---
license: apache-2.0
base_model: Wan-AI/Wan2.2-TI2V-5B
library_name: pytorch
tags:
  - autonomous-driving
  - end-to-end-driving
  - navsim
  - video-generation
  - world-model
---

# 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](https://arxiv.org/abs/2608.03084).

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

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

### 2. Official Wan2.2 dependency

```bash
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:

```text
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](https://github.com/ASH-2046/SUV) 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

```bibtex
@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.