相关论文: Composing Driving Worlds through Disentangled Cont…

We present methods that generate cooperative strategies for multi-vehicle control problems using a decomposition approach. By introducing a set of tasks to be completed by the team of vehicles and a task execution method for each vehicle,…

Generating novel, yet realistic, images of persons is a challenging task due to the complex interplay between the different image factors, such as the foreground, background and pose information. In this work, we aim at generating such…

We propose ComDrive: the first comfort-oriented end-to-end autonomous driving system to generate temporally consistent and comfortable trajectories. Recent studies have demonstrated that imitation learning-based planners and learning-based…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

We explore different design choices for injecting noise into generative adversarial networks (GANs) with the goal of disentangling the latent space. Instead of traditional approaches, we propose feeding multiple noise codes through separate…

Generative models that learn disentangled representations for different factors of variation in an image can be very useful for targeted data augmentation. By sampling from the disentangled latent subspace of interest, we can efficiently…

Recent advances in Video Foundation Models (VFMs) have revolutionized human-centric video synthesis, yet fine-grained and independent editing of subjects and scenes remains a critical challenge. Recent attempts to incorporate richer…

Generating high-fidelity images of humans with fine-grained control over attributes such as hairstyle and clothing remains a core challenge in personalized text-to-image synthesis. While prior methods emphasize identity preservation from a…

Evaluating the decision-making system is indispensable in developing autonomous vehicles, while realistic and challenging safety-critical test scenarios play a crucial role. Obtaining these scenarios is non-trivial, thanks to the…

In dense and dynamic scenarios, planning a safe and comfortable trajectory is full of challenges when traffic participants are driving at high speed. The classic graph search and sampling methods first perform path planning and then…

We present BlenderFusion, a generative visual compositing framework that synthesizes new scenes by recomposing objects, camera, and background. It follows a layering-editing-compositing pipeline: (i) segmenting and converting visual inputs…

Accurate trajectory prediction is fundamental to autonomous driving, as it underpins safe motion planning and collision avoidance in complex environments. However, existing benchmark datasets suffer from a pronounced long-tail distribution…

Image compositing is a method used to generate realistic yet fake imagery by inserting contents from one image to another. Previous work in compositing has focused on improving appearance compatibility of a user selected foreground segment…

Controllable video generation has emerged as a versatile tool for autonomous driving, enabling realistic synthesis of traffic scenarios. However, existing methods depend on control signals at inference time to guide the generative model…

This paper employs correct-by-construction control synthesis, in particular controlled invariant set computations, for falsification. Our hypothesis is that if it is possible to compute a "large enough" controlled invariant set either for…

We present DrivingGaussian++, an efficient and effective framework for realistic reconstructing and controllable editing of surrounding dynamic autonomous driving scenes. DrivingGaussian++ models the static background using incremental 3D…

Deep reinforcement learning methods have been widely used in recent years for autonomous vehicle's decision-making. A key issue is that deep neural networks can be fragile to adversarial attacks or other unseen inputs. In this paper, we…

Realistic and diverse traffic scenarios in large quantities are crucial for the development and validation of autonomous driving systems. However, owing to numerous difficulties in the data collection process and the reliance on intensive…

Scalable sensor simulation is an important yet challenging open problem for safety-critical domains such as self-driving. Current works in image simulation either fail to be photorealistic or do not model the 3D environment and the dynamic…