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cs.RO2026
PV-WM: A Heterogeneous Micro-Macro World Model for Articulated Pedestrian-Vehicle Co-Rollout
Haozhuang Chi, Jingsong Liang, Ziying Song +4
Local pedestrian-vehicle forecasting spans heterogeneous physical scales: pedestrians combine root locomotion with articulated motion, whereas vehicles are rigid bodies described b…
cs.RO2026
Not All History Helps: Velocity-Aware Selective Memory for Long-Horizon End-to-End Autonomous Driving
Yuchen Liu, Ziying Song, Shengkai Zhang +6
Reliable long-horizon planning remains a key challenge in end-to-end autonomous driving. By accounting for future motion evolution and potential consequences, it provides forward-l…