相关论文: Risk-Controllable Multi-View Diffusion for Driving…

Training and evaluating autonomous driving algorithms requires a diverse range of scenarios. However, most available datasets predominantly consist of normal driving behaviors demonstrated by human drivers, resulting in a limited number of…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due to their high representation power. However, the sub-optimal…

Recent 3D reconstruction methods achieve impressive results with dense multi-view imagery but struggle when only a few views are available. Various approaches, including regularization techniques, semantic priors, and geometric constraints,…

Generating high-fidelity, temporally consistent videos in autonomous driving scenarios faces a significant challenge, e.g. problematic maneuvers in corner cases. Despite recent video generation works are proposed to tackcle the mentioned…

The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting large-scale real-world manipulation data remains difficult to…

Generating safe and reliable trajectories for autonomous vehicles in long-tail scenarios remains a significant challenge, particularly for high-lateral-acceleration maneuvers such as sharp turns, which represent critical safety situations.…

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…

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…

Street-view imagery (SVI) is widely used to quantify key indicators of urban environment, such as green- ery, sky, or road view indices. However, existing studies largely focus on measuring current streetscapes and rarely support the…

Diffusion models have recently become the de-facto approach for generative modeling in the 2D domain. However, extending diffusion models to 3D is challenging due to the difficulties in acquiring 3D ground truth data for training. On the…

End-to-end planning methods are the de facto standard of the current autonomous driving system, while the robustness of the data-driven approaches suffers due to the notorious long-tail problem (i.e., rare but safety-critical failure…

Diffusion models have emerged as a powerful approach for multimodal motion planning in autonomous driving. However, their practical deployment is typically hindered by the inherent difficulty in enforcing vehicle dynamics and a critical…

Diffusion models have recently gained significant attention in robotics due to their ability to generate multi-modal distributions of system states and behaviors. However, a key challenge remains: ensuring precise control over the generated…

Current generative models struggle to synthesize dynamic 4D driving scenes that simultaneously support temporal extrapolation and spatial novel view synthesis (NVS) without per-scene optimization. A key challenge lies in finding an…

Multi-view image generation holds significant application value in computer vision, particularly in domains like 3D reconstruction, virtual reality, and augmented reality. Most existing methods, which rely on extending single images, face…

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…

Predicting multiple trajectories for road users is important for automated driving systems: ego-vehicle motion planning indeed requires a clear view of the possible motions of the surrounding agents. However, the generative models used for…

Arbitrary viewpoint image generation holds significant potential for autonomous driving, yet remains a challenging task due to the lack of ground-truth data for extrapolated views, which hampers the training of high-fidelity generative…

Learning from demonstrations faces challenges in generalizing beyond the training data and often lacks collision awareness. This paper introduces Lan-o3dp, a language-guided object-centric diffusion policy framework that can adapt to unseen…