NIO’s flagship executive SUV, the ES9, will debut with the latest version of NIO World Model. Built upon a three-tier training framework—“World Model + Supervised Fine-Tuning + Closed-Loop Reinforcement Learning”—this new version marks the first implementation in China of an intelligent driver-assistance system that directly outputs steering wheel and acceleration/braking pedal control commands, eliminating the traditional trajectory-generation step to reduce latency and enhance control precision. The updated model also redefines sensor data representation, enabling real-time recognition and understanding of tidal lanes, reversible lanes, and overhead road signs without relying on high-definition maps or enhanced navigation maps—thereby improving lane-selection accuracy and expanding operational scenarios. According to official data, after the full rollout in January 2026 of the intelligent driver-assistance system based on the “World Model + Closed-Loop Reinforcement Learning” architecture to hundreds of thousands of vehicles equipped with NIO’s Banyan, Cedar, and Cedar S intelligent systems, user mileage and usage duration of urban Navigation on Pilot (NOP) increased by 92% and 116% respectively month-over-month over the following three months. This latest iteration of the World Model will be simultaneously deployed in June 2026 to all vehicles running the Banyan, Cedar, and Cedar S systems. NIO stated that whether users purchased a Banyan-equipped vehicle in 2022 or plan to buy a future Cedar or Cedar S model, they will receive nearly identical intelligent driver-assistance capabilities and experiences.