Pichao Wang

Latent-Centroid Steering: Single-Pass Classifier-Free Guidance for Command-Aligned Autonomous Driving

This work shows that CFG can be interpreted as isolating the instruction-induced residual in the action space by contrasting conditional and unconditional predictions, thereby explicitly amplifying the effect of the navigation command at inference time, and proposes Latent-Centroid Steering (LCS), a single-pass guidanc...