相关论文: Epona: Autoregressive Diffusion World Model for Au…

Research interest in end-to-end autonomous driving has surged owing to its fully differentiable design integrating modular tasks, i.e. perception, prediction and planing, which enables optimization in pursuit of the ultimate goal. Despite…

Autoregressive video diffusion models enable streaming generation, opening the door to long-form synthesis, video world models, and interactive neural game engines. However, their core attention layers become a major bottleneck at inference…

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing…

End-to-end planning systems for autonomous driving are rapidly improving, especially in closed-loop simulation environments like CARLA. Many such driving systems either do not consider uncertainty as part of the plan itself or obtain it by…

World model-based searching and planning are widely recognized as a promising path toward human-level physical intelligence. However, current driving world models primarily rely on video diffusion models, which specialize in visual…

Diffusion-based graph generative models have recently obtained promising results for graph generation. However, existing diffusion-based graph generative models are mostly one-shot generative models that apply Gaussian diffusion in the…

Reliable anticipation of traffic accidents is essential for advancing autonomous driving systems. However, this objective is limited by two fundamental challenges: the scarcity of diverse, high-quality training data and the frequent absence…

Most end-to-end autonomous driving methods rely on imitation learning from single expert demonstrations, often leading to conservative and homogeneous behaviors that limit generalization in complex real-world scenarios. In this work, we…

Video prediction is a useful function for autonomous driving, enabling intelligent vehicles to reliably anticipate how driving scenes will evolve and thereby supporting reasoning and safer planning. However, existing models are constrained…

End-to-end diffusion planning has shown strong potential for autonomous driving, but the physical feasibility of generated trajectories remains insufficiently addressed. In particular, generated trajectories may exhibit local geometric…

Diffusion models are promising for joint trajectory prediction and controllable generation in autonomous driving, but they face challenges of inefficient inference steps and high computational demands. To tackle these challenges, we…

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…

In many real-world settings, agents must learn from an offline dataset gathered by some prior behavior policy. Such a setting naturally leads to distribution shift between the behavior policy and the target policy being trained - requiring…

Existing long-term video prediction methods often rely on an autoregressive video prediction mechanism. However, this approach suffers from error propagation, particularly in distant future frames. To address this limitation, this paper…

Diffusion models have demonstrated their powerful generative capability in many tasks, with great potential to serve as a paradigm for offline reinforcement learning. However, the quality of the diffusion model is limited by the…

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 performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

In this paper, we present a novel trajectory prediction model for autonomous driving, combining a Characterized Diffusion Module and a Spatial-Temporal Interaction Network to address the challenges posed by dynamic and heterogeneous traffic…

Large pretrained diffusion models have significantly enhanced the quality of generated videos, and yet their use in real-time streaming remains limited. Autoregressive models offer a natural framework for sequential frame synthesis but…

Recent breakthroughs in autonomous driving have been propelled by advances in robust world modeling, fundamentally transforming how vehicles interpret dynamic scenes and execute safe decision-making. World models have emerged as a linchpin…