相关论文: OccDirector: Language-Guided Behavior and Interact…

The rise of multi-modal large language models(MLLMs) has spurred their applications in autonomous driving. Recent MLLM-based methods perform action by learning a direct mapping from perception to action, neglecting the dynamics of the world…

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…

Existing solutions for 3D semantic occupancy prediction typically treat the task as a one-shot 3D voxel-wise segmentation perception problem. These discriminative methods focus on learning the mapping between the inputs and occupancy map in…

Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the…

Data-driven autonomous driving simulation has long been constrained by its heavy reliance on pre-recorded driving logs or spatial priors, such as HD maps. This fundamental dependency severely limits scalability, restricting open-ended…

Being able to safely operate for extended periods of time in dynamic environments is a critical capability for autonomous systems. This generally involves the prediction and understanding of motion patterns of dynamic entities, such as…

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either…

In this paper, we propose OccTENS, a generative occupancy world model that enables controllable, high-fidelity long-term occupancy generation while maintaining computational efficiency. Different from visual generation, the occupancy world…

Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering…

Large Language Models (LLMs) have made substantial advancements in the field of robotic and autonomous driving. This study presents the first Occupancy-based Large Language Model (Occ-LLM), which represents a pioneering effort to integrate…

Recent diffusion models have demonstrated remarkable performance in both 3D scene generation and perception tasks. Nevertheless, existing methods typically separate these two processes, acting as a data augmenter to generate synthetic data…

Autonomous driving requires a persistent understanding of 3D scenes that is robust to temporal disturbances and accounts for potential future actions. We introduce a new concept of 4D Occupancy Spatio-Temporal Persistence (OccSTeP), which…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

Predicting variations in complex traffic environments is crucial for the safety of autonomous driving. Recent advancements in occupancy forecasting have enabled forecasting future 3D occupied status in driving environments by observing…

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate…

Understanding how the 3D scene evolves is vital for making decisions in autonomous driving. Most existing methods achieve this by predicting the movements of object boxes, which cannot capture more fine-grained scene information. In this…

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively…

Recent embodied intelligence suffers from data scarcity, while conventional simulators lack visual realism. Controllable video generation is emerging as a promising data engine, yet current action-conditioned methods still fall short:…

Video generation has advanced rapidly, producing photorealistic videos from text or image prompts. Meanwhile, film production and social robotics increasingly demand multi-person videos with rich social interactions, including…

A comprehensive understanding of 3D scenes is crucial in autonomous vehicles (AVs), and recent models for 3D semantic occupancy prediction have successfully addressed the challenge of describing real-world objects with varied shapes and…