相关论文: HoloDrive: Holistic 2D-3D Multi-Modal Street Scene…

Despite recent advancements in neural 3D reconstruction, the dependence on dense multi-view captures restricts their broader applicability. Additionally, 3D scene generation is vital for advancing embodied AI and world models, which depend…

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…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an auto-labeling process that creates SOGMs from noisy real…

This report presents a unified technical system addressing the two core capabilities of world models for autonomous driving: world representation and world generation. For world representation, we propose WorldRec, a feed-forward…

Neural reconstruction models for autonomous driving simulation have made significant strides in recent years, with dynamic models becoming increasingly prevalent. However, these models are typically limited to handling in-domain objects…

We propose FreeSim, a camera simulation method for autonomous driving. FreeSim emphasizes high-quality rendering from viewpoints beyond the recorded ego trajectories. In such viewpoints, previous methods have unacceptable degradation…

Multimodal sensor fusion has demonstrated remarkable performance improvements over unimodal approaches in 3D object detection for autonomous vehicles. Typically, existing methods transform multimodal data from independent sensors, such as…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…

Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…

The field of autonomous driving increasingly demands high-quality annotated video training data. In this paper, we propose Panacea+, a powerful and universally applicable framework for generating video data in driving scenes. Built upon the…

We extend multimodal transformers to include 3D camera motion as a conditioning signal for the task of video generation. Generative video models are becoming increasingly powerful, thus focusing research efforts on methods of controlling…

3D scene generation seeks to synthesize spatially structured, semantically meaningful, and photorealistic environments for applications such as immersive media, robotics, autonomous driving, and embodied AI. Early methods based on…

Since the generative neural networks have made a breakthrough in the image generation problem, lots of researches on their applications have been studied such as image restoration, style transfer and image completion. However, there has…

Controllable synthetic data generation can substantially lower the annotation cost of training data. Prior works use diffusion models to generate driving images conditioned on the 3D object layout. However, those models are trained on…

We present DriveGen3D, a novel framework for generating high-quality and highly controllable dynamic 3D driving scenes that addresses critical limitations in existing methodologies. Current approaches to driving scene synthesis either…

Scene Graph Generation is a critical enabler of environmental comprehension for autonomous robotic systems. Most of existing methods, however, are often thwarted by the intricate dynamics of background complexity, which limits their ability…

Generating multi-view videos for autonomous driving training has recently gained much attention, with the challenge of addressing both cross-view and cross-frame consistency. Existing methods typically apply decoupled attention mechanisms…

End-to-end perception and trajectory prediction from raw sensor data is one of the key capabilities for autonomous driving. Modular pipelines restrict information flow and can amplify upstream errors. Recent query-based, fully…