Author

José M. Álvarez

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Preprint Sep 2026

Large Discrete Policy: Advancing Explicit Behavior Modeling with Stochastic Iterative Scoring

Behavior policies are often formulated as continuous generative models, whose iterative denoising processes are expressive but difficult to interpret and prone to producing implausible actions. We propose the Large Discrete Policy (LDiP), a fully discrete behavior modeling framework that selects actions from a large vo...

Zhen-Xin Li, Nadine Chang, Xing-Long Sun et al. · 0 citations

Preprint Sep 2026

CASCADE: A Spatio-Temporal-Causal Reasoning Representation and Dataset for Driving

Reasoning is a promising route to the generalization that autonomous driving requires in the long tail, as it can infer how the elements of a scene depend on one another and traverse those dependencies to conclusions beyond what is observed. Yet it is hard to tell whether a model's conclusions follow the scene's depend...

Jenny Schmalfuss, Despoina Paschalidou, Simon Gerstenecker et al. · 0 citations