相关论文: InstaDrive: Instance-Aware Driving World Models fo…

To safely navigate intricate real-world scenarios, autonomous vehicles must be able to adapt to diverse road conditions and anticipate future events. World model (WM) based reinforcement learning (RL) has emerged as a promising approach by…

We address the problem of generating a 3D-consistent, navigable environment that is spatially grounded: a simulation of a real location. Existing video generative models can produce a plausible sequence that is consistent with a text (T2V)…

In this work, we aim to achieve efficient end-to-end learning of driving policies in dynamic multi-agent environments. Predicting and anticipating future events at the object level are critical for making informed driving decisions. We…

Generating multi-view videos for autonomous driving training has recently gained much attention, with the challenge of addressing both cross-view and cross-frame consistency. Existing methods typically apply decoupled attention mechanisms…

World models have demonstrated superiority in autonomous driving, particularly in the generation of multi-view driving videos. However, significant challenges still exist in generating customized driving videos. In this paper, we propose…

Driving world models are used to simulate futures by video generation based on the condition of the current state and actions. However, current models often suffer serious error accumulations when predicting the long-term future, which…

Understanding the evolution of 3D scenes is important for effective autonomous driving. While conventional methods mode scene development with the motion of individual instances, world models emerge as a generative framework to describe the…

World models play a crucial role in understanding and predicting the dynamics of the world, which is essential for video generation. However, existing world models are confined to specific scenarios such as gaming or driving, limiting their…

Video generation has recently made striking visual progress, but maintaining coherent object motion and interactions remains difficult. We trace two practical bottlenecks: (i) human-provided motion hints (e.g., small 2D maps) often collapse…

Despite significant efforts, cutting-edge video segmentation methods still remain sensitive to occlusion and rapid movement, due to their reliance on the appearance of objects in the form of object embeddings, which are vulnerable to these…

The improved competence of generative models can help building multi-modal virtual assistants that leverage modalities beyond language. By observing humans performing multi-step tasks, one can build assistants that have situational…

Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…

We present a novel Transformer-based network architecture for instance-aware image-to-image translation, dubbed InstaFormer, to effectively integrate global- and instance-level information. By considering extracted content features from an…

We present an end-to-end joint training framework that explicitly models 6-DoF motion of multiple dynamic objects, ego-motion and depth in a monocular camera setup without supervision. Our technical contributions are three-fold. First, we…

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…

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…

In the past several years, road anomaly segmentation is actively explored in the academia and drawing growing attention in the industry. The rationale behind is straightforward: if the autonomous car can brake before hitting an anomalous…

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,…

Data-driven learning has advanced autonomous driving, yet task-specific models struggle with out-of-distribution scenarios due to their narrow optimization objectives and reliance on costly annotated data. We present DriveX, a…

In the field of autonomous driving, sensor simulation is essential for generating rare and diverse scenarios that are difficult to capture in real-world environments. Current solutions fall into two categories: 1) CG-based methods, such as…