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World models are critical for autonomous driving to simulate environmental dynamics and generate synthetic data.
U-net: Convolutional networks for biomedical image segmentation
Olaf Ronneberger, Philipp Fischer, and Thomas Brox · 2015
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Convolutional lstm network: A machine learning approach for precipitation nowcasting
Xingjian Shi, Zhourong Chen, Hao Wang, Dit-Yan Yeung, Wai-Kin Wong, and Wang-chun Woo · 2015
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Neural discrete representation learning
Aaron van den Oord, Oriol Vinyals, and Koray Kavukcuoglu · 2017
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Class-balanced grouping and sampling for point cloud 3d object detection
Benjin Zhu, Zhengkai Jiang, Xiangxin Zhou, Zeming Li, and Gang Yu · 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, 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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Scalability in perception for autonomous driving: Waymo open dataset
Pei Sun, Henrik Kretzschmar, Xerxes Dotiwalla, Aurélien Chouard, Vijaysai Patnaik, Paul Tsui, James Guo, Yin Zhou, Yuning Chai, Benjamin Caine, Vijay Vasudevan, Wei Han, Jiquan Ngiam, Hang Zhao, Aleksei Timofeev, Scott Ettinger, Maxim Krivokon, Amy Gao, Aditya Joshi, Yu Zhang, Jonathon Shlens, Zhifeng Chen, and Dragomir Anguelov · 2020
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Bevdet: High-performance multi-camera 3d object detection in bird-eye-view
Junjie Huang, Guan Huang, Zheng Zhu, Yun Ye, and Dalong Du · 2021
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Swin transformer: Hierarchical vision transformer using shifted windows
Ze Liu, Yutong Lin, Yue Cao, Han Hu, Yixuan Wei, Zheng Zhang, Stephen Lin, and Baining Guo · 2021
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Gaia-1: A generative world model for autonomous driving
Anthony Hu, Lloyd Russell, Hudson Yeo, Zak Murez, George Fedoseev, Alex Kendall, Jamie Shotton, and Gianluca Corrado · 2023
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Point cloud forecasting as a proxy for 4d occupancy forecasting
Tarasha Khurana, Peiyun Hu, David Held, and Deva Ramanan · 2023
Earlier work this paper cites.
Point cloud forecasting as a proxy for 4d occupancy forecasting
Tarasha Khurana, Peiyun Hu, David Held, and Deva Ramanan · 2023
Earlier work this paper cites.
Bevstereo: Enhancing depth estimation in multi-view 3d object detection with temporal stereo
Yinhao Li, Han Bao, Zheng Ge, Jinrong Yang, Jianjian Sun, and Zeming Li · 2023
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
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Occ3d: A large-scale 3d occupancy prediction benchmark for autonomous driving
Xiaoyu Tian, Tao Jiang, Longfei Yun, Yucheng Mao, Huitong Yang, Yue Wang, Yilun Wang, and Hang Zhao · 2023
Cited alongside, same era.
Adding conditional control to text-to-image diffusion models
Lvmin Zhang, Anyi Rao, and Maneesh Agrawala · 2023
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Uno: Unsupervised occupancy fields for perception and forecasting
Ben Agro, Quinlan Sykora, Sergio Casas, Thomas Gilles, and Raquel Urtasun · 2024
Cited alongside, same era.
Uno: Unsupervised occupancy fields for perception and forecasting
Ben Agro, Quinlan Sykora, Sergio Casas, Thomas Gilles, and Raquel Urtasun · 2024
Cited alongside, same era.
Dome: Taming diffusion model into high-fidelity controllable occupancy world model
Drivedreamer: Towards real-world-drive world models for autonomous driving
Xiaofeng Wang, Zheng Zhu, Guan Huang, Xinze Chen, Jiagang Zhu, and Jiwen Lu · 2024
Later among the works it cites.
Driving into the future: Multiview visual forecasting and planning with world model for autonomous driving
Yuqi Wang, Jiawei He, Lue Fan, Hongxin Li, Yuntao Chen, and Zhaoxiang Zhang · 2024
Later among the works it cites.
Occllama: An occupancy-language-action generative world model for autonomous driving
Julong Wei, Shanshuai Yuan, Pengfei Li, Qingda Hu, Zhongxue Gan, and Wenchao Ding · 2024
Later among the works it cites.
