Author

Xiaolong Wang

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Preprint Oct 2026

Simulation Priors for Rapid Adaptation in Model-Based RL for Autonomous Racing

This work introduces Prior-Informed Adaptation (PIA), an offline-to-online model-based RL framework that uses structured simulation priors for rapid adaptation that achieves reliable few-shot adaptation with less than one hour of on-vehicle interaction.

Adrian Remonda, Jia-Jun Xi, Nicklas Hansen et al. · 0 citations

Preprint Aug 2026

FACT: Failure-Aware Causal Training for World-Action Models

FACT is introduced, a causal World-Action Model that predicts future video and task progress conditioned on the executed action, and allows failure rollouts to supervise action consequences, turning bad actions into valid future targets rather than being discarded.

Quanquan Peng, Yutong Liang, Rui Yan et al. · 5 citations · ⚡1