相关论文: Scenario Diffusion: Controllable Driving Scenario …

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…

The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…

Simulation of autonomous vehicle systems requires that simulated traffic participants exhibit diverse and realistic behaviors. The use of prerecorded real-world traffic scenarios in simulation ensures realism but the rarity of safety…

Evaluating and training autonomous driving systems require diverse and scalable corner cases. However, most existing scene generation methods lack controllability, accuracy, and versatility, resulting in unsatisfactory generation results.…

Realistic driving simulation requires that NPCs not only mimic natural driving behaviors but also react to the behavior of other simulated agents. Recent developments in diffusion-based scenario generation focus on creating diverse and…

Safety-critical traffic scenarios are integral to the development and validation of autonomous driving systems. These scenarios provide crucial insights into vehicle responses under high-risk conditions rarely encountered in real-world…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

We introduce Scenario Dreamer, a fully data-driven generative simulator for autonomous vehicle planning that generates both the initial traffic scene - comprising a lane graph and agent bounding boxes - and closed-loop agent behaviours.…

In this paper, we introduce a novel approach to trajectory generation for autonomous driving, combining the strengths of Diffusion models and Transformers. First, we use the historical trajectory data for efficient preprocessing and…

This paper addresses the problem of generating dynamically admissible trajectories for control tasks using diffusion models, particularly in scenarios where the environment is complex and system dynamics are crucial for practical…

Realistic scene-level multi-agent motion simulations are crucial for developing and evaluating self-driving algorithms. However, most existing works focus on generating trajectories for a certain single agent type, and typically ignore the…

Controllable and realistic traffic simulation is critical for developing and verifying autonomous vehicles. Typical heuristic-based traffic models offer flexible control to make vehicles follow specific trajectories and traffic rules. On…

In this paper, we present a novel trajectory prediction model for autonomous driving, combining a Characterized Diffusion Module and a Spatial-Temporal Interaction Network to address the challenges posed by dynamic and heterogeneous traffic…

Realistic and interactive scene simulation is a key prerequisite for autonomous vehicle (AV) development. In this work, we present SceneDiffuser, a scene-level diffusion prior designed for traffic simulation. It offers a unified framework…

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative…

Safety-critical traffic simulation plays a crucial role in evaluating autonomous driving systems under rare and challenging scenarios. However, existing approaches often generate unrealistic scenarios due to insufficient consideration of…

Generating realistic and diverse road scenarios is essential for autonomous vehicle testing and validation. Nevertheless, owing to the complexity and variability of real-world road environments, creating authentic and varied scenarios for…

As the prediction horizon increases, predicting the future evolution of traffic scenes becomes increasingly difficult due to the multi-modal nature of agent motion. Most state-of-the-art (SotA) prediction models primarily focus on…

Existing traffic simulation models often fall short in capturing the intricacies of real-world scenarios, particularly the interactive behaviors among multiple traffic participants, thereby limiting their utility in the evaluation and…

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,…