PointForward uses sparse world-space 3D queries and scene graphs to deliver consistent single-pass reconstruction of dynamic driving scenes via point-aligned representations.
Emernerf: Emergent spatial-temporal scene decomposition via self-supervision
11 Pith papers cite this work. Polarity classification is still indexing.
11
Pith papers citing it
abstract
We present EmerNeRF, a simple yet powerful approach for learning spatial-temporal representations of dynamic driving scenes. Grounded in neural fields, EmerNeRF simultaneously captures scene geometry, appearance, motion, and semantics via self-bootstrapping. EmerNeRF hinges upon two core components: First, it stratifies scenes into static and dynamic fields. This decomposition emerges purely from self-supervision, enabling our model to learn from general, in-the-wild data sources. Second, EmerNeRF parameterizes an induced flow field from the dynamic field and uses this flow field to further aggregate multi-frame features, amplifying the rendering precision of dynamic objects. Coupling these three fields (static, dynamic, and flow) enables EmerNeRF to represent highly-dynamic scenes self-sufficiently, without relying on ground truth object annotations or pre-trained models for dynamic object segmentation or optical flow estimation. Our method achieves state-of-the-art performance in sensor simulation, significantly outperforming previous methods when reconstructing static (+2.93 PSNR) and dynamic (+3.70 PSNR) scenes. In addition, to bolster EmerNeRF's semantic generalization, we lift 2D visual foundation model features into 4D space-time and address a general positional bias in modern Transformers, significantly boosting 3D perception performance (e.g., 37.50% relative improvement in occupancy prediction accuracy on average). Finally, we construct a diverse and challenging 120-sequence dataset to benchmark neural fields under extreme and highly-dynamic settings.
citation-role summary
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representative citing papers
DUST decouples pose trajectories per camera source while sharing canonical Gaussians per agent to remove cross-source gradient conflicts and ghosting caused by temporal asynchrony in 4D cooperative driving scenes.
Ground4D resolves temporal conflicts in feedforward 4D Gaussian reconstruction for off-road scenes via voxel-grounded temporal aggregation with intra-voxel softmax and surface normal regularization, outperforming prior methods on ORAD-3D and RELLIS-3D while generalizing zero-shot.
Point-cloud skeleton conditions and a Reset-and-Roll inference scheme enable stable frame-wise autoregressive driving video generation for closed-loop autonomous driving simulation.
C-GSPN scales 2D spatial propagation to foundation vision encoders via a fast CUDA kernel, compressed blocks, and two-stage distillation, matching ViT performance with 15% fewer parameters and 4x block speedup at 2K resolution.
AnyScene is an occupancy-centric framework using a Spatial-Temporal Occupancy Diffusion Transformer and Geometry-Grounded View Expansion to generate controllable driving scenes and videos from BEV layouts.
GaussianDWM uses 3D Gaussians with embedded linguistic features, language-guided sampling, and dual-condition generation for unified scene understanding and multi-modal output in driving world models.
Flux4D reconstructs large-scale dynamic 4D scenes unsupervised by predicting moving 3D Gaussians from photometric losses and static regularization when trained across multiple scenes.
EMMA is an end-to-end multimodal LLM that converts camera data into trajectories, objects, and road graphs via text prompts and reports state-of-the-art motion planning on nuScenes plus competitive detection results on Waymo.
L2D2-GS reformulates generalizable dynamic Gaussian reconstruction as iterative optimization with a self-supervised densification policy and geometric regularization, claiming SOTA fidelity and zero-shot generalization on PandaSet and Waymo with fewer primitives.
SparseStreet applies node-based learnable pruning followed by static background compression to 3D Gaussian Splatting, reporting up to 80% reduction in primitives with minimal quality loss on Waymo and nuScenes street scene data.
citing papers explorer
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PointForward: Feedforward Driving Reconstruction through Point-Aligned Representations
PointForward uses sparse world-space 3D queries and scene graphs to deliver consistent single-pass reconstruction of dynamic driving scenes via point-aligned representations.
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One World, Dual Timeline: Decoupled Spatio-Temporal Gaussian Scene Graph for 4D Cooperative Driving Reconstruction
DUST decouples pose trajectories per camera source while sharing canonical Gaussians per agent to remove cross-source gradient conflicts and ghosting caused by temporal asynchrony in 4D cooperative driving scenes.
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Ground4D: Spatially-Grounded Feedforward 4D Reconstruction for Unstructured Off-Road Scenes
Ground4D resolves temporal conflicts in feedforward 4D Gaussian reconstruction for off-road scenes via voxel-grounded temporal aggregation with intra-voxel softmax and surface normal regularization, outperforming prior methods on ORAD-3D and RELLIS-3D while generalizing zero-shot.
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Point as Skeleton: Accumulated Point Cloud Enhanced Autoregressive Generation for Closed-Loop Autonomous Driving Simulation
Point-cloud skeleton conditions and a Reset-and-Roll inference scheme enable stable frame-wise autoregressive driving video generation for closed-loop autonomous driving simulation.
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Scaling Parallel Sequence Models to Foundation-Scale Vision Encoders
C-GSPN scales 2D spatial propagation to foundation vision encoders via a fast CUDA kernel, compressed blocks, and two-stage distillation, matching ViT performance with 15% fewer parameters and 4x block speedup at 2K resolution.
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AnyScene: Towards Highly Controllable Driving Scene Generation at Anywhere and Beyond
AnyScene is an occupancy-centric framework using a Spatial-Temporal Occupancy Diffusion Transformer and Geometry-Grounded View Expansion to generate controllable driving scenes and videos from BEV layouts.
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GaussianDWM: 3D Gaussian Driving World Model for Unified Scene Understanding and Multi-Modal Generation
GaussianDWM uses 3D Gaussians with embedded linguistic features, language-guided sampling, and dual-condition generation for unified scene understanding and multi-modal output in driving world models.
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Flux4D: Flow-based Unsupervised 4D Reconstruction
Flux4D reconstructs large-scale dynamic 4D scenes unsupervised by predicting moving 3D Gaussians from photometric losses and static regularization when trained across multiple scenes.
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EMMA: End-to-End Multimodal Model for Autonomous Driving
EMMA is an end-to-end multimodal LLM that converts camera data into trajectories, objects, and road graphs via text prompts and reports state-of-the-art motion planning on nuScenes plus competitive detection results on Waymo.
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L2D2-GS: Learning to Densify for Feedforward Dynamic Gaussian Scene Reconstruction
L2D2-GS reformulates generalizable dynamic Gaussian reconstruction as iterative optimization with a self-supervised densification policy and geometric regularization, claiming SOTA fidelity and zero-shot generalization on PandaSet and Waymo with fewer primitives.
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SparseStreet: Sparse Gaussian Splatting for Real-Time Street Scene Simulation
SparseStreet applies node-based learnable pruning followed by static background compression to 3D Gaussian Splatting, reporting up to 80% reduction in primitives with minimal quality loss on Waymo and nuScenes street scene data.