Author

B. Ivanovic

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Preprint Oct 2026

CtrlWAM: Controllable World Action Models with Aligned Intent and Foresight

World action models (WAMs) jointly predict actions (intent) and visual future (foresight). Standard training adds noise to recorded actions and video simultaneously, but such training paradigms introduce a mismatch: perturbed actions imply counterfactual future visual, while the noised video remains tied to the GT reco...

Chensheng Peng, Wen-Hao Ding, Ran Tian et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Guiding End-to-End Driving Models with Endpoint-Constrained Trajectory Optimization

Endpoint-Constrained Optimization (ECO), a lightweight postprocessing layer that anchors the trajectory to the vehicle's executed history, preserves the policy's predicted endpoint, and reshapes the intermediate waypoints to improve feasibility is introduced.

Brayden Zhang, Mahsa Golchoubian, Igor Gilitschenski et al. · 0 citations

#artificial intelligence Jun 2026

Planning-aligned Token Compression for Long-Context Autonomous Driving

This work proposes COMPACT-VA, a planning-aligned working memory framework built on conditional VQ-VAE, compressing extended context into bounded representations, and evaluates on high-signal dynamic scenarios where historical context is most critical for behavior correctness, and accordingly design behavioral metrics.

Zhixuan Liang, Yuxiao Chen, Yurong You et al. · arXiv.org · 1 citation