modal signals.
</p>
<p class="wb-lead">
We unify terminology, scope, and evaluation, and organize the space into three complementary paradigms by representation: <strong>VideoGen</strong> (image/video-centric),
<strong>OccGen</strong> (occupancy-centric), and <strong>LiDARGen</strong> (point-cloud-centric).
</p>
<br><br>
</div>
</section>
<section id="definition">
<h2>Definition</h2>
<!-- <div class="wb-hr" style="margin-bottom:1.25rem;"></div> -->
<style>
#definition .wb-grid{
grid-template-columns: 1fr !important;
max-width: 900px;
margin: 0 auto;
gap: 1rem 1.25rem;
}
</style>
<div class="wb-grid">
<!-- VideoGen -->
<article class="wb-card">
<h3>
<i class="fas fa-film" aria-hidden="true"></i>
<a class="wb-anchor">VideoGen</a>
</h3>
<p>
<strong>What it is.</strong> An image/video-centric world model that generates or predicts
photorealistic, temporally consistent frames (single- or multi-view) conditioned on past context and optional controls.
</p>
<p class="wb-cap"><strong>Typical inputs</strong>: past frames, poses/camera intrinsics-extrinsics, text/route/action hints.</p>
<div class="wb-meta" aria-label="VideoGen tags">
<span class="wb-chip">Video Synthesis</span>
<span class="wb-chip">Future Prediction</span>
<span class="wb-chip">What-If Simulation</span>
<span class="wb-chip">Multi-View Generation</span>
</div>
</article>
<!-- OccGen -->
<article class="wb-card">
<h3>
<i class="fas fa-cubes" aria-hidden="true"></i>
<a class="wb-anchor">OccGen</a>
</h3>
<p>
<strong>What it is.</strong> An occupancy-centric world model that represents scenes as 3D/4D occupancy
fields (e.g., voxel grids with semantics), enabling geometry-aware perception, forecasting, and simulation.
</p>
<p class="wb-cap"><strong>Typical inputs</strong>: multi-sensor cues (RGB, depth, events, LiDAR), ego motion, maps.</p>
<div class="wb-meta" aria-label="OccGen tags">
<span class="wb-chip">3D Reconstruction</span>
<span class="wb-chip">Occupancy Forecasting</span>
<span class="wb-chip">Autoregressive Simulation</span>
<span class="wb-chip">Semantic Voxel</span>
</div>
</article>
<!-- LiDARGen -->
<article class="wb-card">
<h3>
<i class="fas fa-braille" aria-hidden="true"></i>
<a class="wb-anchor">LiDARGen</a>
</h3>
<p>
<strong>What it is.</strong> A point-cloud-centric world model that learns high-fidelity geometry and
dynamics directly from LiDAR sweeps, suitable for robust 3D understanding, data generation, and sensor-faithful simulation.
</p>
<p class="wb-cap"><strong>Typical inputs</strong>: past LiDAR sweeps, ego trajectory, calibration; optional scene priors.</p>
<div class="wb-meta" aria-label="LiDARGen tags">
<span class="wb-chip">Point Cloud Synthesis</span>
<span class="wb-chip">Future Sweeps</span>
<span class="wb-chip">Trajectory-Conditioned</span>
<span class="wb-chip">Physics-Aware</span>
</div>
</article>
</div>
<br><br>
</section>
<section id="taxonomy">
<h2>
<span class="icon is-small">
<img src="assets_common/icons/worldbench.png" style="height: 1.2em;" loading="lazy">
</span> A Hierarchical Taxonomy</h2>
<div class="wb-section">
<p class="wb-lead">
We establish precise definitions, introduce a structured taxonomy spanning VideoGen, OccGen, and LiDARGen approaches, and systematically summarize datasets and evaluation metrics tailored to 3D/4D settings.
</p>
<figure style="width: 100%; max-width: 1000px; display: block; margin: 24px auto;">
<img src="assets/survey/figures/tree.png" loading="lazy">
</figure>
<p class="wb-lead">
Together, these models provide the foundation for simulation, planning, and embodied intelligence in complex environments.
