arXiv subjects

Bing Zhan

Publications and source records attributed to Bing Zhan.

6 recordsLinked to original sources

arXiv2026

BrainWAM: Action-Space Coordination of Semantic Priors and Predictive Dynamics for Autonomous Driving

Autonomous driving requires planning under both semantic constraints and predictive dynamics. Existing end-to-end driving approaches, however, typically emphasize only one side of this requirement: Vision-Language-Action (VLA) models exploit VLM priors for semantic reasoning, while World Action Models (WAMs) provide future-aware prediction through generative world modeling. This naturally motivates a unified planner that can leverage both semantic priors and predictive dynamics. However, we find that a naive combination through joint token-level attention suffers from an attention-allocation mismatch, where semantic shortcuts dominate the shared attention space and suppress predictive dynamics. Inspired by neuroscience evidence that complex behavior arises from coordination among functionally specialized systems, we propose BrainWAM, a structured action-space coordination framework that converts semantic reasoning and predictive world modeling into two specialized action-oriented pathways, and aligns them at the level of compact action representations. We further introduce an asynchronous rectified-flow inference strategy with decoupled video and action denoising, which shortens inference latency while preserving planning-relevant predictive context. BrainWAM reaches state-of-the-art performance on both NAVSIM v1 (89.5 PDMS) and NAVSIM v2 (89.6 EPDMS), consistently outperforming VLA-only or WAM-only methods, highlighting BrainWAM as a practical and promising direction for autonomous driving systems.

cs.RO↗

arXiv2026

DynVLA: Learning World Dynamics for Action Reasoning in Autonomous Driving

We propose DynVLA, a driving VLA model that introduces a new CoT paradigm termed Dynamics CoT. DynVLA forecasts compact world dynamics before action generation, enabling more informed and physically grounded decision-making. To obtain compact dynamics representations, DynVLA introduces a Dynamics Tokenizer that compresses future evolution into a small set of dynamics tokens. Considering the rich environment dynamics in interaction-intensive driving scenarios, DynVLA decouples ego-centric and environment-centric dynamics, yielding more accurate world dynamics modeling. We then train DynVLA to generate dynamics tokens before actions through SFT and RFT, improving decision quality while maintaining latency-efficient inference. Compared to Textual CoT, which lacks fine-grained spatiotemporal understanding, and Visual CoT, which introduces substantial redundancy due to dense image prediction, Dynamics CoT captures the evolution of the world in a compact, interpretable, and efficient form. Extensive experiments on NAVSIM, Bench2Drive, and a large-scale in-house dataset demonstrate that DynVLA consistently outperforms Textual CoT and Visual CoT methods, validating the effectiveness and practical value of Dynamics CoT. Project Page: https://yaoyao-jpg.github.io/dynvla.

cs.CV↗

arXiv2026

One Size, Many Fits: Aligning Diverse Group-Wise Click Preferences in Large-Scale Advertising Image Generation

Advertising image generation has increasingly focused on online metrics like Click-Through Rate (CTR), yet existing approaches adopt a ``one-size-fits-all" strategy that optimizes for overall CTR while neglecting preference diversity among user groups. This leads to suboptimal performance for specific groups, limiting targeted marketing effectiveness. To bridge this gap, we present \textit{One Size, Many Fits} (OSMF), a unified framework that aligns diverse group-wise click preferences in large-scale advertising image generation. OSMF begins with product-aware adaptive grouping, which dynamically organizes users based on their attributes and product characteristics, representing each group with rich collective preference features. Building on these groups, preference-conditioned image generation employs a Group-aware Multimodal Large Language Model (G-MLLM) to generate tailored images for each group. The G-MLLM is pre-trained to simultaneously comprehend group features and generate advertising images. Subsequently, we fine-tune the G-MLLM using our proposed Group-DPO for group-wise preference alignment, which effectively enhances each group's CTR on the generated images. To further advance this field, we introduce the Grouped Advertising Image Preference Dataset (GAIP), the first large-scale public dataset of group-wise image preferences, including around 600K groups built from 40M users. Extensive experiments demonstrate that our framework achieves the state-of-the-art performance in both offline and online settings. Our code and datasets will be released at https://github.com/JD-GenX/OSMF.

