Author

Jiacheng Fu

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Preprint Aug 2026

4D-WAM: 4D Consistent World Modeling for Autonomous Driving

Emerging World-Action Models (WAMs) have demonstrated promising performance in autonomous driving by jointly modeling future driving scene evolution and trajectory planning. However, existing WAMs are typically trained with video data, which is only 2D projections of the underlying 4D driving scene. Consequently, WAMs...

Jiacheng Fu, Yibo Yuan, Meng Tian et al. · 0 citations

Preprint Aug 2026

SUV: Future Scene Understanding as Video Generation for End-to-End Driving

This work introduces SUV, a unified end-to-end driving framework that casts future Scene Understanding as Video generation using a pretrained video foundation model, and shows that structured future supervision and direct future-stream access yield higher trajectory planning scores.

Yibo Yuan, Jiacheng Fu, Jiangtong Zhu et al. · 1 citation