</p>
</div>
<br><br>
</section>
<div class="wb-kicker"><span class="icon is-small">
<img src="assets/survey/figures/category.png" style="height: 1.6em;" loading="lazy">
</span> World Model Categorization</div>
<div class="wb-hr" style="margin-bottom:1.25rem;"></div>
<section id="model-types" style="margin:3.5rem 0;">
<div>
<p class="wb-lead">
We categorize 3D/4D world models into four functional types. They differ in how historical observations are
leveraged, which conditioning signals are provided,
and whether models operate in open-loop or closed-loop settings.
</p>
<div style="
display:grid;
grid-template-columns:repeat(2, minmax(0, 1fr));
gap:1.6rem 1.8rem;">
<!-- ================= Type 1 ================= -->
<article style="
background:#f9fafb;
border-radius:0.9rem;
padding:1rem 1.15rem;
box-shadow:0 1px 3px rgba(15,23,42,0.08);">
<div style="display:flex; justify-content:space-between; align-items:center; margin-bottom:0.45rem;">
<div style="
font-size:0.72rem;
font-weight:600;
letter-spacing:0.08em;
text-transform:uppercase;
color:#2563eb;">
Type 1
</div>
<div style="display:flex; align-items:center; gap:0.45rem; font-weight:600; color:#111827;">
Data Engines
<img src="assets/survey/figures/video-data-engine.png" style="height:1.6rem;" loading="lazy">
</div>
</div>
<p style="font-size:0.9rem; line-height:1.7; color:#4b5563; margin:0 0 0.55rem;">
Generate diverse 3D/4D scenes from geometric and semantic cues, optionally with action conditions.
Focus on <b>plausibility</b> and <b>diversity</b> for large-scale data augmentation and scenario creation.
</p>
<ul style="padding-left:1.1rem; margin:0; font-size:0.88rem; line-height:1.6; color:#4b5563;">
<li><b>Inputs:</b> \(\mathcal{C}_{\mathrm{geo}}\), \(\mathcal{C}_{\mathrm{act}}\) (optional), \(\mathcal{C}_{\mathrm{sem}}\)</li>
<li><b>Output:</b> \(\mathcal{S}_g\) (generated scene)</li>
</ul>
</article>
<!-- ================= Type 2 ================= -->
<article style="
background:#f9fafb;
border-radius:0.9rem;
padding:1rem 1.15rem;
box-shadow:0 1px 3px rgba(15,23,42,0.08);">
<div style="display:flex; justify-content:space-between; align-items:center; margin-bottom:0.45rem;">
<div style="font-size:0.72rem; font-weight:600; letter-spacing:0.08em; color:#2563eb;">
Type 2
</div>
<div style="display:flex; align-items:center; gap:0.45rem; font-weight:600;">
Action Interpreters
<img src="assets/survey/figures/video-action-interpreter.png" style="height:1.6rem;" loading="lazy">
</div>
</div>
<p style="font-size:0.9rem; line-height:1.7; color:#4b5563; margin:0 0 0.55rem;">
Forecast future 3D/4D world states from historical observations under given action conditions.
Enable <b>action-aware forecasting</b> for planning, behavior prediction, and policy evaluation.
</p>
<ul style="padding-left:1.1rem; margin:0; font-size:0.88rem; line-height:1.6; color:#4b5563;">
<li><b>Inputs:</b> \(\mathbf{x}_i^{-t:0}\), \(\mathcal{C}_{\mathrm{act}}\)</li>
<li><b>Output:</b> \(\mathcal{S}_p^{1:k}\) (predicted sequence)</li>
</ul>
</article>
<!-- ================= Type 3 ================= -->
<article style="
background:#f9fafb;
border-radius:0.9rem;
padding:1rem 1.15rem;
box-shadow:0 1px 3px rgba(15,23,42,0.08);">
<div style="display:flex; justify-content:space-between; align-items:center; margin-bottom:0.45rem;">
<div style="font-size:0.72rem; font-weight:600; letter-spacing:0.08em; color:#2563eb;">
Type 3
</div>
<div style="display:flex; align-items:center; gap:0.45rem; font-weight:600;">
Neural Simulators
<img src="assets/survey/figures/video-neural-simulator.png" style="height:1.4rem;" loading="lazy">
</div>
</div>
<p style="font-size:0.9rem; line-height:1.7; color:#4b5563; margin:0 0 0.55rem;">
Iteratively simulate closed-loop agent-environment interactions by generating successive scene states.
