# DrivingDiffusion: Layout-Guided multi-view driving scene video generation with latent diffusion model

arXiv: https://arxiv.org/abs/2310.07771 · HTML: https://mlsanity.com/paper/2310.07771/

## Key facts

- Cited by 75 papers in the map (data through 14 Oct 2026).
- Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models.
- Builds on 42 of its 45 references that are in the map.
- First posted on arXiv 11 Oct 2023.

## Placed in

- Diffusion models / [Diffusion and flow policies for robotics](https://mlsanity.com/diffusion/diffusion-and-flow-policies-for-robotics/)

## Builds on (most cited first, 30 of 42)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [Photorealistic Text-to-Image Diffusion Models with Deep Language Understanding](https://mlsanity.com/paper/2205.11487/) (2022)
- [Adding Conditional Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.05543/) (2023)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Zero-Shot Text-to-Image Generation](https://mlsanity.com/paper/2102.12092/) (2021)
- [GLIDE: Towards Photorealistic Image Generation and Editing with Text-Guided Diffusion Models](https://mlsanity.com/paper/2112.10741/) (2021)
- [Improved Techniques for Training GANs](https://mlsanity.com/paper/1606.03498/) (2016)
- [Make-A-Video: Text-to-Video Generation without Text-Video Data](https://mlsanity.com/paper/2209.14792/) (2022)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [Align your Latents: High-Resolution Video Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2304.08818/) (2023)
- [Semantic Image Synthesis with Spatially-Adaptive Normalization](https://mlsanity.com/paper/1903.07291/) (2019)
- [Scaling Autoregressive Models for Content-Rich Text-to-Image Generation](https://mlsanity.com/paper/2206.10789/) (2022)
- [Towards Accurate Generative Models of Video: A New Metric & Challenges](https://mlsanity.com/paper/1812.01717/) (2018)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [CogVideo: Large-scale Pretraining for Text-to-Video Generation via Transformers](https://mlsanity.com/paper/2205.15868/) (2022)
- [BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation](https://mlsanity.com/paper/2205.13542/) (2022)
- [Vector-quantized Image Modeling with Improved VQGAN](https://mlsanity.com/paper/2110.04627/) (2021)
- [PETR: Position Embedding Transformation for Multi-View 3D Object Detection](https://mlsanity.com/paper/2203.05625/) (2022)
- [CogView2: Faster and Better Text-to-Image Generation via Hierarchical Transformers](https://mlsanity.com/paper/2204.14217/) (2022)
- [Cross-view Transformers for real-time Map-view Semantic Segmentation](https://mlsanity.com/paper/2205.02833/) (2022)
- [DriveDreamer: Towards Real-world-driven World Models for Autonomous Driving](https://mlsanity.com/paper/2309.09777/) (2023)
- [LayoutDiffusion: Controllable Diffusion Model for Layout-to-image Generation](https://mlsanity.com/paper/2303.17189/) (2023)
- [GODIVA: Generating Open-DomaIn Videos from nAtural Descriptions](https://mlsanity.com/paper/2104.14806/) (2021)
- [N"UWA: Visual Synthesis Pre-training for Neural visUal World creAtion](https://mlsanity.com/paper/2111.12417/) (2021)
- [FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Cameras](https://mlsanity.com/paper/2104.10490/) (2021)

