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Author

Heng Zhang

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Preprint Sep 2026

DriveZero: End-to-End Driving Beyond Human Demonstrations

DriveZero is presented, an end-to-end system that learns driving behavior beyond human demonstrations that achieves state-of-the-art performance on NAVSIMv1, NAVSIMv2 and the closed-loop HUGSIM benchmark without any human trajectory supervision.

Hao He, Cheng-Cheng Hu, Zi-Run Su et al. · 3 citations
#artificial intelligence Preprint Sep 2026

DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination

DeCAL is presented, a physically-grounded dexterous vision-language-action model that unifies understanding, imagination and action generation for contact-rich dexterous manipulation and introduces Adaptive Visuo-Tactile Fusion that dynamically regulates tactile interactions via a contact-aware gating strategy.

Yan-Kai Fu, Ning Chen, Jun-Kai Zhao et al. · 0 citations

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