Direct action-conditioned prediction by driving world models is not true counterfactual prediction; supplying the observed factual continuation via a frozen-model completion pipeline substantially recovers the matched counterfactual event.
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How Can Driving World Models Do Counterfactual Prediction?
Direct action-conditioned prediction by driving world models is not true counterfactual prediction; supplying the observed factual continuation via a frozen-model completion pipeline substantially recovers the matched counterfactual event.