## Built on by (most cited first, 30 of 75)

- [OccWorld: Learning a 3D Occupancy World Model for Autonomous Driving](https://mlsanity.com/paper/2311.16038/) (2023)
- [DriveDreamer-2: LLM-Enhanced World Models for Diverse Driving Video Generation](https://mlsanity.com/paper/2403.06845/) (2024)
- [GenAD: Generalized Predictive Model for Autonomous Driving](https://mlsanity.com/paper/2403.09630/) (2024)
- [LLM4Drive: A Survey of Large Language Models for Autonomous Driving](https://mlsanity.com/paper/2311.01043/) (2023)
- [Vision Language Models in Autonomous Driving: A Survey and Outlook](https://mlsanity.com/paper/2310.14414/) (2023)
- [Is Sora a World Simulator? A Comprehensive Survey on General World Models and Beyond](https://mlsanity.com/paper/2405.03520/) (2024)
- [Visual Point Cloud Forecasting enables Scalable Autonomous Driving](https://mlsanity.com/paper/2312.17655/) (2023)
- [DriveArena: A Closed-loop Generative Simulation Platform for Autonomous Driving](https://mlsanity.com/paper/2408.00415/) (2024)
- [WoVoGen: World Volume-aware Diffusion for Controllable Multi-camera Driving Scene Generation](https://mlsanity.com/paper/2312.02934/) (2023)
- [Editable Scene Simulation for Autonomous Driving via Collaborative LLM-Agents](https://mlsanity.com/paper/2402.05746/) (2024)
- [Pandora: Towards General World Model with Natural Language Actions and Video States](https://mlsanity.com/paper/2406.09455/) (2024)
- [OccLLaMA: An Occupancy-Language-Action Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2409.03272/) (2024)
- [Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving](https://mlsanity.com/paper/2408.14197/) (2024)
- [EchoScene: Indoor Scene Generation via Information Echo over Scene Graph Diffusion](https://mlsanity.com/paper/2405.00915/) (2024)
- [3D and 4D World Modeling: A Survey](https://mlsanity.com/paper/2509.07996/) (2025)
- [SCube: Instant Large-Scale Scene Reconstruction using VoxSplats](https://mlsanity.com/paper/2410.20030/) (2024)
- [A Survey of World Models for Autonomous Driving](https://mlsanity.com/paper/2501.11260/) (2025)
- [Doe-1: Closed-Loop Autonomous Driving with Large World Model](https://mlsanity.com/paper/2412.09627/) (2024)
- [DiP-GO: A Diffusion Pruner via Few-step Gradient Optimization](https://mlsanity.com/paper/2410.16942/) (2024)
- [Efficient Diffusion Models: A Comprehensive Survey from Principles to Practices](https://mlsanity.com/paper/2410.11795/) (2024)
- [Solving Motion Planning Tasks with a Scalable Generative Model](https://mlsanity.com/paper/2407.02797/) (2024)
- [DreamForge: Motion-Aware Autoregressive Video Generation for Multi-View Driving Scenes](https://mlsanity.com/paper/2409.04003/) (2024)
- [Empowering Autonomous Driving with Large Language Models: A Safety Perspective](https://mlsanity.com/paper/2312.00812/) (2023)
- [SimGen: Simulator-conditioned Driving Scene Generation](https://mlsanity.com/paper/2406.09386/) (2024)
- [SubjectDrive: Scaling Generative Data in Autonomous Driving via Subject Control](https://mlsanity.com/paper/2403.19438/) (2024)
- [Vid2Sim: Realistic and Interactive Simulation from Video for Urban Navigation](https://mlsanity.com/paper/2501.06693/) (2025)
- [Towards Knowledge-driven Autonomous Driving](https://mlsanity.com/paper/2312.04316/) (2023)
- [AutoVFX: Physically Realistic Video Editing from Natural Language Instructions](https://mlsanity.com/paper/2411.02394/) (2024)
- [Forging Vision Foundation Models for Autonomous Driving: Challenges, Methodologies, and Opportunities](https://mlsanity.com/paper/2401.08045/) (2024)
- [DriveScape: Towards High-Resolution Controllable Multi-View Driving Video Generation](https://mlsanity.com/paper/2409.05463/) (2024)

## Abstract (arXiv)

With the increasing popularity of autonomous driving based on the powerful and unified bird's-eye-view (BEV) representation, a demand for high-quality and large-scale multi-view video data with accurate annotation is urgently required. However, such large-scale multi-view data is hard to obtain due to expensive collection and annotation costs. To alleviate the problem, we propose a spatial-temporal consistent diffusion framework DrivingDiffusion, to generate realistic multi-view videos controlled by 3D layout. There are three challenges when synthesizing multi-view videos given a 3D layout: How to keep 1) cross-view consistency and 2) cross-frame consistency? 3) How to guarantee the quality of the generated instances? Our DrivingDiffusion solves the problem by cascading the multi-view single-frame image generation step, the single-view video generation step shared by multiple cameras, and post-processing that can handle long video generation. In the multi-view model, the consistency of multi-view images is ensured by information exchange between adjacent cameras. In the temporal model, we mainly query the information that needs attention in subsequent frame generation from the multi-view images of the first frame. We also introduce the local prompt to effectively improve the quality of generated instances. In post-processing, we further enhance the cross-view consistency of subsequent frames and extend the video length by employing temporal sliding window algorithm. Without any extra cost, our model can generate large-scale realistic multi-camera driving videos in complex urban scenes, fueling the downstream driving tasks. The code will be made publicly available.