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Controllable scene generation could reduce the cost of diverse data collection substantially for autonomous driving.
Congested traffic states in empirical observations and microscopic simulations
Martin Treiber, Ansgar Hennecke, and Dirk Helbing · 2000
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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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Baidu apollo em motion planner
Haoyang Fan, Fan Zhu, Changchun Liu, Liangliang Zhang, Li Zhuang, Dong Li, Weicheng Zhu, Jiangtao Hu, Hongye Li, and Qi Kong · 2018
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Fixing weight decay regularization in adam
Ilya Loshchilov and Frank Hutter · 2018
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A framework for automated driving system testable cases and scenarios
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Language models are unsupervised multitask learners
Alec Radford, Jeffrey Wu, Rewon Child, David Luan, Dario Amodei, Ilya Sutskever, et al · 2019
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nuScenes: A multimodal dataset for autonomous driving
Holger Caesar, Varun Bankiti, Alex H. Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yuxin Pan, Giancarlo Baldan, and Oscar Beijbom · 2020
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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 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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nuplan: A closed-loop ml-based planning benchmark for autonomous vehicles
Holger Caesar, Juraj Kabzan, Kok Seang Tan, Whye Kit Fong, Eric Wolff, Alex Lang, Luke Fletcher, Oscar Beijbom, and Sammy Omari · 2021
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Perceiver io: A general architecture for structured inputs & outputs
Andrew Jaegle, Sebastian Borgeaud, Jean-Baptiste Alayrac, Carl Doersch, Catalin Ionescu, David Ding, Skanda Koppula, Daniel Zoran, Andrew Brock, Evan Shelhamer, et al · 2021
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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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Transfuser: Imitation with transformer-based sensor fusion for autonomous driving
Kashyap Chitta, Aditya Prakash, Bernhard Jaeger, Zehao Yu, Katrin Renz, and Andreas Geiger · 2022
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Planning with diffusion for flexible behavior synthesis
Michael Janner, Yilun Du, Joshua B Tenenbaum, and Sergey Levine · 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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Reward-free policy learning through active human involvement
Zhenghao Peng, Wenjie Mo, Chenda Duan, Quanyi Li, and Bolei Zhou · 2022
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Photorealistic text-to-image diffusion models with deep language understanding
Chitwan Saharia, William Chan, Saurabh Saxena, Lala Li, Jay Whang, Emily L Denton, Kamyar Ghasemipour, Raphael Gontijo Lopes, Burcu Karagol Ayan, Tim Salimans, et al · 2022
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Shift: a synthetic driving dataset for continuous multi-task domain adaptation
Tao Sun, Mattia Segu, Janis Postels, Yuxuan Wang, Luc Van Gool, Bernt Schiele, Federico Tombari, and Fisher Yu · 2022
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Safetynet: Safe planning for real-world self-driving vehicles using machine-learned policies
Matt Vitelli, Yan Chang, Yawei Ye, Ana Ferreira, Maciej Wołczyk, Błażej Osiński, Moritz Niendorf, Hugo Grimmett, Qiangui Huang, Ashesh Jain, et al · 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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End-to-end autonomous driving: Challenges and frontiers
Li Chen, Penghao Wu, Kashyap Chitta, Bernhard Jaeger, Andreas Geiger, and Hongyang Li · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
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Parting with misconceptions about learning-based vehicle motion planning
Daniel Dauner, Marcel Hallgarten, Andreas Geiger, and Kashyap Chitta · 2023
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Francesca Favaro, Laura Fraade-Blanar, Scott Schnelle, Trent Victor, Mauricio Peña, Johan Engstrom, John Scanlon, Kris Kusano, and Dan Smith · 2023
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Trafficgen: Learning to generate diverse and realistic traffic scenarios
Lan Feng, Quanyi Li, Zhenghao Peng, Shuhan Tan, and Bolei Zhou · 2023
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Scenedm: Scene-level multi-agent trajectory generation with consistent diffusion models
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 · 2023
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Cat: Closed-loop adversarial training for safe end-to-end driving
Linrui Zhang, Zhenghao Peng, Quanyi Li, and Bolei Zhou · 2023
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Guided conditional diffusion for controllable traffic simulation
Ziyuan Zhong, Davis Rempe, Danfei Xu, Yuxiao Chen, Sushant Veer, Tong Che, Baishakhi Ray, and Marco Pavone · 2023
