Author

Xin Ye

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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

Preprint Aug 2026

GeoWAM: Visual Geometry World Action Models for Autonomous Driving

World action models (WAMs) have recently gained increasing attention as a framework for jointly modeling scene evolution and ego actions in autonomous driving. Most existing WAMs learn scene dynamics in pixel space by combining a video-generation backbone for future-observation prediction with an action head for ego-tr...

Yiren Lu, Xin Ye, Jiaming Liu et al. · 1 citation · ⚡1