Drivingsphere: Building a high-fidelity 4d world for closed-loop simulation
Tianyi Yan, Dongming Wu, Wencheng Han, Junpeng Jiang, Xia Zhou, Kun Zhan, Cheng-zhong Xu, and Jianbing Shen · 2024
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Songen Gu, Wei Yin, Bu Jin, Xiaoyang Guo, Junming Wang, Haodong Li, Qian Zhang, and Xiaoxiao Long · 2024
Cited alongside, same era.
Uniscene: Unified occupancy-centric driving scene generation
Bohan Li, Jiazhe Guo, Hongsi Liu, Yingshuang Zou, Yikang Ding, Xiwu Chen, Hu Zhu, Feiyang Tan, Chi Zhang, Tiancai Wang, et al · 2024
Cited alongside, same era.
Zhimin Li, Jianwei Zhang, Qin Lin, Jiangfeng Xiong, Yanxin Long, Xinchi Deng, Yingfang Zhang, Xingchao Liu, Minbin Huang, Zedong Xiao, et al · 2024
Cited alongside, same era.
Is ego status all you need for open-loop end-to-end autonomous driving?
Zhiqi Li, Zhiding Yu, Shiyi Lan, Jiahan Li, Jan Kautz, Tong Lu, and Jose M. Alvarez · 2024
Cited alongside, same era.
Lidar-based 4d occupancy completion and forecasting
Xinhao Liu, Moonjun Gong, Qi Fang, Haoyu Xie, Yiming Li, Hang Zhao, and Chen Feng · 2024
Cited alongside, same era.
Cam4docc: Benchmark for camera-only 4d occupancy forecasting in autonomous driving applications
Junyi Ma, Xieyuanli Chen, Jiawei Huang, Jingyi Xu, Zhen Luo, Jintao Xu, Weihao Gu, Rui Ai, and Hesheng Wang · 2024
Cited alongside, same era.
Effocc: A minimal baseline for efficient fusion-based 3d occupancy network
Yining Shi, Kun Jiang, Ke Wang, Kangan Qian, Yunlong Wang, Jiusi Li, Tuopu Wen, Mengmeng Yang, Yiliang Xu, and Diange Yang · 2024
Cited alongside, same era.
Ziyang Yan, Wenzhen Dong, Yihua Shao, Yuhang Lu, Liu Haiyang, Jingwen Liu, Haozhe Wang, Zhe Wang, Yan Wang, Fabio Remondino, et al · 2024
Later among the works it cites.
Visual point cloud forecasting enables scalable autonomous driving
Zetong Yang, Li Chen, Yanan Sun, and Hongyang Li · 2024
Later among the works it cites.
Visual point cloud forecasting enables scalable autonomous driving
Zetong Yang, Li Chen, Yanan Sun, and Hongyang Li · 2024
Later among the works it cites.
An efficient occupancy world model via decoupled dynamic flow and image-assisted training
Haiming Zhang, Ying Xue, Xu Yan, Jiacheng Zhang, Weichao Qiu, Dongfeng Bai, Bingbing Liu, Shuguang Cui, and Zhen Li · 2024
Later among the works it cites.
Occworld: Learning a 3d occupancy world model for autonomous driving
Wenzhao Zheng, Weiliang Chen, Yuanhui Huang, Borui Zhang, Yueqi Duan, and Jiwen Lu · 2024
Later among the works it cites.
Lidardm: Generative lidar simulation in a generated world
Vlas Zyrianov, Henry Che, Zhijian Liu, and Shenlong Wang · 2024
Later among the works it cites.
Occ-llm: Enhancing autonomous driving with occupancy-based large language models
Tianshuo Xu, Hao Lu, Xu Yan, Yingjie Cai, Bingbing Liu, and Yingcong Chen · 2025
Closest in time.
Driving in the occupancy world: Vision-centric 4d occupancy forecasting and planning via world models for autonomous driving
Yu Yang, Jianbiao Mei, Yukai Ma, Siliang Du, Wenqing Chen, Yijie Qian, Yuxiang Feng, and Yong Liu · 2025
Closest in time.