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Autonomous driving evaluation requires simulation environments that closely replicate actual road conditions, including real-world sensory data and responsive feedback loops.
Mayavi: 3d visualization of scientific data
Prabhu Ramachandran and Gaël Varoquaux · 2011
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Carla: An open urban driving simulator
Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio Lopez, and Vladlen Koltun · 2017
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Neural discrete representation learning
Aaron Van Den Oord, Oriol Vinyals, et al · 2017
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The lovász-softmax loss: A tractable surrogate for the optimization of the intersection-over-union measure in neural networks
Maxim Berman, Amal Rannen Triki, and Matthew B Blaschko · 2018
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Microscopic traffic simulation using sumo
Pablo Alvarez Lopez, Michael Behrisch, Laura Bieker-Walz, Jakob Erdmann, Yun-Pang Flötteröd, Robert Hilbrich, Leonhard Lücken, Johannes Rummel, Peter Wagner, and Evamarie Wießner · 2018
Earlier work this paper cites.
nuscenes: A multimodal dataset for autonomous driving
Holger Caesar, Varun Bankiti, Alex H. Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom · 2020
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Exploring the limits of transfer learning with a unified text-to-text transformer
Colin Raffel, Noam Shazeer, Adam Roberts, Katherine Lee, Sharan Narang, Michael Matena, Yanqi Zhou, Wei Li, and Peter J. Liu · 2020
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Scalability in perception for autonomous driving: Waymo open dataset
Pei Sun, Henrik Kretzschmar, Xerxes Dotiwalla, Aurelien Chouard, Vijaysai Patnaik, Paul Tsui, James Guo, Yin Zhou, Yuning Chai, Benjamin Caine, et al · 2020
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Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Latent video diffusion models for high-fidelity long video generation
Yingqing He, Tianyu Yang, Yong Zhang, Ying Shan, and Qifeng Chen · 2022
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Metadrive: Composing diverse driving scenarios for generalizable reinforcement learning
Quanyi Li, Zhenghao Peng, Lan Feng, Qihang Zhang, Zhenghai Xue, and Bolei Zhou · 2022
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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 2022
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Learning to generate realistic lidar point cloud
Vlas Zyrianov, Xiyue Zhu, and Shenlong Wang · 2022
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Stable video diffusion: Scaling latent video diffusion models to large datasets
Andreas Blattmann, Tim Dockhorn, Sumith Kulal, Daniel Mendelevitch, Maciej Kilian, Dominik Lorenz, Yam Levi, Zion English, Vikram Voleti, Adam Letts, et al · 2023
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Realgen: Retrieval augmented generation for controllable traffic scenarios
Wenhao Ding, Yulong Cao, Ding Zhao, Chaowei Xiao, and Marco Pavone · 2023
Cited alongside, same era.
Trafficgen: Learning to generate diverse and realistic traffic scenarios
Lan Feng, Quanyi Li, Zhenghao Peng, Shuhan Tan, and Bolei Zhou · 2023
Cited alongside, same era.
Magicdrive: Street view generation with diverse 3d geometry control
Ruiyuan Gao, Kai Chen, Enze Xie, Lanqing Hong, Zhenguo Li, Dit-Yan Yeung, and Qiang Xu · 2023
Cited alongside, same era.
Planning-oriented autonomous driving
Yihan Hu, Jiazhi Yang, Li Chen, Keyu Li, Chonghao Sima, Xizhou Zhu, Siqi Chai, Senyao Du, Tianwei Lin, Wenhai Wang, et al · 2023
Semcity: Semantic scene generation with triplane diffusion
Jumin Lee, Sebin Lee, Changho Jo, Woobin Im, Juhyeong Seon, and Sung-Eui Yoon · 2024
Closest in time.
Unleashing generalization of end-to-end autonomous driving with controllable long video generation
Enhui Ma, Lijun Zhou, Tao Tang, Zhan Zhang, Dong Han, Junpeng Jiang, Kun Zhan, Peng Jia, Xianpeng Lang, Haiyang Sun, et al · 2024
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Lidar data synthesis with denoising diffusion probabilistic models
Kazuto Nakashima and Ryo Kurazume · 2024
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Towards realistic scene generation with lidar diffusion models
Haoxi Ran, Vitor Guizilini, and Yue Wang · 2024
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Lmdrive: Closed-loop end-to-end driving with large language models
Hao Shao, Yuxuan Hu, Letian Wang, Guanglu Song, Steven L Waslander, Yu Liu, and Hongsheng Li · 2024
Closest in time.
