Author

Xin Ye

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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. · 0 citations

Preprint Aug 2026

GeoWAM: Visual Geometry World Action Models for Autonomous Driving

Geometry is established as an effective state representation for autonomous driving and geometry pretraining as a general, scalable strategy for downstream planning.

Yiren Lu, Xin Ye, Jiaming Liu et al. · 1 citation · ⚡1