相关论文: LiDARCrafter: Dynamic 4D World Modeling from LiDAR…

World models serve as essential building blocks toward Artificial General Intelligence (AGI), enabling intelligent agents to predict future states and plan actions by simulating complex physical interactions. However, existing interactive…

Understanding dynamic outdoor environments requires capturing complex object interactions and their evolution over time. LiDAR-based 4D point clouds provide precise spatial geometry and rich temporal cues, making them ideal for representing…

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…

The generation and simulation of diverse real-world scenes have significant application value in the field of autonomous driving, especially for the corner cases. Recently, researchers have explored employing neural radiance fields or…

Controllable synthetic data generation can substantially lower the annotation cost of training data. Prior works use diffusion models to generate driving images conditioned on the 3D object layout. However, those models are trained on…

Constructing simulation scenes that are both visually and physically realistic is a problem of practical interest in domains ranging from robotics to computer vision. This problem has become even more relevant as researchers wielding large…

This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…

The strong demand of autonomous driving in the industry has lead to strong interest in 3D object detection and resulted in many excellent 3D object detection algorithms. However, the vast majority of algorithms only model single-frame data,…

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…

Semantic grids are a useful representation of the environment around a robot. They can be used in autonomous vehicles to concisely represent the scene around the car, capturing vital information for downstream tasks like navigation or…

Spatial intelligence is foundational to AI systems that interact with the physical world, particularly in 3D scene generation and spatial comprehension. Current methodologies for 3D scene generation often rely heavily on predefined…

Modeling scenes using video generation models has garnered growing research interest in recent years. However, most existing approaches rely on perspective video models that synthesize only limited observations of a scene, leading to issues…

This paper targets the challenge of real-time LiDAR re-simulation in dynamic driving scenarios. Recent approaches utilize neural radiance fields combined with the physical modeling of LiDAR sensors to achieve high-fidelity re-simulation…

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for…

LiDAR scene synthesis is an emerging solution to scarcity in 3D data for robotic tasks such as autonomous driving. Recent approaches employ diffusion or flow matching models to generate realistic scenes, but 3D data remains limited compared…

Reliable autonomous driving relies on large-scale, well-labeled data and robust models. However, manual data collection is resource-intensive, and traditional simulation suffers from a persistent reality gap. While recent generative…

Controllable generation is considered a potentially vital approach to address the challenge of annotating 3D data, and the precision of such controllable generation becomes particularly imperative in the context of data production for…

Recent research has begun exploring novel view synthesis (NVS) for LiDAR point clouds, aiming to generate realistic LiDAR scans from unseen viewpoints. However, most existing approaches do not reconstruct semantic labels, which are crucial…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Controllable 3D scene generation has extensive applications in virtual reality and interior design, where the generated scenes should exhibit high levels of realism and controllability in terms of geometry. Scene graphs provide a suitable…