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Cited alongside, same era.
Vad: Vectorized scene representation for efficient autonomous driving
Bo Jiang, Shaoyu Chen, Qing Xu, Bencheng Liao, Jiajie Chen, Helong Zhou, Qian Zhang, Wenyu Liu, Chang Huang, and Xinggang Wang · 2023
Cited alongside, same era.
3d gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 2023
Cited alongside, same era.
Language conditioned traffic generation
Shuhan Tan, Boris Ivanovic, Xinshuo Weng, Marco Pavone, and Philipp Kraehenbuehl · 2023
Cited alongside, same era.
Limsim: A long-term interactive multi-scenario traffic simulator
Licheng Wenl, Daocheng Fu, Song Mao, Pinlong Cai, Min Dou, Yikang Li, and Yu Qiao · 2023
Cited alongside, same era.
Mars: An instance-aware, modular and realistic simulator for autonomous driving
Zirui Wu, Tianyu Liu, Liyi Luo, Zhide Zhong, Jianteng Chen, Hongmin Xiao, Chao Hou, Haozhe Lou, Yuantao Chen, Runyi Yang, et al · 2023
Cited alongside, same era.
Navsim: Data-driven non-reactive autonomous vehicle simulation and benchmarking
Daniel Dauner, Marcel Hallgarten, Tianyu Li, Xinshuo Weng, Zhiyu Huang, Zetong Yang, Hongyang Li, Igor Gilitschenski, Boris Ivanovic, Marco Pavone, Andreas Geiger, and Kashyap Chitta · 2024
Cited alongside, same era.
Limsim++: A closed-loop platform for deploying multimodal llms in autonomous driving
Daocheng Fu, Wenjie Lei, Licheng Wen, Pinlong Cai, Song Mao, Min Dou, Botian Shi, and Yu Qiao · 2024
Cited alongside, same era.
Alexander Swerdlow, Runsheng Xu, and Bolei Zhou · 2024
Closest in time.
Panacea: Panoramic and controllable video generation for autonomous driving
Yuqing Wen, Yucheng Zhao, Yingfei Liu, Fan Jia, Yanhui Wang, Chong Luo, Chi Zhang, Tiancai Wang, Xiaoyan Sun, and Xiangyu Zhang · 2024
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Drivegpt4: Interpretable end-to-end autonomous driving via large language model
Zhenhua Xu, Yujia Zhang, Enze Xie, Zhen Zhao, Yong Guo, Kwan-Yee K Wong, Zhenguo Li, and Hengshuang Zhao · 2024
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Drivearena: A closed-loop generative simulation platform for autonomous driving
Xuemeng Yang, Licheng Wen, Yukai Ma, Jianbiao Mei, Xin Li, Tiantian Wei, Wenjie Lei, Daocheng Fu, Pinlong Cai, Min Dou, Botian Shi, Liang He, Yong Liu, and Yu Qiao · 2024
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Drivedreamer-2: Llm-enhanced world models for diverse driving video generation
Guosheng Zhao, Xiaofeng Wang, Zheng Zhu, Xinze Chen, Guan Huang, Xiaoyi Bao, and Xingang Wang · 2024
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Lidardm: Generative lidar simulation in a generated world
Vlas Zyrianov, Henry Che, Zhijian Liu, and Shenlong Wang · 2024
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Asynchronous large language model enhanced planner for autonomous driving
Yuan Chen, Zi-han Ding, Ziqin Wang, Yan Wang, Lijun Zhang, and Si Liu · 2025
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Rangeldm: Fast realistic lidar point cloud generation
Qianjiang Hu, Zhimin Zhang, and Wei Hu · 2025
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Neuroncap: Photorealistic closed-loop safety testing for autonomous driving
William Ljungbergh, Adam Tonderski, Joakim Johnander, Holger Caesar, Kalle Åström, Michael Felsberg, and Christoffer Petersson · 2025
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