# Streetscapes: Large-scale Consistent Street View Generation Using Autoregressive Video Diffusion

arXiv: https://arxiv.org/abs/2407.13759 · HTML: https://mlsanity.com/paper/2407.13759/

## Key facts

- Cited by 39 papers in the map (data through 14 Oct 2026).
- Placed in World models for autonomous driving, one of 11 directions in World models.
- Builds on 47 of its 69 references that are in the map.
- First posted on arXiv 18 Jul 2024.

## Placed in

- World models / [World models for autonomous driving](https://mlsanity.com/wm/world-models-for-autonomous-driving/)
- 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 47)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Score-Based Generative Modeling through Stochastic Differential Equations](https://mlsanity.com/paper/2011.13456/) (2020)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [SDEdit: Guided Image Synthesis and Editing with Stochastic Differential Equations](https://mlsanity.com/paper/2108.01073/) (2021)
- [Make-A-Video: Text-to-Video Generation without Text-Video Data](https://mlsanity.com/paper/2209.14792/) (2022)
- [Zero-1-to-3: Zero-shot One Image to 3D Object](https://mlsanity.com/paper/2303.11328/) (2023)
- [AnimateDiff: Animate Your Personalized Text-to-Image Diffusion Models without Specific Tuning](https://mlsanity.com/paper/2307.04725/) (2023)
- [LRM: Large Reconstruction Model for Single Image to 3D](https://mlsanity.com/paper/2311.04400/) (2023)
- [Objaverse-XL: A Universe of 10M+ 3D Objects](https://mlsanity.com/paper/2307.05663/) (2023)
- [Point-E: A System for Generating 3D Point Clouds from Complex Prompts](https://mlsanity.com/paper/2212.08751/) (2022)
- [Fantasia3D: Disentangling Geometry and Appearance for High-quality Text-to-3D Content Creation](https://mlsanity.com/paper/2303.13873/) (2023)
- [Score Jacobian Chaining: Lifting Pretrained 2D Diffusion Models for 3D Generation](https://mlsanity.com/paper/2212.00774/) (2022)
- [CSDI: Conditional Score-based Diffusion Models for Probabilistic Time Series Imputation](https://mlsanity.com/paper/2107.03502/) (2021)
- [MotionCtrl: A Unified and Flexible Motion Controller for Video Generation](https://mlsanity.com/paper/2312.03641/) (2023)
- [Phenaki: Variable Length Video Generation From Open Domain Textual Description](https://mlsanity.com/paper/2210.02399/) (2022)
- [Lumiere: A Space-Time Diffusion Model for Video Generation](https://mlsanity.com/paper/2401.12945/) (2024)
- [CAT3D: Create Anything in 3D with Multi-View Diffusion Models](https://mlsanity.com/paper/2405.10314/) (2024)
- [Shap-E: Generating Conditional 3D Implicit Functions](https://mlsanity.com/paper/2305.02463/) (2023)
- [Photorealistic Video Generation with Diffusion Models](https://mlsanity.com/paper/2312.06662/) (2023)
- [Novel View Synthesis with Diffusion Models](https://mlsanity.com/paper/2210.04628/) (2022)
- [3D Neural Field Generation using Triplane Diffusion](https://mlsanity.com/paper/2211.16677/) (2022)
- [MagicDrive: Street View Generation with Diverse 3D Geometry Control](https://mlsanity.com/paper/2310.02601/) (2023)
- [Infinite Nature: Perpetual View Generation of Natural Scenes from a Single Image](https://mlsanity.com/paper/2012.09855/) (2020)
- [LucidDreamer: Domain-free Generation of 3D Gaussian Splatting Scenes](https://mlsanity.com/paper/2311.13384/) (2023)
- [DMV3D: Denoising Multi-View Diffusion using 3D Large Reconstruction Model](https://mlsanity.com/paper/2311.09217/) (2023)
- [Single-Stage Diffusion NeRF: A Unified Approach to 3D Generation and Reconstruction](https://mlsanity.com/paper/2304.06714/) (2023)
- [SparseCtrl: Adding Sparse Controls to Text-to-Video Diffusion Models](https://mlsanity.com/paper/2311.16933/) (2023)

