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cs.RO2026
Beyond Planning: Differentiable Control-in-the-loop End-to-End Autonomous Driving
Zhidong Wang, Zirui Li, Zitong Shan +6
End-to-end autonomous driving has achieved remarkable progress by planning trajectories directly from raw sensor data. Yet the step from planning to control still relies on hand-tu…
cs.RO2026
OccWAM: Occupancy World-Action Models with Joint Scene-to-Ego Flow Matching
Qihang Huang, Wenhui Huang, Collister Chua +6
Occupancy world models provide a structured, metric representation of future driving scenes, making them a promising basis for end-to-end autonomous driving. However, existing occu…
cs.RO2026
Ego-Dynamics-Augmented World Model for Autonomous Driving with Zero-Shot Cross-Embodiment Adaptation
Zhidong Wang, Jingsong Liang, Zirui Li +3
End-to-end autonomous driving requires generalization ability across platforms with dissimilar physical characteristics. The chassis defines the physical embodiment of each platfor…