相关论文: WeatherGen: A Unified Diverse Weather Generator fo…

LiDAR scene generation is increasingly important for scalable simulation and synthetic data creation, especially under diverse sensing conditions that are costly to capture at scale. Typically, diffusion-based LiDAR generators are developed…

World models, which simulate environmental dynamics and generate sensor observations, are gaining increasing attention in autonomous driving. However, progress in LiDAR-based world models has lagged behind those built on camera videos or…

LiDAR scenes constitute a fundamental source for several autonomous driving applications. Despite the existence of several datasets, scenes from adverse weather conditions are rarely available. This limits the robustness of downstream…

In this work, we propose a novel approach, namely WeatherDG, that can generate realistic, weather-diverse, and driving-screen images based on the cooperation of two foundation models, i.e, Stable Diffusion (SD) and Large Language Model…

A unified diffusion framework for multi-modal generation and understanding has the transformative potential to achieve seamless and controllable image diffusion and other cross-modal tasks. In this paper, we introduce MMGen, a unified…

The generation of LiDAR scans is a growing topic with diverse applications to autonomous driving. However, scan generation remains challenging, especially when compared to the rapid advancement of image and 3D object generation. We consider…

We present LiDARGen, a novel, effective, and controllable generative model that produces realistic LiDAR point cloud sensory readings. Our method leverages the powerful score-matching energy-based model and formulates the point cloud…

Multi-modal 3D object detection is important for reliable perception in robotics and autonomous driving. However, its effectiveness remains limited under adverse weather conditions due to weather-induced distortions and misalignment between…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…

Integrated sensing and communications is a key enabler for the 6G wireless communication systems. The multiple sensing modalities will allow the base station to have a more accurate representation of the environment, leading to…

Simulation models for perception sensors are integral components of automotive simulators used for the virtual Verification and Validation (V\&V) of Autonomous Driving Systems (ADS). These models also serve as powerful tools for generating…

We present RadarGen, a diffusion model for synthesizing realistic automotive radar point clouds from multi-view camera imagery. RadarGen adapts efficient image-latent diffusion to the radar domain by representing radar measurements in…

By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…

We introduce a novel state-space architecture for diffusion models, effectively harnessing spatial and frequency information to enhance the inductive bias towards local features in input images for image generation tasks. While state-space…

We present EasyGen, an efficient model designed to enhance multimodal understanding and generation by harnessing the capabilities of diffusion models and large language models (LLMs), Unlike existing multimodal models that predominately…

Data is a fundamental building block for LiDAR perception systems. Unfortunately, real-world data collection and annotation is extremely costly & laborious. Recently, real data based LiDAR simulators have shown tremendous potential to…

Generating high-quality labeled image datasets is crucial for training accurate and robust machine learning models in the field of computer vision. However, the process of manually labeling real images is often time-consuming and costly. To…

Recently, the advent of generative AI technologies has made transformational impacts on our daily lives, yet its application in scientific applications remains in its early stages. Data scarcity is a major, well-known barrier in data-driven…

Weather modeling requires both accurate prediction and mechanistic interpretation, yet existing methods treat these goals in isolation, separating generation from understanding. To address this gap, we present Omni-Weather, the first…

Sparse-view 3D modeling represents a fundamental tension between reconstruction fidelity and generative plausibility. While feed-forward reconstruction excels in efficiency and input alignment, it often lacks the global priors needed for…