相关论文: Scenario Dreamer: Vectorized Latent Diffusion for …

We introduce DreamerAD, the first latent world model framework that enables efficient reinforcement learning for autonomous driving by compressing diffusion sampling from 100 steps to 1 - achieving 80x speedup while maintaining visual…

Learned world models summarize an agent's experience to facilitate learning complex behaviors. While learning world models from high-dimensional sensory inputs is becoming feasible through deep learning, there are many potential ways for…

Automated lane changing is a critical feature for advanced autonomous driving systems. In recent years, reinforcement learning (RL) algorithms trained on traffic simulators yielded successful results in computing lane changing policies that…

Simulation forms the backbone of modern self-driving development. Simulators help develop, test, and improve driving systems without putting humans, vehicles, or their environment at risk. However, simulators face a major challenge: They…

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…

Datasets are essential for training and testing vehicle perception algorithms. However, the collection and annotation of real-world images is time-consuming and expensive. Driving simulators offer a solution by automatically generating…

This paper presented DriveArena, the first high-fidelity closed-loop simulation system designed for driving agents navigating in real scenarios. DriveArena features a flexible, modular architecture, allowing for the seamless interchange of…

We introduce SceneDiffuser, a conditional generative model for 3D scene understanding. SceneDiffuser provides a unified model for solving scene-conditioned generation, optimization, and planning. In contrast to prior works, SceneDiffuser is…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

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…

Diffusion models have achieved remarkable progress in video generation, but their controllability remains a major limitation. Key scene factors such as layout, lighting, and camera trajectory are often entangled or only weakly modeled,…

Accurate trajectory prediction is fundamental to autonomous driving, as it underpins safe motion planning and collision avoidance in complex environments. However, existing benchmark datasets suffer from a pronounced long-tail distribution…

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.…

Simulation is crucial for developing and evaluating autonomous vehicle (AV) systems. Recent literature builds on a new generation of generative models to synthesize highly realistic images for full-stack simulation. However, purely…

This paper aims to tackle the problem of photorealistic view synthesis from vehicle sensor data. Recent advancements in neural scene representation have achieved notable success in rendering high-quality autonomous driving scenes, but the…

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…

High-quality 3D assets for traffic participants are critical for multi-sensor simulation, which is essential for the safe end-to-end development of autonomy. Building assets from in-the-wild data is key for diversity and realism, but…

Large-scale video generative models can synthesize diverse and realistic visual content for dynamic world creation, but they often lack element-wise controllability, hindering their use in editing scenes and training embodied AI agents. We…

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…

For an autonomous vehicle to plan a path in its environment, it must be able to accurately forecast the trajectory of all dynamic objects in its proximity. While many traditional methods encode observations in the scene to solve this…