End-to-end planning methods are the de-facto standard of the current autonomous driving system, while the robustness of the data-driven approaches suffers due to the notorious long-tail problem (i.e., rare but safety-critical failure cases). In this work, we explore whether recent diffusion-based video generation methods (a.k.a. world models), paired with structured 3D layouts, can enable a fully automated pipeline to self-correct such failure cases. We first introduce an agent to simulate the role of product manager, dubbed PM-Agent, which formulates data requirements to collect data similar to the failure cases. Then, we use a generative model that can simulate both data collection and annotation. However, existing generative models struggle to generate high-fidelity data conditioned on 3D layouts. To address this, we propose DriveSora, which can generate spatiotemporally consistent videos aligned with the 3D annotations requested by PM-Agent. We integrate these components into our self-correcting agentic system, CorrectAD. Importantly, our pipeline is end-to-end model agnostic and can be applied to improve any end-to-end planner. Evaluated on both nuScenes and a more challenging in-house dataset across multiple end-to-end planners, CorrectAD corrects 62.5% and 49.8% of failure cases, reducing collision rates by 39% and 27%, respectively.

Autonomous driving evaluation requires simulation environments that closely replicate actual road conditions, including real-world sensory data and responsive feedback loops. However, many existing simulations need to predict waypoints along fixed routes on public datasets or synthetic photorealistic data, i.e., open-loop simulation usually lacks the ability to assess dynamic decision-making. While the recent efforts of closed-loop simulation offer feedback-driven environments, they cannot process visual sensor inputs or produce outputs that differ from real-world data. To address these challenges, we propose DrivingSphere, a realistic and closed-loop simulation framework. Its core idea is to build 4D world representation and generate real-life and controllable driving scenarios. In specific, our framework includes a Dynamic Environment Composition module that constructs a detailed 4D driving world with a format of occupancy equipping with static backgrounds and dynamic objects, and a Visual Scene Synthesis module that transforms this data into high-fidelity, multi-view video outputs, ensuring spatial and temporal consistency. By providing a dynamic and realistic simulation environment, DrivingSphere enables comprehensive testing and validation of autonomous driving algorithms, ultimately advancing the development of more reliable autonomous cars. The benchmark will be publicly released.

Recent advancements in autonomous driving (AD) systems have highlighted the potential of world models in achieving robust and generalizable performance across both ordinary and challenging driving conditions. However, a key challenge remains: precise and flexible camera pose control, which is crucial for accurate viewpoint transformation and realistic simulation of scene dynamics. In this paper, we introduce PosePilot, a lightweight yet powerful framework that significantly enhances camera pose controllability in generative world models. Drawing inspiration from self-supervised depth estimation, PosePilot leverages structure-from-motion principles to establish a tight coupling between camera pose and video generation. Specifically, we incorporate self-supervised depth and pose readouts, allowing the model to infer depth and relative camera motion directly from video sequences. These outputs drive pose-aware frame warping, guided by a photometric warping loss that enforces geometric consistency across synthesized frames. To further refine camera pose estimation, we introduce a reverse warping step and a pose regression loss, improving viewpoint precision and adaptability. Extensive experiments on autonomous driving and general-domain video datasets demonstrate that PosePilot significantly enhances structural understanding and motion reasoning in both diffusion-based and auto-regressive world models. By steering camera pose with self-supervised depth, PosePilot sets a new benchmark for pose controllability, enabling physically consistent, reliable viewpoint synthesis in generative world models.

Recent progress in single-image super-resolution (SISR) has achieved remarkable performance, yet the computational costs of these methods remain a challenge for deployment on resource-constrained devices. In particular, transformer-based methods, which leverage self-attention mechanisms, have led to significant breakthroughs but also introduce substantial computational costs. To tackle this issue, we introduce the Convolutional Transformer layer (ConvFormer) and propose a ConvFormer-based Super-Resolution network (CFSR), offering an effective and efficient solution for lightweight image super-resolution. The proposed method inherits the advantages of both convolution-based and transformer-based approaches. Specifically, CFSR utilizes large kernel convolutions as a feature mixer to replace the self-attention module, efficiently modeling long-range dependencies and extensive receptive fields with minimal computational overhead. Furthermore, we propose an edge-preserving feed-forward network (EFN) designed to achieve local feature aggregation while effectively preserving high-frequency information. Extensive experiments demonstrate that CFSR strikes an optimal balance between computational cost and performance compared to existing lightweight SR methods. When benchmarked against state-of-the-art methods such as ShuffleMixer, the proposed CFSR achieves a gain of 0.39 dB on the Urban100 dataset for the x2 super-resolution task while requiring 26% and 31% fewer parameters and FLOPs, respectively. The code and pre-trained models are available at https://github.com/Aitical/CFSR.

Third-person imitation learning (TPIL) is a variant of generative adversarial imitation learning and can learn an expert-like policy from third-person expert demonstrations. Third-person expert demonstrations usually exist in the form of videos recorded in a third-person perspective, and there is a lack of direct correspondence with samples generated by agent. To alleviate this problem, we improve TPIL by applying image difference and variational discriminator bottleneck. Empirically, our new method has better performance than TPIL on two MuJoCo tasks, Reacher and Inverted Pendulum.