相关论文: GzScenic: Automatic Scene Generation for Gazebo Si…

Designing 3D scenes is currently a creative task that requires significant expertise and effort in using complex 3D design interfaces. This effortful design process starts in stark contrast to the easiness with which people can use language…

Simulation is a crucial component of any robotic system. In order to simulate correctly, we need to write complex rules of the environment: how dynamic agents behave, and how the actions of each of the agents affect the behavior of others.…

Generating 3D scenes from natural language holds great promise for applications in gaming, film, and design. However, existing methods struggle with automation, 3D consistency, and fine-grained control. We present DreamScene, an end-to-end…

Real-world data collection for embodied agents remains costly and unsafe, calling for scalable, realistic, and simulator-ready 3D environments. However, existing scene-generation systems often rely on rule-based or task-specific pipelines,…

Modern robots can perform a wide range of simple tasks and adapt to diverse scenarios in the well-trained environment. However, deploying pre-trained robot models in real-world user scenarios remains challenging due to their limited…

3D Content Generation is at the heart of many computer graphics applications, including video gaming, film-making, virtual and augmented reality, etc. This paper proposes a novel deep-learning based approach for automatically generating…

We introduce the Scene Language, a visual scene representation that concisely and precisely describes the structure, semantics, and identity of visual scenes. It represents a scene with three key components: a program that specifies the…

Synthesizing natural human motion that adapts to complex environments while allowing creative control remains a fundamental challenge in motion synthesis. Existing models often fall short, either by assuming flat terrain or lacking the…

We describe an open-source simulator that creates sensor irradiance and sensor images of typical automotive scenes in urban settings. The purpose of the system is to support camera design and testing for automotive applications. The user…

Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…

The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety-critical -- especially when facing dynamic racing scenarios…

Safety-critical scenarios are central to evaluating autonomous driving systems, yet their rarity in naturalistic logs makes simulation-based stress testing indispensable. Most scenario generation methods treat surrounding agents as…

Diffusion models are advancing autonomous driving by enabling realistic data synthesis, predictive end-to-end planning, and closed-loop simulation, with a primary focus on temporally consistent generation. However, large-scale 3D scene…

We present a new, fast and flexible pipeline for indoor scene synthesis that is based on deep convolutional generative models. Our method operates on a top-down image-based representation, and inserts objects iteratively into the scene by…

Scenario generation is one of the essential steps in scenario-based testing and, therefore, a significant part of the verification and validation of driver assistance functions and autonomous driving systems. However, the term scenario…

Driving scene manipulation with sensor data is emerging as a promising alternative to traditional virtual driving simulators. However, existing frameworks struggle to generate realistic scenarios efficiently due to limited editing…

Generating coherent and useful image/video scenes from a free-form textual description is technically a very difficult problem to handle. Textual description of the same scene can vary greatly from person to person, or sometimes even for…

Self-driving software pipelines include components that are learned from a significant number of training examples, yet it remains challenging to evaluate the overall system's safety and generalization performance. Together with scaling up…

Text-to-3D scene generation from natural language is highly desirable for digital content creation. However, existing methods are largely domain-restricted or reliant on predefined spatial relationships, limiting their capacity for…

Cyber-physical systems like autonomous vehicles are tested in simulation before deployment, using domain-specific programs for scenario specification. To aid the testing of autonomous vehicles in simulation, we design a natural language…