Author

Weixin Li

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#artificial intelligence Preprint Oct 2026

TerraTransfer++: Demonstration-Free End-to-End Planner

End-to-end autonomous driving has achieved state-of-the-art performance on benchmarks and real-world deployments. Its standard training recipe, however, is expensive across all existing paradigms: imitation learning requires fleet-scale driving logs whose behavior distribution only thinly covers the safety-critical tai...

Zikang Xiong, Wei-Xin Li, Zhouchonghao Wu et al. · 0 citations

Jul 2026

TerraZero: Procedural Driving Simulation for Zero-Demonstration Self-Play at Scale

TerraZero is a procedural driving simulator and self-play training stack that meets the goals of reinforcement learning at scale, realistic enough to ground behavior in real-world map structure, and diverse enough to cover the safety-critical long tail that logged data rarely contains.

Zhouchonghao Wu, Akshay Rangesh, Weixin Li et al. · arXiv.org · 2 citations