Author

Zi-Yang Leng

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Preprint Sep 2026

NavSafe-$\infty$: Benchmarking Closed-Loop Driving Safety in Photorealistic Environments

End-to-end (E2E) driving policies have advanced rapidly on open-loop (OL) benchmarks, yet OL evaluation cannot reveal whether a policy can withstand compounding errors, recover from failures, or interact safely with surrounding actors. We introduce NavSafe-$\infty$, a photorealistic closed-loop (CL) benchmark comprisin...

Yu Bao, H. Ruan, Luobin Wang et al. · 1 citation · ⚡1

Jul 2026

Streaming Multi-Agent Autoregressive Diffusion Model with World State Registers

WorldWeaver (W^2), a streaming multi-agent video diffusion model that augments rollout with cross-agent world state registers: learnable tokens that store shared world information, track individual agent status, and are dynamically updated after each generated chunk is presented.

Si-Cheng Mo, Yu-Heng Li, Zi-Yang Leng et al. · arXiv.org · 3 citations