相关论文: Decoupled Diffusion Sparks Adaptive Scene Generati…

Synthesizing photo-realistic visual observations from an ego vehicle's driving trajectory is a critical step towards scalable training of self-driving models. Reconstruction-based methods create 3D scenes from driving logs and synthesize…

Text-to-image generation employing diffusion models has attained significant popularity due to its capability to produce high-quality images that adhere to textual prompts. However, the integration of diffusion models faces critical…

Image deraining holds great potential for enhancing the vision of autonomous vehicles in rainy conditions, contributing to safer driving. Previous works have primarily focused on employing a single network architecture to generate derained…

Despite recent advancements in single-domain or single-object image generation, it is still challenging to generate complex scenes containing diverse, multiple objects and their interactions. Scene graphs, composed of nodes as objects and…

The visual world we sense, interpret and interact everyday is a complex composition of interleaved physical entities. Therefore, it is a very challenging task to generate vivid scenes of similar complexity using computers. In this work, we…

Scene graphs (SGs) represent objects and their relationships as structured graphs, enabling applications in image generation, robotics, and 3D understanding. Recent work suggests that conditioning image generation on scene graphs improves…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Simulation-based testing has emerged as an essential tool for verifying and validating autonomous vehicles (AVs). However, contemporary methodologies, such as deterministic and imitation learning-based driver models, struggle to capture the…

By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…

Despite the recent success of Neural Radiance Field (NeRF), it is still challenging to render large-scale driving scenes with long trajectories, particularly when the rendering quality and efficiency are in high demand. Existing methods for…

Generative latent-variable models are emerging as promising tools in robotics and reinforcement learning. Yet, even though tasks in these domains typically involve distinct objects, most state-of-the-art generative models do not explicitly…

Unified multimodal generative models aim to integrate image understanding and generation abilities, offering significant advantages in harnessing multimodal corpora, particularly interleaved text-image data. However, existing unified models…

Corner case scenarios are an essential tool for testing and validating the safety of autonomous vehicles (AVs). As these scenarios are often insufficiently present in naturalistic driving datasets, augmenting the data with synthetic corner…

Collaborative driving systems leverage vehicle-to-everything (V2X) communication for multi-agent collaborative perception to enhance driving safety, yet they remain constrained by scarce annotated real-world V2X driving datasets and limited…

Dynamic scenes rendering is an intriguing yet challenging problem. Although current methods based on NeRF have achieved satisfactory performance, they still can not reach real-time levels. Recently, 3D Gaussian Splatting (3DGS) has garnered…

Understanding the road genome is essential to realize autonomous driving. This highly intelligent problem contains two aspects - the connection relationship of lanes, and the assignment relationship between lanes and traffic elements, where…

Directly producing planning results from raw sensors has been a long-desired solution for autonomous driving and has attracted increasing attention recently. Most existing end-to-end autonomous driving methods factorize this problem into…

We tackle the challenge of learning a distribution over complex, realistic, indoor scenes. In this paper, we introduce Generative Scene Networks (GSN), which learns to decompose scenes into a collection of many local radiance fields that…

Modular design of planning-oriented autonomous driving has markedly advanced end-to-end systems. However, existing architectures remain constrained by an over-reliance on ego status, hindering generalization and robust scene understanding.…

To assist human drivers and autonomous vehicles in assessing crash risks, driving scene analysis using dash cameras on vehicles and deep learning algorithms is of paramount importance. Although these technologies are increasingly available,…