{"id":"https://openalex.org/W4413945198","doi":"https://doi.org/10.1109/icra55743.2025.11127600","title":"Wcdt: World-Centric Diffusion Transformer for Traffic Scene Generation","display_name":"Wcdt: World-Centric Diffusion Transformer for Traffic Scene Generation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945198","doi":"https://doi.org/10.1109/icra55743.2025.11127600"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127600","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100350490","display_name":"Yang Chen","orcid":"https://orcid.org/0000-0003-3129-8447"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Chen Yang","raw_affiliation_strings":["Cardiff University,Department of Computer Science and Informatics"],"affiliations":[{"raw_affiliation_string":"Cardiff University,Department of Computer Science and Informatics","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028171572","display_name":"Yangfan He","orcid":"https://orcid.org/0000-0002-6336-9986"},"institutions":[{"id":"https://openalex.org/I4210101327","display_name":"Twin Cities Orthopedics","ror":"https://ror.org/01en4s460","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210101327"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yangfan He","raw_affiliation_strings":["College of Libera Arts, University of Minnesota - Twin Cities"],"affiliations":[{"raw_affiliation_string":"College of Libera Arts, University of Minnesota - Twin Cities","institution_ids":["https://openalex.org/I4210101327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095084066","display_name":"Aaron Xuxiang Tian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aaron Xuxiang Tian","raw_affiliation_strings":["Independent researcher,USA"],"affiliations":[{"raw_affiliation_string":"Independent researcher,USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050676584","display_name":"Dong Chen","orcid":"https://orcid.org/0000-0003-2009-2726"},"institutions":[{"id":"https://openalex.org/I99041443","display_name":"Mississippi State University","ror":"https://ror.org/0432jq872","country_code":"US","type":"education","lineage":["https://openalex.org/I4210141039","https://openalex.org/I99041443"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dong Chen","raw_affiliation_strings":["Agricultural &#x0026; Biological Engineering, Mississippi State University"],"affiliations":[{"raw_affiliation_string":"Agricultural &#x0026; Biological Engineering, Mississippi State University","institution_ids":["https://openalex.org/I99041443"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100645218","display_name":"Jianhui Wang","orcid":"https://orcid.org/0000-0002-7990-9529"},"institutions":[{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhui Wang","raw_affiliation_strings":["Information and Software Engineering, University of Electronic Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"Information and Software Engineering, University of Electronic Science and Technology of China","institution_ids":["https://openalex.org/I4210128818"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095084067","display_name":"Tianyu Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136752","display_name":"University Transportation Research Center","ror":"https://ror.org/03pz4a950","country_code":"US","type":"other","lineage":["https://openalex.org/I4210136752"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianyu Shi","raw_affiliation_strings":["Transportation Research Institute, University of Toronto"],"affiliations":[{"raw_affiliation_string":"Transportation Research Institute, University of Toronto","institution_ids":["https://openalex.org/I4210136752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009161432","display_name":"Arsalan Heydarian","orcid":"https://orcid.org/0000-0001-5972-6947"},"institutions":[{"id":"https://openalex.org/I4210094981","display_name":"Community Link","ror":"https://ror.org/00mssm162","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210094981"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arsalan Heydarian","raw_affiliation_strings":["University of Virginia,Link Lab Civil and Environmental Engineering"],"affiliations":[{"raw_affiliation_string":"University of Virginia,Link Lab Civil and Environmental Engineering","institution_ids":["https://openalex.org/I4210094981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029601647","display_name":"Pei Liu","orcid":"https://orcid.org/0000-0002-6854-4333"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Pei Liu","raw_affiliation_strings":["Intelligent Transportation Thrust, The Hong Kong University of Science and Technology (Guangzhou)"],"affiliations":[{"raw_affiliation_string":"Intelligent Transportation Thrust, The Hong Kong University of Science and Technology (Guangzhou)","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100350490"],"corresponding_institution_ids":["https://openalex.org/I79510175"],"apc_list":null,"apc_paid":null,"fwci":2.6176,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.91293802,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6566","last_page":"6572"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9470999836921692,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9470999836921692,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9289000034332275,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5387189984321594},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.4727676212787628},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2232237458229065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14510399103164673},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.08030262589454651}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5387189984321594},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.4727676212787628},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2232237458229065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14510399103164673},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.08030262589454651}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127600","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1678356000","https://openalex.org/W1965455100","https://openalex.org/W2343568200","https://openalex.org/W2967694753","https://openalex.org/W3003906095","https://openalex.org/W3034722190","https://openalex.org/W3034819467","https://openalex.org/W3181350748","https://openalex.org/W3213371637","https://openalex.org/W3214950490","https://openalex.org/W4221068951","https://openalex.org/W4226239849","https://openalex.org/W4312550876","https://openalex.org/W4321780061","https://openalex.org/W4376166839","https://openalex.org/W4383108499","https://openalex.org/W4383172002","https://openalex.org/W4386025570","https://openalex.org/W4386494508","https://openalex.org/W4390788068","https://openalex.org/W4390872297","https://openalex.org/W4391992006"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"introduce":[4],"a":[5,128],"novel":[6],"approach":[7,143],"for":[8,157],"autonomous":[9],"driving":[10,161],"trajectory":[11,39,57,129],"generation":[12,40],"by":[13,127],"harnessing":[14],"the":[15,31,37,50,55,85,109,117,141],"complementary":[16],"strengths":[17],"of":[18,111],"diffusion":[19,23],"probabilistic":[20],"models":[21],"(a.k.a.,":[22],"models)":[24],"and":[25,53,66,93,151],"transformers.":[26],"Our":[27,164],"proposed":[28,142],"framework,":[29],"termed":[30],"\u201cWorld-centric":[32],"Diffusion":[33,73,79],"Transformer\u201d":[34],"(WcDT),":[35],"optimizes":[36],"entire":[38],"process,":[41],"from":[42],"feature":[43],"extraction":[44],"to":[45,107,131],"model":[46],"inference.":[47],"To":[48],"enhance":[49,108],"scene":[51],"diversity":[52],"stochasticity,":[54],"historical":[56,88,94],"data":[58],"is":[59,105,166],"first":[60],"preprocessed":[61],"into":[62,68,159],"\u201cAgent":[63],"Move":[64],"Statement\u201d":[65],"encoded":[67,121],"latent":[69,86],"space":[70],"using":[71],"Denoising":[72],"Probabilistic":[74],"Models":[75],"(DDPM)":[76],"enhanced":[77],"with":[78,80,100,113],"Transformer":[81],"(DiT)":[82],"blocks.":[83],"Then,":[84],"features,":[87,92],"trajectories,":[89,153],"HD":[90],"map":[91],"traffic":[95,118,122],"signal":[96],"information":[97],"are":[98,124],"fused":[99],"various":[101],"transformer-based":[102],"encoders":[103],"that":[104,140],"used":[106],"interaction":[110],"agents":[112],"other":[114],"elements":[115],"in":[116,147],"scene.":[119],"The":[120],"scenes":[123],"then":[125],"decoded":[126],"decoder":[130],"generate":[132],"multimodal":[133],"future":[134],"trajectories.":[135],"Comprehensive":[136],"experimental":[137],"results":[138],"show":[139],"exhibits":[144],"superior":[145],"performance":[146],"generating":[148],"both":[149],"realistic":[150],"diverse":[152],"showing":[154],"its":[155],"potential":[156],"integration":[158],"automatic":[160],"simulation":[162],"systems.":[163],"code":[165],"available":[167],"at":[168],"https://github.com/yangchen1997/WcDT.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}
