Publications

DriveMA: Driving Vision-Language-Action Models with Verifiable Meta-Actions

DriveMA: Driving Vision-Language-Action Models with Verifiable Meta-Actions

Weicheng Zheng, Yixin Huang, Qiao Sun, Derun Li, Hang Zhao†

arXiv preprint arXiv:2605.31271 2026

A driving vision-language-action framework that uses verifiable meta-actions to close the gap between language-level intent and trajectory planning.

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Is Your Trajectory Displacement Safe in Long-tail?

Is Your Trajectory Displacement Safe in Long-tail?

Qiao Sun, Weicheng Zheng, Yixin Huang, Hang Zhao†

arXiv preprint arXiv:2606.16313 2026

A human-aligned and safety-aware evaluation framework for identifying additional threats in long-tail autonomous-driving scenarios.

ProjectDOICode
SLAM-Former: Putting SLAM into One Transformer

SLAM-Former: Putting SLAM into One Transformer

Yijun Yuan, Zhuoguang Chen, Kenan Li, Weibang Wang, Minghui Qin, Zhijian Fang, Weicheng Zheng, Hang Zhao

European Conference on Computer Vision (ECCV) 2026

A unified transformer-based SLAM system whose cooperating frontend and backend deliver online tracking, dense mapping, and global refinement.

ProjectDOICode
DriveAgent-R1: Advancing VLM-based Autonomous Driving with Active Perception and Hybrid Thinking

DriveAgent-R1: Advancing VLM-based Autonomous Driving with Active Perception and Hybrid Thinking

Weicheng Zheng, Xiaofei Mao, Nanfei Ye, Pengxiang Li, Kun Zhan, Xianpeng Lang, Hang Zhao†

International Conference on Learning Representations (ICLR) 2026

A VLM-based driving agent that improves planning reliability through active perception and adaptive hybrid reasoning.

ProjectDOICode