相关论文: OccWorld: Learning a 3D Occupancy World Model for …

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…

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either…

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…

Understanding the evolution of 3D scenes is important for effective autonomous driving. While conventional methods mode scene development with the motion of individual instances, world models emerge as a generative framework to describe the…

The field of autonomous driving is experiencing a surge of interest in world models, which aim to predict potential future scenarios based on historical observations. In this paper, we introduce DFIT-OccWorld, an efficient 3D occupancy…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

In this paper, we propose OccTENS, a generative occupancy world model that enables controllable, high-fidelity long-term occupancy generation while maintaining computational efficiency. Different from visual generation, the occupancy world…

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

Existing solutions for 3D semantic occupancy prediction typically treat the task as a one-shot 3D voxel-wise segmentation perception problem. These discriminative methods focus on learning the mapping between the inputs and occupancy map in…

3D occupancy prediction based on multi-sensor fusion,crucial for a reliable autonomous driving system, enables fine-grained understanding of 3D scenes. Previous fusion-based 3D occupancy predictions relied on depth estimation for processing…

Recent breakthroughs in autonomous driving have been propelled by advances in robust world modeling, fundamentally transforming how vehicles interpret dynamic scenes and execute safe decision-making. World models have emerged as a linchpin…

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…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…

In this paper, we draw inspiration from Alberto Elfes' pioneering work in 1989, where he introduced the concept of the occupancy grid as World Models for robots. We imbue the robot with a spatial-temporal world model, termed UniWorld, to…

Future 3D semantic occupancy forecasting and motion planning are central to autonomous driving, as they require models to reason about how surrounding scenes evolve and how the ego vehicle should act. Existing occupancy world models…

Motion planning for safe autonomous driving requires learning how the environment around an ego-vehicle evolves with time. Ego-centric perception of driveable regions in a scene not only changes with the motion of actors in the environment,…

A comprehensive understanding of 3D scenes is crucial in autonomous vehicles (AVs), and recent models for 3D semantic occupancy prediction have successfully addressed the challenge of describing real-world objects with varied shapes and…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…