相关论文: UniWorld: Autonomous Driving Pre-training via Worl…

Vision-Language-Action (VLA) models have recently achieved notable progress in end-to-end autonomous driving by integrating perception, reasoning, and control within a unified multimodal framework. However, they often lack explicit modeling…

3D occupancy prediction is important for autonomous driving due to its comprehensive perception of the surroundings. To incorporate sequential inputs, most existing methods fuse representations from previous frames to infer the current 3D…

Recently, world models have made significant progress in enhancing end-to-end driving systems through both future situation forecasting and improved scene understanding. However, existing driving world models are typically built upon dense…

Autonomous driving, as an agent operating in the physical world, requires the fundamental capability to build \textit{world models} that capture how the environment evolves spatiotemporally in order to support long-term planning. At the…

In autonomous driving, predicting future events in advance and evaluating the foreseeable risks empowers autonomous vehicles to better plan their actions, enhancing safety and efficiency on the road. To this end, we propose Drive-WM, the…

Multi-agent traffic simulation is central to developing and testing autonomous driving systems. Recent data-driven simulators have achieved promising results, but rely heavily on supervised learning from labeled trajectories or semantic…

A World Model is a compressed spatial and temporal representation of a real world environment that allows one to train an agent or execute planning methods. However, world models are typically trained on observations from the real world…

Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajectory prediction of potential instances, current works use…

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…

Driving World Models (DWMs) have become essential for autonomous driving by enabling future scene prediction. However, existing DWMs are limited to scene generation and fail to incorporate scene understanding, which involves interpreting…

Motion simulation, prediction and planning are foundational tasks in autonomous driving, each essential for modeling and reasoning about dynamic traffic scenarios. While often addressed in isolation due to their differing objectives, such…

End-to-end (E2E) autonomous driving has recently attracted increasing interest in unifying Vision-Language-Action (VLA) with World Models to enhance decision-making and forward-looking imagination. However, existing methods fail to…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate…

Despite impressive progress in video generation, existing models remain limited to surface-level plausibility, lacking a coherent and unified understanding of the world. Prior approaches typically incorporate only a single form of…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

In this technical report, we present our solution, named UniOCC, for the Vision-Centric 3D occupancy prediction track in the nuScenes Open Dataset Challenge at CVPR 2023. Existing methods for occupancy prediction primarily focus on…

In the rapidly evolving landscape of autonomous driving, the capability to accurately predict future events and assess their implications is paramount for both safety and efficiency, critically aiding the decision-making process. World…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

End-to-end autonomous driving directly generates planning trajectories from raw sensor data, yet it typically relies on costly perception supervision to extract scene information. A critical research challenge arises: constructing an…