Zirui Li

2 papers indexed

arxivcs.RO2026-07-15

Ego-Dynamics-Augmented World Model for Autonomous Driving with Zero-Shot Cross-Chassis Adaptation

Zhidong Wang, Jingsong Liang, Zirui Li, Zhan Chen, Han Yu, Chen Lv

World model (WM)-based reinforcement learning enables sample-efficient end-to-end autonomous driving learning by imagining long-horizon trajectories in latent space. However, most driving WMs operate on bird's-eye-view (BEV) representations that are inherently egocentric: the tra…

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arxivcs.ROcs.AIcs.CVcs.LG2026-06-29

Learning from Mistakes: Rollout-Retrieval Lifelong Policy Learning for Autonomous Driving

Cheng Gong, Haoyang Wang, Chao Lu, Zirui Li, Jianwei Gong

Autonomous driving policies should be able to improve continually as deployment exposes them to increasingly diverse and long-tail traffic situations. However, most learning-based policies are trained or fine-tuned on expert demonstrations and then rely largely on generalization…

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