Author

Hong-Lin Li

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#artificial intelligence Preprint Sep 2026

Planning in the Backbone: DiffAdapterVLA for Native Continuous Trajectory Generation with Driving VLMs

DiffAdapterVLA is introduced, which realizes Planning in the Backbone: it injects explicit trajectory tokens into selected VLM late layers, bringing trajectory state into backbone forward computation, where it co-evolves with driving conditions at different depths.

Chang-Xin Lu, Xiao-Liang Meng, Yu Wu et al. · 0 citations

Preprint Aug 2026

SimWAM: A Simple World Action Model for End-to-End Autonomous Driving

SimWAM, a simple yet effective WAM that leverages future-video prediction as a training-time supervision signal, co-trains a pretrained video expert and a lightweight action expert with joint flow matching and applies reinforcement learning to optimize a compositional driving reward beyond trajectory imitation.

Zongchuang Zhao, Xin Zhou, Tianyang Xu et al. · 4 citations