---
license: cc-by-nc-sa-4.0
pipeline_tag: image-to-video
tags:
- turing
- autonomous driving
- video generation
- world model
---

# Terra

**Terra** is a world model designed for autonomous driving and serves as a baseline model in th [ACT-Bench](https://github.com/turingmotors/ACT-Bench) framework.
Terra generates video continuations based on short video clips of approximately three frames and trajectory instructions.
A key feature of Terra is its **high adherence to trajectory instructions**, enabling accurate and reliable action-conditioned video generation.

## Related Links

For more technical details and discussions, please refer to:
- **Paper:** To Be Updated
- **Code:** https://github.com/turingmotors/ACT-Bench
- **Blog Post:** [運転版の"Sora"を作る:動画生成の世界モデルTerraの開発背景](https://zenn.dev/turing_motors/articles/6c0ddc10aae542) (ja) / [Create a driving version of "Sora"](https://medium.com/@hide1996/create-a-driving-version-of-sora-33cf4040937a) (en)

## How to use

We have verified the execution on a machine equipped with a single NVIDIA H100 80GB GPU. However, we believe it should be possible to run the model on any machine equipped with an NVIDIA GPU with 16GB or more of VRAM. 

### Install Packages



### Action-Conditioned Video Generation without Video Refiner

### Action-Conditioned Video Generation with Video Refiner

## Citation

```bibtex
@misc{arai2024actbench,
      title={ACT-Bench: Towards Action Controllable World Models for Autonomous Driving}, 
      author={Hidehisa Arai and Keishi Ishihara and Tsubasa Takahashi and Yu Yamaguchi},
      year={2024},
      eprint={2412.05337},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2412.05337}, 
}
```