Diffusion-based generative models, using discrete categorical diffusion conditioned on BEV features, improve 3D occupancy prediction and downstream planning for autonomous driving.
Kitti-360: A novel dataset and benchmarks for urban scene understanding in 2d and 3d,
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Diffusion-Based Generative Models for 3D Occupancy Prediction in Autonomous Driving
Diffusion-based generative models, using discrete categorical diffusion conditioned on BEV features, improve 3D occupancy prediction and downstream planning for autonomous driving.