Author

Xing-Long Sun

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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 Sep 2026

Large Discrete Policy: Advancing Explicit Behavior Modeling with Stochastic Iterative Scoring

Behavior policies are often formulated as continuous generative models, whose iterative denoising processes are expressive but difficult to interpret and prone to producing implausible actions. We propose the Large Discrete Policy (LDiP), a fully discrete behavior modeling framework that selects actions from a large vo...

Zhen-Xin Li, Nadine Chang, Xing-Long Sun et al. · 1 citation