Author

Junlin He

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#artificial intelligence Preprint Sep 2026

Beyond a single latent space: a dual-latent world model for long-horizon planning

Latent world models often struggle with long-horizon planning despite accurate short-term predictions. Recursive rollouts accumulate errors, while distance concentration in high-dimensional latent spaces can weaken goal discrimination. We introduce the Dual-Latent World Model (Dual-WM), which separates local execution...

De-Ling Zhao, Zheng-Rong Yue, Shao-Bin Zhuang et al. · 0 citations

Jul 2026

World Models as Adversaries: Multi-Agent Self-Play Fine-Tuning for Robust Motion Planning

Robust motion planning in dense traffic requires autonomous vehicles to interact in rare and safety-critical scenarios that are underrepresented in naturalistic driving data. Although adversarial training offers a feasible solution, existing methods often rely on external scenario generators, heuristic perturbations, o...

Tong Nie, Yuewen Mei, Junlin He et al. · arXiv.org · 0 citations