Author

Ze-Hua Fan

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Preprint Oct 2026

Language2Drive: Do Vision-Language-Action Models Really Follow the Instructions in Autonomous Driving?

Recent Vision-Language-Action (VLA) models increasingly use natural-language instructions to condition autonomous driving behavior. Yet existing closed-loop benchmarks primarily measure route completion, safety, and rule compliance, leaving a fundamental question unresolved: does language actually determine which feasi...

Zi-Han You, Ze-Hua Fan, Wenqi Lyu et al. · 0 citations

Preprint Oct 2026

UniWAM: Unified World-Action Model

Vision-language-action models benefit from the understanding and reasoning capabilities of pretrained vision-language models, but action-only supervision provides limited grounding in world dynamics. Conversely, world-action models inherit spatiotemporal priors from video generation models, yet remain limited in semant...

Wen-Xuan Song, Jia-Yi Chen, Jing-Bo Wang et al. · 4 citations · ⚡1

Preprint Aug 2026

MobileWAM: Bridging World Action Models to Mobile Manipulation with Chain-of-Foresight

MobileWAM surpasses state-of-the-art mobile manipulation policies on ManiSkill-HAB and fine-tunes to a real ARX Lift2 mobile manipulator across diverse tasks with strong generalization.

Ze-Hua Fan, Jun-Jie He, Wen-Xuan Song et al. · 3 citations · ⚡1