AI RESEARCH
U4D: Uncertainty-Aware 4D World Modeling from LiDAR Sequences
arXiv CS.CV
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ArXi:2512.02982v2 Announce Type: replace Modeling dynamic 3D environments from LiDAR sequences is central to building reliable 4D worlds for autonomous driving and embodied AI. Existing generative frameworks, however, often treat all spatial regions uniformly, overlooking the varying uncertainty across real-world scenes. This uniform generation leads to artifacts in complex or ambiguous regions, limiting realism and temporal stability. In this work, we present U4D, an uncertainty-aware framework for 4D LiDAR world modeling.