arXiv subjects

Aoqi Wang

Publications and source records attributed to Aoqi Wang.

3 recordsLinked to original sources

arXiv2026

AR Forcing: Towards Long-Horizon Robot Navigation World Model

The diffusion based robot navigation world models are typically trained using parallel supervision, while autoregressive inference is employed during path planning. This results in a distribution shift between training and inference, which destabilizes the performance over long-horizon prediction. We propose AR Forcing, an autoregressive training strategy, which integrates the standard diffusion loss into the autoregressive training loop. At each step, the model uses its own predictions to update the context and optimize the single step noise prediction objective, thereby explicitly exposing the model to the inference state distribution during training. Our method does not require additional discriminators or distribution-matching losses, retains the original diffusion framework and sampler, and is easy to integrate. Experiments on multi-domain navigation datasets (RECON, SCAND, HuRoN, TartanDrive) show that compared with strong baselines, AR Forcing improved the consistency of generated images during long-horizon navigation and the accuracy of predicted trajectories, enhancing robustness of the model in complex known and unknown environments. We will release the code soon.

cs.RO↗

arXiv2026

SAMoE-VLA: A Scene Adaptive Mixture-of-Experts Vision-Language-Action Model for Autonomous Driving

Recent advances in Vision-Language-Action (VLA) models have shown promising capabilities in autonomous driving by leveraging the understanding and reasoning strengths of Large Language Models(LLMs).However, our empirical analysis reveals that directly applying existing token-level MoE mechanisms--which are inherited from LLM architectures--to VLA models results in unstable performance and safety degradation in autonomous driving, highlighting a misalignment between token-based expert specialization and scene-level decision-making.To address this, we propose SAMoE-VLA, a scene-adaptive Vision-Language-Action framework that conditions expert selection on structured scene representations instead of token embeddings. Our key idea is to derive the MoE routing signal from bird's-eye-view (BEV) features that encapsulates traffic scene context, enabling scenario-dependent expert weighting and merging tailored to distinct driving conditions. Furthermore, to support temporally consistent reasoning across world-knowledge, perception, language, and action, we introduce a Conditional Cross-Modal Causal Attention mechanism that integrates world state, linguistic intent, and action history into a unified causal reasoning process. Extensive experiments on the nuScenes open loop planning dataset and LangAuto closed-loop benchmark demonstrate that SAMoE-VLA achieves state-of-the-art performance, outperforming prior VLA-based and world-model-based approaches with fewer parameters.Our code will be released soon.

cs.CV↗

arXiv2025

A Multi-Layered Framework for Modeling Human Biology: From Basic AI Agents to a Full-Body AI Agent

We envision the Full-Body AI Agent as a comprehensive AI system designed to simulate, analyze, and optimize the dynamic processes of the human body across multiple biological levels. By integrating computational models, machine learning tools, and experimental platforms, this system aims to replicate and predict both physiological and pathological processes, ranging from molecules and cells to tissues, organs, and entire body systems. Central to the Full-Body AI Agent is its emphasis on integration and coordination across these biological levels, enabling analysis of how molecular changes influence cellular behaviors, tissue responses, organ function, and systemic outcomes. With a focus on biological functionality, the system is designed to advance the understanding of disease mechanisms, support the development of therapeutic interventions, and enhance personalized medicine. We propose two specialized implementations to demonstrate the utility of this framework: (1) the metastasis AI Agent, a multi-scale metastasis scoring system that characterizes tumor progression across the initiation, dissemination, and colonization phases by integrating molecular, cellular, and systemic signals; and (2) the drug AI Agent, a system-level drug development paradigm in which a drug AI-Agent dynamically guides preclinical evaluations, including organoids and chip-based models, by providing full-body physiological constraints. This approach enables the predictive modeling of long-term efficacy and toxicity beyond what localized models alone can achieve. These two agents illustrate the potential of Full-Body AI Agent to address complex biomedical challenges through multi-level integration and cross-scale reasoning.

q-bio.TO↗