Authors

Ziyang Leng

Publications 2

Preprint Open access

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

Yuxin Bao, Hongwei Ruan, Luobin Wang et al. · 2026

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 …

Preprint Open access

DreamStream: Towards Policy-Oriented Generative Simulation for End-to-End Driving

Ziyang Leng, Sicheng Mo, Seth Z. Zhao et al. · 2026

Faithfully evaluating end-to-end driving policies in simulation requires observations that are not merely photo-realistic, but preserve the scene features a policy relies on to make decisions. Existing platforms, however, exhibit a sim-to-real visual gap that corrupts policy perception, undermining their ability to ass …

Co-authors

Sicheng Mo Seth Z. Zhao Haoyuan Cai Yu Zeng Rowan McAllister Bolei Zhou Yuxin Bao Hongwei Ruan Luobin Wang Zihan Zhang Henrik Christensen