Author

Jia-Qi Ma

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#artificial intelligence Preprint Oct 2026

AffordDrive3D: Affordance-Aware World-Action Modeling with Spatial Understanding

World-action models have recently improved autonomous driving by jointly learning future scene prediction and trajectory generation. Most existing approaches model the future primarily through RGB appearance, and recent works have begun to incorporate geometric prediction to improve spatial understanding. However, dens...

Tian-Hui Cai, Xing-Long Sun, Chao Fang et al. · 0 citations

Preprint Aug 2026

SCAPE: Scenario-Conditioned Simulation-Augmented Policy Evaluation

Reliable performance evaluation is a central bottleneck for deploying robot-learning policies in real-world conditions. Real-world testing is faithful but costly and difficult to scale, whereas simulation-based testing scales easily but is inevitably biased by the sim-to-real gap. Existing simulation-augmented methods...

Dijie Zhu, Seunghun Oh, Ruo-Peng Huang et al. · 0 citations