InfraWorld: Motion-Aware World Modeling for Roadside 4D Occupancy Forecasting

Roadside 4D occupancy forecasting predicts future semantic occupancy in a fixed infrastructure coordinate system. Roadside scenes are globally structured yet locally evolving, requiring comprehensive scene-level context while precisely modeling sparse localized motion. However, existing forecasting paradigms struggle to tackle both requirements. To address this limitation, we propose InfraWorld, a world model formulating roadside occupancy forecasting as selective state evolution. InfraWorld maintains a dense BEV state for the complete scene and persistent motion queries for moving regions, assigning complementary states to global context and local dynamics. Specifically, we propose Dynamic Query Initiation (DQI) to initialize queries in regions supported by motion in the observed history. During rollout, the dense state is updated through Long–Short Temporal Fusion (LST), which combines short-term adjacent-frame continuity with long-term motion trends to preserve stable context while capturing scene evolution. Motion-Aware Query Injection (MAQI) then refines the queries and injects confidence-weighted query information into corresponding BEV tokens, enabling targeted dynamic updates without perturbing global context. Together, InfraWorld concentrates predictive capacity on evolving traffic regions. Extensive experiments on the InfraOcc and Occ3D–nus datasets demonstrate that InfraWorld achieves state-of-the-art performance for roadside 4D occupancy forecasting while retaining its effectiveness under ego-centric settings. Code will be released.