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(CVPR 2025) From Slow Bidirectional to Fast Autoregressive Video Diffusion Models

[SIGGRAPH Asia'25] Enabling Reference-based Camera Control via Context without Explicit 3D Estimation

A novel criticality (i.e. safety) metric quantifying the minimum collision-avoidance cost as a measure of risk

[NeurIPS 2025] Official implementation for "Flow Matching-Based Autonomous Driving Planning with Advanced Interactive Behavior Modeling"

This repository offers code to reuse methodology and repeat experiments in the study "Learning Collision Risk Proactively from Naturalistic Driving at Scale".

Group-Relative RL Fine-Tuning for Realistic and Controllable Traffic Simulation

[CoRL'23] Adversarial Training for Safe End-to-End Driving

MiroThinker is a deep research agent optimized for complex research and prediction tasks. Our latest models, MiroThinker-1.7 and MiroThinker-H1, achieve 74.0 and 88.2 on the BrowseComp, respectively.

[CoRL '25] Pseudo-Simulation for Autonomous Driving; [NeurIPS '24] NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking

An MPC Motion Planner in ROS/C++

Source codes of “Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method” published in IEEE Trans. Intelligent Transportation Systems

Modified-Emergency Index (MEI): A Criticality Metric for Autonomous Driving in Lateral Conflict

PLUTO: Push the Limit of Imitation Learning-based Planning for Autonomous Driving

This repository shares information and guidelines to use the reconstructed trajectories of naturalistic crashes and near-crashes in the SHRP2 NDS.

LaTeX Thesis Template for Tsinghua University

[ICLR 2025 Oral] The official implementation of "Diffusion-Based Planning for Autonomous Driving with Flexible Guidance"

[NeurIPS 2024 Oral] Aligner: Efficient Alignment by Learning to Correct

Emergency Index (EI): A two-dimensional surrogate safety measure considering vehicles' interaction depth

This repository allows for fast computation of two-dimensional Time-To-Collision (TTC), DRAC, and MTTC.

[ECCV'22] KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients

This repo contains the code for paper "Dense reinforcement learning for safety validation of autonomous vehicles"

SPIDER: Self-driving Planning and Intelligent Decision-making Engine with Reusability

[CoRL 2024 Oral] FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality

Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance

High-resolution map (OpenDrive\Apollo) visualization and conversion tools