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

Large-scale text-to-video models have shown remarkable abilities, but their direct application in video editing remains challenging due to limited available datasets. Current video editing methods commonly require per-video fine-tuning of…

Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…

We present a framework for video modeling based on denoising diffusion probabilistic models that produces long-duration video completions in a variety of realistic environments. We introduce a generative model that can at test-time sample…

Generating multiview images from a single view facilitates the rapid generation of a 3D mesh conditioned on a single image. Recent methods that introduce 3D global representation into diffusion models have shown the potential to generate…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving…

Automated creation of synthetic traffic scenarios is a key part of validating the safety of autonomous vehicles (AVs). In this paper, we propose Scenario Diffusion, a novel diffusion-based architecture for generating traffic scenarios that…

Accurate trajectory prediction is crucial for the safe and efficient operation of autonomous vehicles. The growing popularity of deep learning has led to the development of numerous methods for trajectory prediction. While deterministic…

Video Diffusion Models (VDMs) have emerged as powerful generative tools, capable of synthesizing high-quality spatiotemporal content. Yet, their potential goes far beyond mere video generation. We argue that the training dynamics of VDMs,…

With the advance of diffusion models, today's video generation has achieved impressive quality. To extend the generation length and facilitate real-world applications, a majority of video diffusion models (VDMs) generate videos in an…

Unlike discriminative approaches in autonomous driving that predict a fixed set of candidate trajectories of the ego vehicle, generative methods, such as diffusion models, learn the underlying distribution of future motion, enabling more…

In this paper, we study the problem of procedure planning in instructional videos, which aims to make a plan (i.e. a sequence of actions) given the current visual observation and the desired goal. Previous works cast this as a sequence…

Diffusion models excel at modeling complex and multimodal trajectory distributions for decision-making and control. Reward-gradient guided denoising has been recently proposed to generate trajectories that maximize both a differentiable…

We address the problem of generating long-horizon videos for robotic manipulation tasks. Text-to-video diffusion models have made significant progress in photorealism, language understanding, and motion generation but struggle with…

Embodied navigation in open, dynamic environments demands accurate foresight of how the world will evolve and how actions will unfold over time. We propose AstraNav-World, an end-to-end world model that jointly reasons about future visual…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple,…

As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…

Generating temporally coherent high fidelity video is an important milestone in generative modeling research. We make progress towards this milestone by proposing a diffusion model for video generation that shows very promising initial…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…