相关论文: GEM: Gaussian Evolution Model for Occupancy Foreca…

Novel view synthesis (NVS) of static and dynamic urban scenes is essential for autonomous driving simulation, yet existing methods often struggle to balance reconstruction time with quality. While state-of-the-art neural radiance fields and…

Human activities are inherently complex, often involving numerous object interactions. To better understand these activities, it is crucial to model their interactions with the environment captured through dynamic changes. The recent…

Simultaneously localizing camera poses and constructing Gaussian radiance fields in dynamic scenes establish a crucial bridge between 2D images and the 4D real world. Instead of removing dynamic objects as distractors and reconstructing…

Autonomous driving promises transformative improvements to transportation, but building systems capable of safely navigating the unstructured complexity of real-world scenarios remains challenging. A critical problem lies in effectively…

Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…

Mobility-on-demand (MoD) systems have recently emerged as a promising paradigm of one-way vehicle sharing for sustainable personal urban mobility in densely populated cities. In this paper, we enhance the capability of a MoD system by…

This paper aims to tackle the problem of modeling dynamic urban streets for autonomous driving scenes. Recent methods extend NeRF by incorporating tracked vehicle poses to animate vehicles, enabling photo-realistic view synthesis of dynamic…

Video generation models, as one form of world models, have emerged as one of the most exciting frontiers in AI, promising agents the ability to imagine the future by modeling the temporal evolution of complex scenes. In autonomous driving,…

Motion forecasting aims to predict the future trajectories of dynamic agents in the scene, enabling autonomous vehicles to effectively reason about scene evolution. Existing approaches operate under the closed-world regime and assume fixed…

Accurately perceiving dynamic environments is a fundamental task for autonomous driving and robotic systems. Existing methods inadequately utilize temporal information, relying mainly on local temporal interactions between adjacent frames…

We propose 4DGT, a 4D Gaussian-based Transformer model for dynamic scene reconstruction, trained entirely on real-world monocular posed videos. Using 4D Gaussian as an inductive bias, 4DGT unifies static and dynamic components, enabling the…

We introduce EMMA, an End-to-end Multimodal Model for Autonomous driving. Built upon a multi-modal large language model foundation like Gemini, EMMA directly maps raw camera sensor data into various driving-specific outputs, including…

We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an auto-labeling process that creates SOGMs from noisy real…

One's ability to learn a generative model of the world without supervision depends on the extent to which one can construct abstract knowledge representations that generalize across experiences. To this end, capturing an accurate…

Bayesian graphical models are a useful tool for understanding dependence relationships among many variables, particularly in situations with external prior information. In high-dimensional settings, the space of possible graphs becomes…

For autonomous agents to successfully operate in the real world, anticipation of future events and states of their environment is a key competence. This problem can be formalized as a sequence prediction problem, where a number of…

Understanding and modeling human mobility is central to challenges in transport planning, sustainable urban design, and public health. Despite decades of effort, simulating individual mobility remains challenging because of its complex,…

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…

Motion prediction is crucial for autonomous vehicles to operate safely in complex traffic environments. Extracting effective spatiotemporal relationships among traffic elements is key to accurate forecasting. Inspired by the successful…

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…