Support <b>interactive simulation</b> for autonomous driving, robotics, and immersive XR training.
</p>
<ul style="padding-left:1.1rem; margin:0; font-size:0.88rem; line-height:1.6; color:#4b5563;">
<li><b>Inputs:</b> \(\mathcal{S}_g^{t}\), \(\pi_{\mathrm{agent}}\)</li>
<li><b>Output:</b> \(\mathcal{S}_g^{t+1}\)</li>
</ul>
</article>
<!-- ================= Type 4 ================= -->
<article style="
background:#f9fafb;
border-radius:0.9rem;
padding:1rem 1.15rem;
box-shadow:0 1px 3px rgba(15,23,42,0.08);">
<div style="display:flex; justify-content:space-between; align-items:center; margin-bottom:0.45rem;">
<div style="font-size:0.72rem; font-weight:600; letter-spacing:0.08em; color:#2563eb;">
Type 4
</div>
<div style="display:flex; align-items:center; gap:0.45rem; font-weight:600;">
Scene Reconstructors
<img src="assets/survey/figures/video-scene-reconstructor.png" style="height:1.65rem;">
</div>
</div>
<p style="font-size:0.9rem; line-height:1.7; color:#4b5563; margin:0 0 0.55rem;">
Recover complete and coherent 3D/4D scenes from partial, sparse, or corrupted observations.
Facilitate <b>interactive tasks</b> such as high-fidelity mapping and digital twin restoration.
</p>
<ul style="padding-left:1.1rem; margin:0; font-size:0.88rem; line-height:1.6; color:#4b5563;">
<li><b>Inputs:</b> \(\mathbf{x}^{p}_{i}\), optional \(\mathcal{C}_{\mathrm{geo}}\)</li>
<li><b>Output:</b> \(\hat{\mathcal{S}}_{g}\) (completed scene)</li>
</ul>
</article>
</div>
<br>
<p class="wb-lead">
Together, these four categories outline the functional landscape of 3D/4D world modeling.
While all aim to produce physically and semantically coherent scenes, they differ in how they
leverage past observations, conditioning signals, and interaction loops—supporting applications
from large-scale data synthesis and policy evaluation to interactive simulation and scene restoration.
</p>
</div>
<br>
</section>
<style>
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<section id="examples">
<h2>Generated 3D & 4D Contents</h2>
<div class="wb-kicker"><span class="icon is-small">
<img src="assets_common/icons/bench_videogen.png" style="height: 1.5em;" loading="lazy">
</span> VideoGen</div>
<div class="wb-hr" style="margin-bottom:1.25rem;"></div>
<section class="videogen" tabindex="0" aria-label="VideoGen Set A">
<div class="video-hero">
<video autoplay loop muted playsinline data-hero>
<source src="assets/survey/videos/gt_0.mp4" type="video/mp4" />
</video>
<div class="video-badge" data-hero-label>Reference</div>
</div>
<div class="thumb-bar" role="tablist" aria-label="Video methods A">
<button class="thumb is-active" role="tab" aria-selected="true"
data-src="assets/survey/videos/gt_0.mp4" data-label="Reference">
<img src="assets/survey/videos/images/gt_0.png" loading="lazy" />
<span>Reference</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/magicdrive_0.mp4" data-label="MagicDrive">
<img src="assets/survey/videos/images/magicdrive_0.png" loading="lazy" />
<span>MagicDrive</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/drivedreamer2_0.mp4" data-label="Drivedreamer2">
<img src="assets/survey/videos/images/drivedreamer2_0.png" loading="lazy" />
<span>DriveDreamer-2</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/dreamforge_0.mp4" data-label="Dreamforge">
<img src="assets/survey/videos/images/dreamforge_0.png" loading="lazy" />
<span>DreamForge</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/opendwm_0.mp4" data-label="OpenDWM">
<img src="assets/survey/videos/images/opendwm_0.png" loading="lazy" />
<span>OpenDWM</span>
</button>
</div>
</section>
<p></p>
<section class="videogen" tabindex="0" aria-label="VideoGen Set B">
<div class="video-hero">
