4 papers
GRID-Planner: Graph-Structured Relational Reward Shaping for Diffusion Planning
Zhao Yang, Zezhong Qian, Yinan Shi +2
Autonomous driving planning requires selecting trajectories that remain safe, rule-compliant, and comfortable under complex multi-agent interactions, yet robust closed-loop decisio…
CityGen: Structure-Guided City-Style Synthesis for Cross-City Autonomous Driving
Zezhong Qian, Zhao Yang, Lu Tan +4
Autonomous driving systems are commonly trained and evaluated within limited geographic regions, which hinders their scalability when deployed in new cities. However, significant d…
DualDiff: Dual-branch Diffusion Model for Autonomous Driving with Semantic Fusion
Haoteng Li, Zhao Yang, Zezhong Qian +5
Accurate and high-fidelity driving scene reconstruction relies on fully leveraging scene information as conditioning. However, existing approaches, which primarily use 3D bounding…
DualDiff+: Dual-Branch Diffusion for High-Fidelity Video Generation with Reward Guidance
Zhao Yang, Zezhong Qian, Xiaofan Li +5
Accurate and high-fidelity driving scene reconstruction demands the effective utilization of comprehensive scene information as conditional inputs. Existing methods predominantly r…