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Diffusion forcing: Next-token prediction meets full-sequence diffusion
Boyuan Chen, Diego Marti Monso, Yilun Du, Max Simchowitz, Russ Tedrake, and Vincent Sitzmann · 2024
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Vista: A generalizable driving world model with high fidelity and versatile controllability
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Zhiming Guo, Xing Gao, Jianlan Zhou, Xinyu Cai, and Botian Shi · 2023
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simple diffusion: End-to-end diffusion for high resolution images
Emiel Hoogeboom, Jonathan Heek, and Tim Salimans · 2023
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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
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Diffusion-based generation, optimization, and planning in 3d scenes
Siyuan Huang, Zan Wang, Puhao Li, Baoxiong Jia, Tengyu Liu, Yixin Zhu, Wei Liang, and Song-Chun Zhu · 2023
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Gameformer: Game-theoretic modeling and learning of transformer-based interactive prediction and planning for autonomous driving
Zhiyu Huang, Haochen Liu, and Chen Lv · 2023
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Motiondiffuser: Controllable multi-agent motion prediction using diffusion
Chiyu Jiang, Andre Cornman, Cheolho Park, Benjamin Sapp, Yin Zhou, Dragomir Anguelov, et al · 2023
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Scenarionet: Open-source platform for large-scale traffic scenario simulation and modeling
Quanyi Li, Zhenghao Peng, Lan Feng, Chenda Duan, Wenjie Mo, Bolei Zhou, et al · 2023
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Xiaofan Li, Yifu Zhang, and Xiaoqing Ye · 2023
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Shenyuan Gao, Jiazhi Yang, Li Chen, Kashyap Chitta, Yihang Qiu, Andreas Geiger, Jun Zhang, and Hongyang Li · 2024
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Zhiyu Huang, Xinshuo Weng, Maximilian Igl, Yuxiao Chen, Yulong Cao, Boris Ivanovic, Marco Pavone, and Chen Lv · 2024
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Scenediffuser: Efficient and controllable driving simulation initialization and rollout
Chiyu Max Jiang, Yijing Bai, Andre Cornman, Christopher Davis, Xiukun Huang, Hong Jeon, Sakshum Kulshrestha, John Lambert, Shuangyu Li, Xuanyu Zhou, et al · 2024
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Sat2scene: 3d urban scene generation from satellite images with diffusion
Zuoyue Li, Zhenqiang Li, Zhaopeng Cui, Marc Pollefeys, and Martin R Oswald · 2024
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Diffusiondrive: Truncated diffusion model for end-to-end autonomous driving
Bencheng Liao, Shaoyu Chen, Haoran Yin, Bo Jiang, Cheng Wang, Sixu Yan, Xinbang Zhang, Xiangyu Li, Ying Zhang, Qian Zhang, et al · 2024
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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 · 2024
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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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Trajeglish: Traffic modeling as next-token prediction
Jonah Philion, Xue Bin Peng, and Sanja Fidler · 2024
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Promptable closed-loop traffic simulation
Shuhan Tan, Boris Ivanovic, Yuxiao Chen, Boyi Li, Xinshuo Weng, Yulong Cao, Philipp Krähenbühl, and Marco Pavone · 2024
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Neurad: Neural rendering for autonomous driving
Adam Tonderski, Carl Lindström, Georg Hess, William Ljungbergh, Lennart Svensson, and Christoffer Petersson · 2024
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Brian Yang, Huangyuan Su, Nikolaos Gkanatsios, Tsung-Wei Ke, Ayush Jain, Jeff Schneider, and Katerina Fragkiadaki · 2024
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Cogvideox: Text-to-video diffusion models with an expert transformer
Zhuoyi Yang, Jiayan Teng, Wendi Zheng, Ming Ding, Shiyu Huang, Jiazheng Xu, Yuanming Yang, Wenyi Hong, Xiaohan Zhang, Guanyu Feng, et al · 2024
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Sledge: Synthesizing driving environments with generative models and rule-based traffic
Kashyap Chitta, Daniel Dauner, and Andreas Geiger · 2025
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Solving motion planning tasks with a scalable generative model
Yihan Hu, Siqi Chai, Zhening Yang, Jingyu Qian, Kun Li, Wenxin Shao, Haichao Zhang, Wei Xu, and Qiang Liu · 2025
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Skill expansion and composition in parameter space
Tenglong Liu, Jianxiong Li, Yinan Zheng, Haoyi Niu, Yixing Lan, Xin Xu, and Xianyuan Zhan · 2025
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Diffusion-based planning for autonomous driving with flexible guidance
Yinan Zheng, Ruiming Liang, Kexin Zheng, Jinliang Zheng, Liyuan Mao, Jianxiong Li, Weihao Gu, Rui Ai, Shengbo Eben Li, Xianyuan Zhan, et al · 2025
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