Author

Ze-Yu He

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Preprint Sep 2026

InternW0-$\Delta$: A World Action Model Bridging Predictive Dynamics and Actions with 20K+ Hours of Open Data

World Action Models (WAMs) jointly model visual dynamics and action generation for generalist robot manipulation. A central challenge is to integrate priors from large-scale pretrained models---including visual dynamics, scene semantics, geometry, and motion---into a unified framework for robot action generation. We in...

Xing-Yu Miao, Zi-Zun Li, Bao-Le Fang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Evaluation Is All You Need for Multi-Modal Autonomous Driving

Multi-modal planning is promising for autonomous driving by representing multiple plausible behaviors in ambiguous and long-tail scenarios. Existing methods mainly focus on improving trajectory multi-modality, enhancing trajectory representations, or reshaping the candidate distribution. Nevertheless, we identify a pro...

Ze-Yu He, Shi-Qi Liu, Ke Chen et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Beyond Token-Local Imitation: Reward-Compatible Temporal Credit Assignment for On-Policy Distillation

On-policy distillation (OPD) has emerged as an effective approach for large language model post-training, yet existing objectives face a trade-off between objective fidelity and optimization stability. Token-level OPD provides stable but local supervision, whereas sequence-level OPD captures future credit at the cost o...

Shi-Qi Liu, Ze-Yu He, Le-Tian Tao et al. · 2 citations