相关论文: DrivingGPT: Unifying Driving World Modeling and Pl…

Planning and prediction are two important modules of autonomous driving and have experienced tremendous advancement recently. Nevertheless, most existing methods regard planning and prediction as independent and ignore the correlation…

Encoding a driving scene into vector representations has been an essential task for autonomous driving that can benefit downstream tasks e.g. trajectory prediction. The driving scene often involves heterogeneous elements such as the…

Typically, autonomous driving adopts a modular design, which divides the full stack into perception, prediction, planning and control parts. Though interpretable, such modular design tends to introduce a substantial amount of redundancy.…

Simulating realistic behaviors of traffic agents is pivotal for efficiently validating the safety of autonomous driving systems. Existing data-driven simulators primarily use an encoder-decoder architecture to encode the historical…

World models serve as essential building blocks toward Artificial General Intelligence (AGI), enabling intelligent agents to predict future states and plan actions by simulating complex physical interactions. However, existing interactive…

Advanced end-to-end autonomous driving systems predict other vehicles' motions and plan ego vehicle's trajectory. The world model that can foresee the outcome of the trajectory has been used to evaluate the autonomous driving system.…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Recent research on automotive driving developed an efficient end-to-end learning mode that directly maps visual input to control commands. However, it models distinct driving variations in a single network, which increases learning…

World models can foresee the outcomes of different actions, which is of paramount importance for autonomous driving. Nevertheless, existing driving world models still have limitations in generalization to unseen environments, prediction…

Vision-language-action models have reshaped autonomous driving to incorporate languages into the decision-making process. However, most existing pipelines only utilize the language modality for scene descriptions or reasoning and lack the…

Differentiable simulators represent an environment's dynamics as a differentiable function. Within robotics and autonomous driving, this property is used in Analytic Policy Gradients (APG), which relies on backpropagating through the…

Reconstructing large-scale dynamic driving scenes remains challenging due to the coexistence of static environments with extreme depth variation and diverse dynamic actors exhibiting complex motions. Existing Gaussian Splatting based…

With the advance of diffusion models, today's video generation has achieved impressive quality. But generating temporal consistent long videos is still challenging. A majority of video diffusion models (VDMs) generate long videos in an…

In recent years, foundational models have revolutionized the fields of language and vision, demonstrating remarkable abilities in understanding and generating complex data; however, similar advances in user behavior modeling have been…

Video prediction is a challenging computer vision task that has a wide range of applications. In this work, we present a new family of Transformer-based models for video prediction. Firstly, an efficient local spatial-temporal separation…

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…

Whole-body multi-modal human motion generation poses two primary challenges: creating an effective motion generation mechanism and integrating various modalities, such as text, speech, and music, into a cohesive framework. Unlike previous…

In this work, we present GPDiT, a Generative Pre-trained Autoregressive Diffusion Transformer that unifies the strengths of diffusion and autoregressive modeling for long-range video synthesis, within a continuous latent space. Instead of…

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…

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…