arXiv:2605.24004v1 Announce Type: new Abstract: Large language models (LLMs) are promising for autonomous driving, but semantics-only decision policies can yield physically unsafe behavior in dynamic traffic. Existing methods either perform online language reasoning without explicit dynamics verification or use world models mainly in offline pipelines, leaving a gap between semantic intent and physical feasibility at decision time. We propose Reason--Imagine--Act (RIA), a closed-loop framework that couples an LLM reasoner with an action-conditioned world model for online safety verification. At each step, the LLM proposes an action template and candidate sub-actions, the world model performs short-horizon rollouts, and a safety scorer selects the safest executable action with feedback to the next reasoning step. Under a unified CARLA point-goal protocol (1000 episodes), RIA achieves 80.05% route completion, 51.10% arrival rate, and 0.20% collision rate. Under the same closed-loop interface, RIA consistently outperforms training-free baselines, including CARLA TM and MADA, on core closed-loop metrics. For reproducibility, code is available at https://github.com/pku-smart-city/source_code/tree/main/RIA.

arXiv:2503.23377v2 Announce Type: replace-cross Abstract: This paper introduces JavisDiT, a novel Joint Audio-Video Diffusion Transformer designed for synchronized audio-video generation (JAVG). Based on the powerful Diffusion Transformer (DiT) architecture, JavisDiT simultaneously generates high-quality audio and video content from open-ended user prompts in a unified framework. To ensure audio-video synchronization, we introduce a fine-grained spatio-temporal alignment mechanism through a Hierarchical Spatial-Temporal Synchronized Prior (HiST-Sypo) Estimator. This module extracts both global and fine-grained spatio-temporal priors, guiding the synchronization between the visual and auditory components. Furthermore, we propose a new benchmark, JavisBench, which consists of 10,140 high-quality text-captioned sounding videos and focuses on synchronization evaluation in diverse and complex real-world scenarios. Further, we specifically devise a robust metric for measuring the synchrony between generated audio-video pairs in real-world content. Experimental results demonstrate that JavisDiT significantly outperforms existing methods by ensuring both high-quality generation and precise synchronization, setting a new standard for JAVG tasks. Our code, model, and data are available at https://javisverse.github.io/JavisDiT-page/.