Jieyuan Pei, Meiyi Lu, Sining Ang, Yubo Zhao, Zhangyi Hu, Mingwei Xu, Haokai Ding, Wei Li, Zihan You, Jianwei Zheng, Li Yu, Yifeng Pan, Ji Tao, Rongjunchen Zhang, Yan Wang Checkpoints of World4Scorer (paper, code). World4Scorer makes the candidate scorer of a generate-and-select planner a trajectory-conditioned latent world model. One shared predictor gives every candidate trajectory a predicted state, and score heads read its outcomes (collision, drivable area, progress, time to collision, comfort) from that state. Simulator outcomes supervise every candidate; the one future the driving log actually recorded anchors the shared predictor during training. No future is needed at test time.…