# DriveDiTFit: Fine-tuning Diffusion Transformers for Autonomous Driving

arXiv: https://arxiv.org/abs/2407.15661 · HTML: https://mlsanity.com/paper/2407.15661/

## Key facts

- Cited by 11 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 43 of its 55 references that are in the map.
- First posted on arXiv 22 Jul 2024.

## 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 43)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (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)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [RoFormer: Enhanced Transformer with Rotary Position Embedding](https://mlsanity.com/paper/2104.09864/) (2021)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [SDXL: Improving Latent Diffusion Models for High-Resolution Image Synthesis](https://mlsanity.com/paper/2307.01952/) (2023)
- [Scaling Rectified Flow Transformers for High-Resolution Image Synthesis](https://mlsanity.com/paper/2403.03206/) (2024)
- [Improved Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2102.09672/) (2021)
- [DreamBooth: Fine Tuning Text-to-Image Diffusion Models for Subject-Driven Generation](https://mlsanity.com/paper/2208.12242/) (2022)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [An Image is Worth One Word: Personalizing Text-to-Image Generation using Textual Inversion](https://mlsanity.com/paper/2208.01618/) (2022)
- [Arbitrary Style Transfer in Real-time with Adaptive Instance Normalization](https://mlsanity.com/paper/1703.06868/) (2017)
- [SDEdit: Guided Image Synthesis and Editing with Stochastic Differential Equations](https://mlsanity.com/paper/2108.01073/) (2021)
- [Imagen Video: High Definition Video Generation with Diffusion Models](https://mlsanity.com/paper/2210.02303/) (2022)
- [Visual Prompt Tuning](https://mlsanity.com/paper/2203.12119/) (2022)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [BitFit: Simple Parameter-efficient Fine-tuning for Transformer-based Masked Language-models](https://mlsanity.com/paper/2106.10199/) (2021)
- [Improved Precision and Recall Metric for Assessing Generative Models](https://mlsanity.com/paper/1904.06991/) (2019)
- [All are Worth Words: A ViT Backbone for Diffusion Models](https://mlsanity.com/paper/2209.12152/) (2022)
- [Simple diffusion: End-to-end diffusion for high resolution images](https://mlsanity.com/paper/2301.11093/) (2023)
- [Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving](https://mlsanity.com/paper/2311.17918/) (2023)

## Built on by (most cited first, 11 of 11)

- [How to Continually Adapt Text-to-Image Diffusion Models for Flexible Customization?](https://mlsanity.com/paper/2410.17594/) (2024)
- [BELM: Bidirectional Explicit Linear Multi-step Sampler for Exact Inversion in Diffusion Models](https://mlsanity.com/paper/2410.07273/) (2024)
- [Mass Concept Erasure in Diffusion Models with Concept Hierarchy](https://mlsanity.com/paper/2601.03305/) (2026)
- [Learning-based 3D Reconstruction in Autonomous Driving: A Comprehensive Survey](https://mlsanity.com/paper/2503.14537/) (2025)
- [CE-SDWV: Effective and Efficient Concept Erasure for Text-to-Image Diffusion Models via a Semantic-Driven Word Vocabulary](https://mlsanity.com/paper/2501.15562/) (2025)
- [FG-OrIU: Towards Better Forgetting via Feature-Gradient Orthogonality for Incremental Unlearning](https://mlsanity.com/paper/2601.13578/) (2026)
- [Efficiently Access Diffusion Fisher: Within the Outer Product Span Space](https://mlsanity.com/paper/2505.23264/) (2025)
- [Unleashing High-Quality Image Generation in Diffusion Sampling Using Second-Order Levenberg-Marquardt-Langevin](https://mlsanity.com/paper/2505.24222/) (2025)
- [Bayesian-LoRA: Probabilistic Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2601.21003/) (2026)
- [One-shot Face Sketch Synthesis in the Wild via Generative Diffusion Prior and Instruction Tuning](https://mlsanity.com/paper/2506.15312/) (2025)
- [MOJITO: Modal Joint Learning for Unified End-to-End Autonomous Driving](https://mlsanity.com/paper/2607.23511/) (2026)

## Abstract (arXiv)

In autonomous driving, deep models have shown remarkable performance across various visual perception tasks with the demand of high-quality and huge-diversity training datasets. Such datasets are expected to cover various driving scenarios with adverse weather, lighting conditions and diverse moving objects. However, manually collecting these data presents huge challenges and expensive cost. With the rapid development of large generative models, we propose DriveDiTFit, a novel method for efficiently generating autonomous Driving data by Fine-tuning pre-trained Diffusion Transformers (DiTs). Specifically, DriveDiTFit utilizes a gap-driven modulation technique to carefully select and efficiently fine-tune a few parameters in DiTs according to the discrepancy between the pre-trained source data and the target driving data. Additionally, DriveDiTFit develops an effective weather and lighting condition embedding module to ensure diversity in the generated data, which is initialized by a nearest-semantic-similarity initialization approach. Through progressive tuning scheme to refined the process of detail generation in early diffusion process and enlarging the weights corresponding to small objects in training loss, DriveDiTFit ensures high-quality generation of small moving objects in the generated data. Extensive experiments conducted on driving datasets confirm that our method could efficiently produce diverse real driving data. The source codes will be available at https://github.com/TtuHamg/DriveDiTFit.