SUV: Future Scene Understanding as Video Generation for End-to-End Driving

Official checkpoint for SUV: Future Scene Understanding as Video Generation for End-to-End Driving.

SUV casts future scene understanding as video generation. A shared video expert generates future RGB, semantic segmentation, relative depth, and instance-track streams, while an action expert attends to their latent tokens to predict the ego trajectory. The released checkpoint supports the official NAVSIM v1 and NAVSIM v2 evaluation pipelines.

Download

1. SUV checkpoint

mkdir -p SUV_ckpt
hf download ASH-2046/SUV suv_navsim.pt \
  --local-dir SUV_ckpt

2. Official Wan2.2 dependency

hf download Wan-AI/Wan2.2-TI2V-5B \
  --local-dir SUV_ckpt/Wan2.2-TI2V-5B

Place the complete official Wan2.2 directory next to suv_navsim.pt. It provides the VAE used during evaluation and the UMT5 encoder and tokenizer used to prepare the text-embedding cache:

SUV_ckpt/
├── suv_navsim.pt
└── Wan2.2-TI2V-5B/
    ├── Wan2.2_VAE.pth
    ├── models_t5_umt5-xxl-enc-bf16.pth
    ├── diffusion_pytorch_model-*.safetensors
    └── google/umt5-xxl/

Set CKPT_LOCAL_DIR in the evaluation shell script to the downloaded SUV_ckpt directory. Follow the official code repository for installation, text-embedding preparation, data setup, and NAVSIM evaluation commands.

Files

File	Description	SHA256
suv_navsim.pt	SUV video and action expert weights	e9f036eff6f2afd4cc4c154cbbe38f50998e700d4d0a5adc43fe28155d55102a

Citation

@article{yuan2026suv,
  title={SUV: Future Scene Understanding as Video Generation for End-to-End Driving},
  author={Yuan, Yibo and Fu, Jiacheng and Zhu, Jiangtong and Li, Yi and Han, Jianhua and Tian, Meng and Liu, Zhuohan and Xiong, Zhiwei and Xu, Hang and Fang, Jianwu and Xue, Jianru},
  journal={arXiv preprint arXiv:2608.03084},
  year={2026}
}

License

The SUV checkpoint is released under the Apache License 2.0. The source code is released separately under the MIT License. Wan2.2 weights are not redistributed in this repository; download them from the official repository and follow its license and citation requirements. Please also follow the requirements of the NAVSIM/NuPlan ecosystem.