相关论文: RenderWorld: World Model with Self-Supervised 3D L…

Video generation models, as one form of world models, have emerged as one of the most exciting frontiers in AI, promising agents the ability to imagine the future by modeling the temporal evolution of complex scenes. In autonomous driving,…

Generating multi-camera street-view videos is critical for augmenting autonomous driving datasets, addressing the urgent demand for extensive and varied data. Due to the limitations in diversity and challenges in handling lighting…

World models enable robots to conduct counterfactual reasoning in physical environments by predicting future world states. While conventional approaches often prioritize pixel-level reconstruction of future scenes, such detailed rendering…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

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…

Generative world models have become essential data engines for autonomous driving, yet most existing efforts focus on videos or occupancy grids, overlooking the unique LiDAR properties. Extending LiDAR generation to dynamic 4D world…

Scene view synthesis, which generates novel views from limited perspectives, is increasingly vital for applications like virtual reality, augmented reality, and robotics. Unlike object-based tasks, such as generating 360{\deg} views of a…

We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…

Closed-loop simulation is crucial for end-to-end autonomous driving. Existing sensor simulation methods (e.g., NeRF and 3DGS) reconstruct driving scenes based on conditions that closely mirror training data distributions. However, these…

In this study, we introduce the DriveEnv-NeRF framework, which leverages Neural Radiance Fields (NeRF) to enable the validation and faithful forecasting of the efficacy of autonomous driving agents in a targeted real-world scene. Standard…

We introduce GaussianOcc, a systematic method that investigates the two usages of Gaussian splatting for fully self-supervised and efficient 3D occupancy estimation in surround views. First, traditional methods for self-supervised 3D…

Generative models have significantly improved the generation and prediction quality on either camera images or LiDAR point clouds for autonomous driving. However, a real-world autonomous driving system uses multiple kinds of input modality,…

3D occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity,…

The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of a longer horizon in determining optimal current actions…

Autonomous agents often require accurate methods for detecting and localizing changes in their environment, particularly when observations are captured from unconstrained and inconsistent viewpoints. We propose a novel label-free,…

Driving scene reconstruction and rendering have advanced significantly using the 3D Gaussian Splatting. However, most prior research has focused on the rendering quality along a pre-recorded vehicle path and struggles to generalize to…

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…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

The comprehensive representation and understanding of the driving environment is crucial to improve the safety and reliability of autonomous vehicles. In this paper, we present a new approach to establish an environment model containing a…

End-to-end (E2E) autonomous driving aims to directly map sensory observations to driving actions, but its real-world deployment is hindered by evolving data distributions and the high cost of continual annotation. While combining imitation…