无人驾驶CVPR 20252025
DriveDreamer-2: End-to-End World Model for Autonomous Driving
Guosheng Zhao, Xiaofeng Wang, Zheng Zhu, Xinze Chen, Guan Huang, Xiaoyi Bao, Xingang Wang et al.Tsinghua University, Horizon Robotics
摘要
We present DriveDreamer-2, an end-to-end world model for autonomous driving that predicts future driving scenes with high fidelity. DriveDreamer-2 generates realistic multi-view predictions of future traffic scenarios, enabling model-based planning for safer and more efficient autonomous navigation.
end-to-end drivingworld modelscene predictionmulti-viewmodel-based planning
技术细节
数据集
nuScenesDriveDreamer Dataset
模型骨架
Diffusion-based World Model + Planning Head
编码器
BEV Encoder + Temporal Fusion Module
解码器
Diffusion World Model Decoder + Planning Decoder