cs.CV↗

arXiv2025

DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving

Scaling Vision-Language-Action (VLA) models on large-scale data offers a promising path to achieving a more generalized driving intelligence. However, VLA models are limited by a ``supervision deficit'': the vast model capacity is supervised by sparse, low-dimensional actions, leaving much of their representational power underutilized. To remedy this, we propose \textbf{DriveVLA-W0}, a training paradigm that employs world modeling to predict future images. This task generates a dense, self-supervised signal that compels the model to learn the underlying dynamics of the driving environment. We showcase the paradigm's versatility by instantiating it for two dominant VLA archetypes: an autoregressive world model for VLAs that use discrete visual tokens, and a diffusion world model for those operating on continuous visual features. Building on the rich representations learned from world modeling, we introduce a lightweight action expert to address the inference latency for real-time deployment. Extensive experiments on the NAVSIM v1/v2 benchmark and a 680x larger in-house dataset demonstrate that DriveVLA-W0 significantly outperforms BEV and VLA baselines. Crucially, it amplifies the data scaling law, showing that performance gains accelerate as the training dataset size increases.

cs.CV↗

arXiv2025

EgoDemoGen: Egocentric Demonstration Generation for Viewpoint Generalization in Robotic Manipulation

Imitation learning based visuomotor policies have achieved strong performance in robotic manipulation, yet they often remain sensitive to egocentric viewpoint shifts. Unlike third-person viewpoint changes that only move the camera, egocentric shifts simultaneously alter both the camera pose and the robot action coordinate frame, making it necessary to jointly transfer action trajectories and synthesize corresponding observations under novel egocentric viewpoints. To address this challenge, we present EgoDemoGen, a framework that generates paired observation--action demonstrations under novel egocentric viewpoints through two key components: 1{)} EgoTrajTransfer, which transfers robot trajectories to the novel egocentric coordinate frame through motion-skill segmentation, geometry-aware transformation, and inverse kinematics filtering; and 2{)} EgoViewTransfer, a conditional video generation model that fuses a novel-viewpoint reprojected scene video and a robot motion video rendered from the transferred trajectory to synthesize photorealistic observations, trained with a self-supervised double reprojection strategy without requiring multi-viewpoint data. Experiments in simulation and real-world settings show that EgoDemoGen consistently improves policy success rates under both standard and novel egocentric viewpoints, with absolute gains of +24.6\% and +16.9\% in simulation and +16.0\% and +23.0\% on the real robot. Moreover, EgoViewTransfer achieves superior video generation quality for novel egocentric observations.

cs.RO↗

arXiv2023

A LiDAR-Inertial SLAM Tightly-Coupled with Dropout-Tolerant GNSS Fusion for Autonomous Mine Service Vehicles

Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks in mine scenes due to satellite signal dropouts, degraded perception, and observation degeneracy. To solve this problem, we propose a LiDAR-inertial odometry method in this paper, utilizing both Kalman filter and graph optimization. The front-end consists of multiple parallel running LiDAR-inertial odometries, where the laser points, IMU, and wheel odometer information are tightly fused in an error-state Kalman filter. Instead of the commonly used feature points, we employ surface elements for registration. The back-end construct a pose graph and jointly optimize the pose estimation results from inertial, LiDAR odometry, and global navigation satellite system (GNSS). Since the vehicle has a long operation time inside the tunnel, the largely accumulated drift may be not fully by the GNSS measurements. We hereby leverage a loop closure based re-initialization process to achieve full alignment. In addition, the system robustness is improved through handling data loss, stream consistency, and estimation error. The experimental results show that our system has a good tolerance to the long-period degeneracy with the cooperation different LiDARs and surfel registration, achieving meter-level accuracy even for tens of minutes running during GNSS dropouts.

cs.RO↗