Author

Ji Tao

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Preprint Sep 2026

World4Scorer: Outcome-Grounded World Modeling for Autonomous Driving

Autonomous driving requires choosing a safe and efficient plan as surrounding traffic evolves. Generate-and-select planners propose multiple trajectories and score them for execution, and they have outperformed representative direct-prediction baselines on NAVSIM. Their scorer must compare plans that were never execute...

Jie-Yuan Pei, Mei-Yi Lu, Sining Ang et al. · 0 citations

Preprint Sep 2026

SV-WAM: An Efficient Surround-View World-Action Model for End-to-End Autonomous Driving

SV-WAM is proposed, a surround-view world-action model (WAM) that preserves full six-camera observations while maintaining efficient inference and introduces a differentiable drivable-area compliance regularizer that penalizes vehicle-footprint corners approaching or crossing drivable boundaries, improving planning saf...

Jin-Yang Wang, Shi-Wei Li, Jun-Jian Wang et al. · 0 citations