<video autoplay loop muted playsinline data-hero>
<source src="assets/survey/videos/gt_1.mp4" type="video/mp4" />
</video>
<div class="video-badge" data-hero-label>Reference</div>
</div>
<div class="thumb-bar" role="tablist" aria-label="Video methods A">
<button class="thumb is-active" role="tab" aria-selected="true"
data-src="assets/survey/videos/gt_1.mp4" data-label="Reference">
<img src="assets/survey/videos/images/gt_1.png" loading="lazy" />
<span>Reference</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/magicdrive_1.mp4" data-label="MagicDrive">
<img src="assets/survey/videos/images/magicdrive_1.png" loading="lazy" />
<span>MagicDrive</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/drivedreamer2_1.mp4" data-label="Drivedreamer2">
<img src="assets/survey/videos/images/drivedreamer2_1.png" loading="lazy" />
<span>DriveDreamer-2</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/dreamforge_1.mp4" data-label="Dreamforge">
<img src="assets/survey/videos/images/dreamforge_1.png" loading="lazy" />
<span>DreamForge</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/opendwm_1.mp4" data-label="OpenDWM">
<img src="assets/survey/videos/images/opendwm_1.png" loading="lazy" />
<span>OpenDWM</span>
</button>
</div>
<p></p>
<section class="videogen" tabindex="0" aria-label="VideoGen Set C">
<div class="video-hero">
<video autoplay loop muted playsinline data-hero>
<source src="assets/survey/videos/gt_2.mp4" type="video/mp4" />
</video>
<div class="video-badge" data-hero-label>Reference</div>
</div>
<div class="thumb-bar" role="tablist" aria-label="Video methods C">
<button class="thumb is-active" role="tab" aria-selected="true"
data-src="assets/survey/videos/gt_2.mp4" data-label="Reference">
<img src="assets/survey/videos/images/gt_2.jpg" loading="lazy" />
<span>Reference</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/magicdrive_2.mp4" data-label="MagicDrive">
<img src="assets/survey/videos/images/magicdrive_2.jpg" loading="lazy" />
<span>MagicDrive</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/drivedreamer2_2.mp4" data-label="Drivedreamer2">
<img src="assets/survey/videos/images/drivedreamer2_2.jpg" loading="lazy" />
<span>DriveDreamer-2</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/dreamforge_2.mp4" data-label="Dreamforge">
<img src="assets/survey/videos/images/dreamforge_2.jpg" loading="lazy" />
<span>DreamForge</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/videos/opendwm_2.mp4" data-label="OpenDWM">
<img src="assets/survey/videos/images/opendwm_2.jpg" loading="lazy" />
<span>OpenDWM</span>
</button>
</div>
<br><br>
</section>
<div class="wb-kicker"><span class="icon is-small">
<img src="assets_common/icons/bench_occgen.png" style="height: 1.5em;" loading="lazy">
</span>OccGen</div>
<div class="wb-hr" style="margin-bottom:1.25rem;"></div>
<section class="videogen" tabindex="0" aria-label="VideoGen Set C">
<div class="video-hero">
<video autoplay loop muted playsinline data-hero>
<source src="assets/survey/occ_videos/dynamic_video/0_occ.mp4" type="video/mp4" />
</video>
<div class="video-badge" data-hero-label>Sample 1</div>
</div>
<div class="thumb-bar" role="tablist" aria-label="Video methods A">
<button class="thumb is-active" role="tab" aria-selected="true"
data-src="assets/survey/occ_videos/dynamic_video/1_occ.mp4" data-label="Sample1">
<img src="assets/survey/occ_videos/dynamic_video/0_bev_layout.png" loading="lazy" />
<span>Sample 1</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/occ_videos/dynamic_video/1_occ.mp4" data-label="Sample2">
<img src="assets/survey/occ_videos/dynamic_video/1_bev_layout.png" loading="lazy" />
