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

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…

Dynamic contingency screening is a challenging task in dynamic security assessment, when traditional numerical approaches are computationally intensive and often not able to repeatedly solve full AC power flow for all possible contingencies…

The advancement of autonomous driving technologies necessitates increasingly sophisticated methods for understanding and predicting real-world scenarios. Vision language models (VLMs) are emerging as revolutionary tools with significant…

Diffusion Models have revolutionized the field of human motion generation by offering exceptional generation quality and fine-grained controllability through natural language conditioning. Their inherent stochasticity, that is the ability…

Automated driving system deployment requires rigorous validation across safety-critical vehicle-pedestrian interactions, yet real-world datasets rarely capture high-risk scenarios while simulation platforms lack realistic behavior. In…

Simulating diverse and realistic traffic scenarios is critical for developing and testing autonomous planning. Traditional rule-based planners lack diversity and realism, while learning-based simulators often replay, forecast, or edit…

Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…

Simulation is critical for safety evaluation in autonomous driving, particularly in capturing complex interactive behaviors. However, generating realistic and controllable traffic scenarios in long-tail situations remains a significant…

Accurate and high-fidelity driving scene reconstruction demands the effective utilization of comprehensive scene information as conditional inputs. Existing methods predominantly rely on 3D bounding boxes and BEV road maps for foreground…

Driving view synthesis along free-form trajectories is essential for realistic driving simulations, enabling closed-loop evaluation of end-to-end driving policies. Existing methods excel at view interpolation along recorded paths but…

This paper addresses the problem of predicting hazards that drivers may encounter while driving a car. We formulate it as a task of anticipating impending accidents using a single input image captured by car dashcams. Unlike existing…

This paper introduces innovative solutions to enhance spatial controllability in diffusion models reliant on text queries. We first introduce vision guidance as a foundational spatial cue within the perturbed distribution. This…

Autonomous vehicles (AVs) rely on sensors and deep neural networks (DNNs) to perceive their surrounding environment and make maneuver decisions in real time. However, achieving real-time DNN inference in the AV's perception pipeline is…

Mobile manipulation requires the coordinated control of a mobile base and a robotic arm while simultaneously perceiving both global scene context and fine-grained object details. Existing single-view approaches often fail in unstructured…

Autonomous driving and its widespread adoption have long held tremendous promise. Nevertheless, without a trustworthy and thorough testing procedure, not only does the industry struggle to mass-produce autonomous vehicles (AV), but neither…

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…

Planning safe and efficient trajectories through signal-free intersections presents significant challenges for autonomous vehicles (AVs), particularly in dynamic, multi-task environments with unpredictable interactions and an increased…

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative…

Generative diffusion models for end-to-end autonomous driving often suffer from mode collapse, tending to generate conservative and homogeneous behaviors. While DiffusionDrive employs predefined anchors representing different driving…

Generating 3D scenes from human motion sequences supports numerous applications, including virtual reality and architectural design. However, previous auto-regression-based human-aware 3D scene generation methods have struggled to…