Preprint
Aug 2026
How Can Driving World Models Do Counterfactual Prediction?
This paper identifies a fundamental mismatch between direct action-conditioned prediction and counterfactual ground truth in driving world models, and introduces a deliberately simple, training-free pipeline that moves observed evidence into the counterfactual view and lets the frozen model complete what remains unknow...
Jiaru Zhang, C. Cui, Yi Xu et al.
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