Semantic occupancy has emerged as a powerful representation in world models for its ability to capture rich spatial semantics. However, most existing occupancy world models rely on static and fixed embeddings or grids, which inherently limit the flexibility of perception. Moreover, their “in-place classification” over grids exhibits a potential misalignment with the dynamic and continuous nature of real scenarios. In this paper, we propose SparseWorld, a novel 4D occupancy world model that is flexible, adaptive, and efficient, powered by sparse and dynamic queries. We propose a Range-Adaptive Perception module, in which learnable queries are modulated by the ego vehicle states and enriched with temporal-spatial associations to enable extended-range perception. To effectively capture the dynamics of the scene, we design a State-Conditioned Forecasting module, which replaces classification-based forecasting with regressionguided formulation, precisely aligning the dynamic queries with the continuity of the 4D environment. In addition, We specifically devise a Temporal-Aware Self-Scheduling training strategy to enable smooth and efficient training. Extensive experiments demonstrate that SparseWorld achieves state-ofthe-art performance across perception, forecasting, and planning tasks. Comprehensive visualizations and ablation studies further validate the advantages of SparseWorld in terms of flexibility, adaptability, and efficiency.

Overview

@article{dang2025sparseworld,
  title={SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries},
  author={Dang, Chenxu and Liu, Haiyan and Bao, Guangjun and An, Pei and Tang, Xinyue and Ma, Jie and Sun, Bingchuan and Wang, Yan},
  journal={arXiv preprint arXiv:2510.17482},
  year={2025}
}