Author

Jiaru Zhang

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Preprint Aug 2026

How Can Driving World Models Do Counterfactual Prediction?

Driving world models are often interpreted as counterfactual simulators for observed driving episodes: given a factual driving log, they are asked what would have happened under an alternative ego action. In this paper, we identify a fundamental mismatch between this goal and direct action-conditioned prediction. The d...

Jiaru Zhang, C. Cui, Yi Xu et al. · 0 citations