<span>Sample 2</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/occ_videos/dynamic_video/2_occ.mp4" data-label="Sample3">
<img src="assets/survey/occ_videos/dynamic_video/2_bev_layout.png" loading="lazy" />
<span>Sample 3</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/occ_videos/dynamic_video/3_occ.mp4" data-label="Sample4">
<img src="assets/survey/occ_videos/dynamic_video/3_bev_layout.png" loading="lazy" />
<span>Sample 4</span>
</button>
<button class="thumb" role="tab" aria-selected="false"
data-src="assets/survey/occ_videos/dynamic_video/4_occ.mp4" data-label="Sample5">
<img src="assets/survey/occ_videos/dynamic_video/4_bev_layout.png" loading="lazy" />
<span>Sample 5</span>
</button>
</div>
<br><br>
</section>
<div class="wb-kicker"><span class="icon is-small">
<img src="assets_common/icons/bench_lidargen.png" style="height: 1.5em;" loading="lazy">
</span>LiDARGen</div>
<div class="wb-hr" style="margin-bottom:1.25rem;"></div>
<details class="data-switcher lazy-load"
aria-label="LiDAR Data Showcase"
data-client="https://worldbench.github.io/viser-client/"
data-base="https://worldbench.github.io/assets/survey/lidar_visers/"
data-query="&initialCameraPosition=10.885,9.746,4.995&initialCameraLookAt=2.343,1.204,-3.547&initialCameraUp=-0.000,-0.000,1.000">
<summary>(click to expand)</summary>
<div class="grid-2x2">
<iframe class="viseriframe" data-file="0.viser" loading="lazy" allowfullscreen></iframe>
<iframe class="viseriframe" data-file="1.viser" loading="lazy" allowfullscreen></iframe>
<iframe class="viseriframe" data-file="2.viser" loading="lazy" allowfullscreen></iframe>
<iframe class="viseriframe" data-file="3.viser" loading="lazy" allowfullscreen></iframe>
</div>
<div class="method-bar" role="tablist" aria-label="Methods">
<button class="method-btn is-active" role="tab" aria-selected="true" data-method="lidargen">LiDARGen</button>
<button class="method-btn" role="tab" aria-selected="false" data-method="lidm">LiDM</button>
<button class="method-btn" role="tab" aria-selected="false" data-method="r2dm">R2DM</button>
<button class="method-btn" role="tab" aria-selected="false" data-method="uniscene">UniScene</button>
<button class="method-btn" role="tab" aria-selected="false" data-method="opendwm">OpenDWM</button>
<button class="method-btn" role="tab" aria-selected="false" data-method="lidarcrafter">LiDARCrafter</button>
</div>
</details>
<br><br>
</section>
<section id="projects">
<h2>Collections</h2>
<!-- <div class="wb-hr" style="margin-bottom:1.25rem;"></div> -->
</section>
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<h2>Video Generation</h2>
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<h2>Occupancy Generation</h2>
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<section id="occupancy-panel-c" class="panel" role="tabpanel" aria-labelledby="occupancy-tab-c" aria-hidden="true">
<div class="list"></div>.grid-2x2{
display: grid;
grid-template-columns: repeat(2, minmax(0, 1fr));
align-items: start;
gap: 12px;
}
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width: 100%;
height: auto;
border: 0;
border-radius: 8px;
}
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<br>
<!-- <d-appendix>
<h3>BibTeX</h3>
<p class="bibtex">
@article{kong2025worldbench,<br>
title={WorldBench: Benchmarking 3D and 4D World Models in the Real World},<br>
author={WorldBench Team},<br>
journal={arXiv preprint arXiv:2508.xxxxx},<br>
year={2025},<br>
}
</p>
<d-footnote-list></d-footnote-list>
<d-citation-list></d-citation-list>
</d-appendix> -->
<section id="contributors">
<br><br>
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<div class="contributor-name">Lingdong Kong</div>
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