Waabi Research Publications

AutonomyDigital TwinsPerception, Motion ForecastingSensor SimulationSimulationTraffic Modelling

QuAD: Query-based Interpretable Neural Motion Planning for Autonomous Driving

Sourav Biswas, Sergio Casas, Quinlan Sykora, Ben Agro, Abbas Sadat, Raquel Urtasun
ICRA 2024

Copilot4D: Learning Unsupervised World Models for Autonomous Driving via Discrete Diffusion

Lunjun Zhang, Yuwen Xiong, Ze Yang, Sergio Casas, Rui Hu, Raquel Urtasun
ICLR 2024

Neural Lighting Simulation for Urban Scenes

Ava Pun* †, Gary Sun* †, Jingkang Wang*, Yun Chen, Ze Yang, Sivabalan Manivasagam, Wei-Chiu Ma, Raquel Urtasun
NeurIPS 2023

Towards Scalable Coverage-Based Testing of Autonomous Systems

James Tu, Simon Suo, Chris Zhang, Kelvin Wong, Raquel Urtasun
CoRL 2023

Adv3D: Generate Safety-critical 3D Objects through Closed Loop Simulation

Jay Sarva †, Jingkang Wang, James Tu, Yuwen Xiong, Sivabalan Manivasagam, Raquel Urtasun
CoRL 2023

4D-Former: Multimodal 4D Panoptic Segmentation

Ali Athar † *, Enxu Li*, Sergio Casas, Raquel Urtasun
CoRL 2023

Learning Realistic Traffic Agents in Closed-loop

Chris Zhang, James Tu, Lunjun Zhang, Kelvin Wong, Simon Suo, Raquel Urtasun
CoRL 2023

LabelFormer: Object Trajectory Refinement for Offboard Perception from LiDAR Point Clouds

Anqi Joyce Yang, Sergio Casas, Nikita Dvornik, Sean Segal, Yuwen Xiong, Jordan Sir Kwang Hu, Carter Fang, Raquel Urtasun
CoRL 2023

Towards Zero Domain Gap: A Comprehensive Study of Realistic LiDAR Simulation for Autonomy Testing

Siva Manivasagam*, Ioan Andrei Bârsan*, Jingkang Wang, Ze Yang, Raquel Urtasun
ICCV 2023

MemorySeg: Online LiDAR Semantic Segmentation with a Latent Memory

Enxu Li, Sergio Casas, Raquel Urtasun
ICCV 2023

Real-Time Neural Rasterization for Large Scenes

Jeffrey Yunfan Liu †, Yun Chen*, Ze Yang*, Jingkang Wang, Sivabalan Manivasagam, Raquel Urtasun
ICCV 2023

UniSim: A Neural Closed-Loop Sensor Simulator

Ze Yang*, Yun Chen*, Jingkang Wang*, Siva Manivasagam*, Wei-Chiu Ma, Anqi Joyce Yang, Raquel Urtasun
CVPR 2023 (Highlight)

ImplicitO: Occupancy Flow Fields for Perception and Prediction in Self-Driving

Ben Agro*, Quinlan Sykora*, Sergio Casas*, Raquel Urtasun*
CVPR 2023 (Highlight)

MixSim: A Hierarchical Framework for Mixed Reality Traffic Simulation

Simon Suo,* Kelvin Wong,* Justin Xu, James Tu, Alexander Cui, Sergio Casas, Raquel Urtasun
CVPR 2023

UltraLiDAR: Learning Compact Representations for LiDAR Completion and Generation

Yuwen Xiong, Wei-Chiu Ma, Jingkang Wang, Raquel Urtasun
CVPR 2023

Oyster: Towards Unsupervised Object Detection from LiDAR Point Clouds

Lunjun Zhang, Anqi Joyce Yang, Yuwen Xiong, Sergio Casas, Bin Yang, Mengye Ren, Raquel Urtasun
CVPR 2023

GoRela: Go Relative for Viewpoint-Invariant Motion Forecasting

Alexander Cui, Sergio Casas, Kelvin Wong, Simon Suo, Raquel Urtasun
ICRA 2023 (Award Finalist)

NeuSim: Reconstructing Objects in-the-wild for Realistic Sensor Simulation

Ze Yang, Siva Manivasagam, Yun Chen, Jingkang Wang, Rui Hu, Raquel Urtasun
ICRA 2023

CADSim: Robust and Scalable in-the-wild 3D Reconstruction for Controllable Sensor Simulation

Jingkang Wang, Siva Manivasagam, Yun Chen, Ze Yang , Ioan Andrei Bârsan, Anqi Joyce Yang, Wei–Chiu Ma, Raquel Urtasun
CoRL 2022

TRAVL: Rethinking Closed-loop Training for Autonomous Vehicles

Chris Zhang,* Runsheng Guo,* Wenyuan Zeng,* Yuwen Xiong, Binbin Dai, Rui Hu, Mengye Ren, Raquel Urtasun
ECCV 2022