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README.md

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 ---
 license: apache-2.0
+base_model: Kevin-thu/Epona
+tags:
+  - robotics
+  - autonomous-driving
+  - computer-vision
+  - world-model
+  - trajectory-planning
 ---
+
+# SimVTA: Simulation-Grounded Video-Trajectory Alignment for Driving World Action Models
+
+[![Paper](https://img.shields.io/badge/-Paper-B31B1B?logo=arxiv&logoColor=white&labelColor=555)](https://arxiv.org/abs/2610.13781)
+[![Project Page](https://img.shields.io/badge/Project_Page-8A2BE2?logo=googlechrome&logoColor=white&labelColor=555)](https://opendrivelab.com/SimVTA/)
+[![GitHub](https://img.shields.io/badge/-GitHub-181717?logo=github&logoColor=white)](https://github.com/OpenDriveLab/SimVTA)
+
+> [Changhui Jing](https://scholar.google.com/citations?user=B4Nu6pAAAAAJ), [Haochen Tian](https://scholar.google.com/citations?user=DoyuNwEAAAAJ), [Hongchen Li](https://scholar.google.com/citations?user=QO6p6OgAAAAJ), [Tianyu Li](https://sephyli.github.io/), [Caojun Wang](https://scholar.google.com/citations?user=35xHlDUAAAAJ),
+> [Zihao Zhang](https://scholar.google.com/citations?user=R2Brvm4AAAAJ), [Yanhao Liu](https://scholar.google.com/citations?user=dYicC-4AAAAJ), [Chengen Xie](https://scholar.google.com/citations?user=q0W3n-cAAAAJ), [Bailin Li](https://www.linkedin.com/in/libailin/), [Hao Zhao](https://sites.google.com/view/fromandto), [Zhenjie Yang](https://scholar.google.com/citations?user=jVlRiUEAAAAJ)
+
+> - 📧 Primary Contact: Changhui Jing ([changhui.jing@opendrivelab.com](mailto:changhui.jing@opendrivelab.com))
+> - 🖊️ Joint effort by Shanghai Innovation Institute, OpenDriveLab at HKU, Li Auto Inc., Tongji University, and Tsinghua University.
+
+---
+
+![From logged futures to candidate-matched supervision](https://ik.imagekit.io/szpk/SimVTA/overview.png)
+
+
+## Highlights
+
+- 🚗 **Simulation-grounded alignment:** Render matched future videos for alternative candidate trajectories in reconstructed real-world scenes.
+- 🔍 **Selective video supervision:** Prioritize higher-error futures among high-reward candidates and jointly train trajectory planning and video prediction.
+- 📈 **Improved planning:** Achieve 91.3 PDMS on NAVSIM v1, 88.2 EPDMS on NAVSIM v2, and 38.8 average HD-Score on HUGSIM, with direct trajectory prediction at inference.
+
+## Overview
+
+**SimVTA** is a simulation-grounded post-training framework for driving world action models. It extends supervision beyond logged trajectories using a 3D Gaussian Splatting simulator, combining trajectory GRPO with a flow-matching video loss that updates shared representations.
+
+Reported results in the paper:
+
+| Benchmark | Metric | SimVTA |
+| --- | --- | --- |
+| NAVSIM v1 | PDMS | **91.3** (+5.1 over the 86.2 initialization) |
+| NAVSIM v2 | EPDMS | **88.2** |
+| HUGSIM | Average HD-Score | **38.8** |
+
+## Matched Futures for Alternative Actions
+
+![Simulator-rendered futures for straight driving and lane changes](https://ik.imagekit.io/szpk/SimVTA/matched-futures.png)
+
+**Simulator-rendered futures for going straight (A), changing lanes left (B), and changing lanes right (C).**
+
+## Video-Trajectory Alignment
+
+![Video-trajectory alignment before and after post-training](https://ik.imagekit.io/szpk/SimVTA/video-trajectory-alignment.png?updatedAt=1792686923154)
+
+**Video-trajectory alignment: World Engine renderings compared with SimVTA and Epona predictions.**
+
+## Checkpoint Download
+
+This repository provides `simvta.pkl`, the SimVTA checkpoint post-trained from a NAVSIM-adapted [Epona](https://huggingface.co/Kevin-thu/Epona) initialization.
+
+```bash
+pip install -U huggingface_hub
+hf download OpenDriveLab-org/SimVTA simvta.pkl --local-dir ./ckpts
+```
+
+The checkpoint will be saved to `./ckpts/simvta.pkl`. Code and detailed inference instructions are being prepared for release in the [GitHub repository](https://github.com/OpenDriveLab/SimVTA). Additional pretrained components and dataset preparation will be documented there.
+
+## Acknowledgements
+
+We thank the authors and open-source contributors of the following projects for providing the models, simulation tools, and evaluation benchmarks that support this work:
+
+- [Epona](https://github.com/Kevin-thu/Epona) | [World Engine](https://github.com/OpenDriveLab/WorldEngine) | [NAVSIM](https://github.com/autonomousvision/navsim) | [HUGSIM](https://github.com/hyzhou404/HUGSIM)
+
+We also thank the broader open-source community for its contributions to driving world models, autonomous driving, and 3D Gaussian Splatting.
+
+## License and Citation
+
+The SimVTA release is licensed under [Apache-2.0](LICENSE), subject to the retained upstream MIT notice for Epona in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
+
+If our paper or checkpoint helps your research, please consider citing [our work](https://arxiv.org/abs/2610.13781) and giving the [GitHub repository](https://github.com/OpenDriveLab/SimVTA) a star.

THIRD_PARTY_NOTICES.md

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+# Third-party notices
+
+## Epona
+
+The SimVTA checkpoint is derived through adaptation and post-training from Epona.
+
+- Code: https://github.com/Kevin-thu/Epona
+- Upstream checkpoints: https://huggingface.co/Kevin-thu/Epona
+- Upstream license: MIT
+
+The upstream copyright and license notice is reproduced below.
+
+```text
+MIT License
+
+Copyright (c) 2024 FoundationVision
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+```