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

Testing and validating Autonomous Vehicle (AV) performance in safety-critical and diverse scenarios is crucial before real-world deployment. However, manually creating such scenarios in simulation remains a significant and time-consuming…

In this paper we describe a learned method of traffic scene generation designed to simulate the output of the perception system of a self-driving car. In our "Scene Diffusion" system, inspired by latent diffusion, we use a novel combination…

Scene simulation in autonomous driving has gained significant attention because of its huge potential for generating customized data. However, existing editable scene simulation approaches face limitations in terms of user interaction…

Indoor scene synthesis has become increasingly important with the rise of Embodied AI, which requires 3D environments that are not only visually realistic but also physically plausible and functionally diverse. While recent approaches have…

Despite recent advancements in single-domain or single-object image generation, it is still challenging to generate complex scenes containing diverse, multiple objects and their interactions. Scene graphs, composed of nodes as objects and…

Video generation has achieved impressive quality, but it still suffers from artifacts such as temporal inconsistency and violation of physical laws. Leveraging 3D scenes can fundamentally resolve these issues by providing precise control…

Scenic is an open-source JAX library with a focus on Transformer-based models for computer vision research and beyond. The goal of this toolkit is to facilitate rapid experimentation, prototyping, and research of new vision architectures…

Their highly adaptive nature and the combinatorial explosion of possible configurations makes testing context-oriented programs hard. We propose a methodology to automate the generation of test scenarios for developers of feature-based…

Film set design plays a pivotal role in cinematic storytelling and shaping the visual atmosphere. However, the traditional process depends on expert-driven manual modeling, which is labor-intensive and time-consuming. To address this issue,…

Learning-based methods for training embodied agents typically require a large number of high-quality scenes that contain realistic layouts and support meaningful interactions. However, current simulators for Embodied AI (EAI) challenges…

We introduce ScenarioControl, the first vision-language control mechanism for learned driving scenario generation. Given a text prompt or an input image, Scenario-Control synthesizes diverse, realistic 3D scenario rollouts - including map,…

Generating realistic and controllable traffic scenes from natural language can greatly enhance the development and evaluation of autonomous driving systems. However, this task poses unique challenges: (1) grounding free-form text into…

Simulation forms the backbone of modern self-driving development. Simulators help develop, test, and improve driving systems without putting humans, vehicles, or their environment at risk. However, simulators face a major challenge: They…

This paper presents an extension to the probabilistic programming language ProbRobScene, allowing users to automatically synthesize uniform experiment designs directly from environment specifications. We demonstrate its effectiveness on a…

We tackle the challenge of learning a distribution over complex, realistic, indoor scenes. In this paper, we introduce Generative Scene Networks (GSN), which learns to decompose scenes into a collection of many local radiance fields that…

Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…

Training robots in simulation requires diverse 3D scenes that reflect the specific challenges of downstream tasks. However, scenes that satisfy strict task requirements, such as high-clutter environments with plausible spatial arrangement,…

The visual world we sense, interpret and interact everyday is a complex composition of interleaved physical entities. Therefore, it is a very challenging task to generate vivid scenes of similar complexity using computers. In this work, we…

In the scenario-based evaluation of machine learning models, a key problem is how to construct test datasets that represent various scenarios. The methodology proposed in this paper is to construct a benchmark and attach metadata to each…

Large-scale driving datasets such as Waymo Open Dataset and nuScenes substantially accelerate autonomous driving research, especially for perception tasks such as 3D detection and trajectory forecasting. Since the driving logs in these…