8 papers · 1 filter
KineWorld: Action-Induced Transport Fields for Embodied World Modeling
Ziying Song, Yuchen Liu, Zhuoran Xu +6
Embodied world models predict the visual consequences of candidate actions before execution. However, existing action-conditioned world models often adopt uniformly weighted visual…
MomADv2: Reliable Temporal Memory for End-to-End Autonomous Driving
Ziying Song, Shengkai Zhang, Lin Liu +8
Long-horizon planning is critical for safe autonomous driving in complex scenarios. Existing methods improve planning continuity with temporal memory, but such memory may become in…
PhyLatent: Learning Dynamics-Relevant Representations for JEPA World Models
Xi Zeng, Haojie Ren, Ziying Song +2
We propose PhyLatent, a dynamics-relevant training objective for Joint-Embedding Predictive Architecture (JEPA) world models. Our key observation is that preventing global latent c…
GraphBEV++: Multi-Modal Feature Alignment for Autonomous Driving
Ziying Song, Caiyan Jia, Lin Liu +3
Feature misalignment in BEV perception is a critical yet often overlooked challenge in autonomous driving, especially under calibration uncertainties between LiDAR and camera senso…
GraphWorld: Long-Horizon Planning with World Models for End-to-End Autonomous Driving
Ziying Song, Caiyan Jia, Lin Liu +8
End-to-end autonomous driving has made significant progress by unifying perception, prediction, and planning within a single learning framework, achieving strong performance in sho…
DriveFuture: Future-Aware Latent World Models for Autonomous Driving
Yufeng Hong, Xiaotian Zhou, Yingyan Li +6
Existing latent world models for autonomous driving have opened a promising path toward future-aware driving intelligence. However, they typically treat future latent states as pre…
Unleashing VLA Potentials in Autonomous Driving via Explicit Learning from Failures
Yuechen Luo, Qimao Chen, Fang Li +5
Vision-Language-Action (VLA) models for autonomous driving often hit a performance plateau during Reinforcement Learning (RL) optimization. This stagnation arises from exploration…
MindDrive: An All-in-One Framework Bridging World Models and Vision-Language Model for End-to-End Autonomous Driving
Bin Sun, Yaoguang Cao, Yan Wang +8
End-to-End autonomous driving (E2E-AD) has emerged as a new paradigm, where trajectory planning plays a crucial role. Existing studies mainly follow two directions: trajectory gene…