Author

Sining Ang

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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 Sep 2026

World4Scorer: Outcome-Grounded World Modeling for Autonomous Driving

Autonomous driving requires choosing a safe and efficient plan as surrounding traffic evolves. Generate-and-select planners propose multiple trajectories and score them for execution, and they have outperformed representative direct-prediction baselines on NAVSIM. Their scorer must compare plans that were never execute...

Jie-Yuan Pei, Mei-Yi Lu, Sining Ang et al. · 0 citations

Preprint Aug 2026

Adaptive-WAM: Quality-Guided Early-Exit Planning from Intermediate Video-Diffusion Features

Adaptive-WAM is introduced, a quality-aware multi-exit planner built on a Wan2.2-5B backbone that avoids the iterative classifier-free denoising loop and VAE decoding required for future-video synthesis, while dynamically allocating backbone depth according to trajectory quality.

Sining Ang, Yuguang Yang, Yan Wang · 2 citations