## Built on by (most cited first, 30 of 39)

- [GEN3C: 3D-Informed World-Consistent Video Generation with Precise Camera Control](https://mlsanity.com/paper/2503.03751/) (2025)
- [Understanding World or Predicting Future? A Comprehensive Survey of World Models](https://mlsanity.com/paper/2411.14499/) (2024)
- [HunyuanWorld 1.0: Generating Immersive, Explorable, and Interactive 3D Worlds from Words or Pixels](https://mlsanity.com/paper/2507.21809/) (2025)
- [VLIPP: Towards Physically Plausible Video Generation with Vision and Language Informed Physical Prior](https://mlsanity.com/paper/2503.23368/) (2025)
- [StarGen: A Spatiotemporal Autoregression Framework with Video Diffusion Model for Scalable and Controllable Scene Generation](https://mlsanity.com/paper/2501.05763/) (2025)
- [3D Scene Generation: A Survey](https://mlsanity.com/paper/2505.05474/) (2025)
- [CrossViewDiff: A Cross-View Diffusion Model for Satellite-to-Street View Synthesis](https://mlsanity.com/paper/2408.14765/) (2024)
- [X-Scene: Large-Scale Driving Scene Generation with High Fidelity and Flexible Controllability](https://mlsanity.com/paper/2506.13558/) (2025)
- [Compositional Generative Model of Unbounded 4D Cities](https://mlsanity.com/paper/2501.08983/) (2025)
- [Skyfall-GS: Synthesizing Immersive 3D Urban Scenes from Satellite Imagery](https://mlsanity.com/paper/2510.15869/) (2025)
- [Sat2City: 3D City Generation from A Single Satellite Image with Cascaded Latent Diffusion](https://mlsanity.com/paper/2507.04403/) (2025)
- [MultiGen: Level-Design for Editable Multiplayer Worlds in Diffusion Game Engines](https://mlsanity.com/paper/2603.06679/) (2026)
- [Bench2Drive-R: Turning Real World Data into Reactive Closed-Loop Autonomous Driving Benchmark by Generative Model](https://mlsanity.com/paper/2412.09647/) (2024)
- [Grounding World Simulation Models in a Real-World Metropolis](https://mlsanity.com/paper/2603.15583/) (2026)
- [Seeing through Satellite Images at Street Views](https://mlsanity.com/paper/2505.17001/) (2025)
- [Proc-GS: Procedural Building Generation for City Assembly with 3D Gaussians](https://mlsanity.com/paper/2412.07660/) (2024)
- [Chain of Event-Centric Causal Thought for Physically Plausible Video Generation](https://mlsanity.com/paper/2603.09094/) (2026)
- [GPS as a Control Signal for Image Generation](https://mlsanity.com/paper/2501.12390/) (2025)
- [LSD-3D: Large-Scale 3D Driving Scene Generation with Geometry Grounding](https://mlsanity.com/paper/2508.19204/) (2025)
- [Satellite to GroundScape -- Large-scale Consistent Ground View Generation from Satellite Views](https://mlsanity.com/paper/2504.15786/) (2025)
- [OmniView: An All-Seeing Diffusion Model for 3D and 4D View Synthesis](https://mlsanity.com/paper/2512.10940/) (2025)
- [SpaceBlender: Creating Context-Rich Collaborative Spaces Through Generative 3D Scene Blending](https://mlsanity.com/paper/2409.13926/) (2024)
- [MeSS: City Mesh-Guided Outdoor Scene Generation with Cross-View Consistent Diffusion](https://mlsanity.com/paper/2508.15169/) (2025)
- [From Image Generation to Infrastructure Design: a Multi-agent Pipeline for Street Design Generation](https://mlsanity.com/paper/2509.05469/) (2025)
- [Sat2City v2: Native 3D City Asset Generation from a Single Satellite Image](https://mlsanity.com/paper/2606.24138/) (2026)
- [RGE-GS: Reward-Guided Expansive Driving Scene Reconstruction via Diffusion Priors](https://mlsanity.com/paper/2506.22800/) (2025)
- [AutoScape: Geometry-Consistent Long-Horizon Scene Generation](https://mlsanity.com/paper/2510.20726/) (2025)
- [LaGen: Towards Autoregressive LiDAR Scene Generation](https://mlsanity.com/paper/2511.21256/) (2025)
- [Visual Chronicles: Using Multimodal LLMs to Analyze Massive Collections of Images](https://mlsanity.com/paper/2504.08727/) (2025)
- [ScenDi: 3D-to-2D Scene Diffusion Cascades for Urban Generation](https://mlsanity.com/paper/2601.15221/) (2026)

## Abstract (arXiv)

We present a method for generating Streetscapes-long sequences of views through an on-the-fly synthesized city-scale scene. Our generation is conditioned by language input (e.g., city name, weather), as well as an underlying map/layout hosting the desired trajectory. Compared to recent models for video generation or 3D view synthesis, our method can scale to much longer-range camera trajectories, spanning several city blocks, while maintaining visual quality and consistency. To achieve this goal, we build on recent work on video diffusion, used within an autoregressive framework that can easily scale to long sequences. In particular, we introduce a new temporal imputation method that prevents our autoregressive approach from drifting from the distribution of realistic city imagery. We train our Streetscapes system on a compelling source of data-posed imagery from Google Street View, along with contextual map data-which allows users to generate city views conditioned on any desired city layout, with controllable camera poses. Please see more results at our project page at https://boyangdeng.com/streetscapes.