# Driving with DINO: Vision Foundation Features as a Unified Bridge for Sim-to-Real Generation in Autonomous Driving

arXiv: https://arxiv.org/abs/2602.06159 · HTML: https://mlsanity.com/paper/2602.06159/

## Key facts

- Cited by 5 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 62 of its 71 references that are in the map.
- First posted on arXiv 5 Feb 2026.

## 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 62)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Adding Conditional Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.05543/) (2023)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [Wan: Open and Advanced Large-Scale Video Generative Models](https://mlsanity.com/paper/2503.20314/) (2025)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [SDEdit: Guided Image Synthesis and Editing with Stochastic Differential Equations](https://mlsanity.com/paper/2108.01073/) (2021)
- [VBench: Comprehensive Benchmark Suite for Video Generative Models](https://mlsanity.com/paper/2311.17982/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [DINOv3](https://mlsanity.com/paper/2508.10104/) (2025)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [Demystifying MMD GANs](https://mlsanity.com/paper/1801.01401/) (2018)
- [SigLIP 2: Multilingual Vision-Language Encoders with Improved Semantic Understanding, Localization, and Dense Features](https://mlsanity.com/paper/2502.14786/) (2025)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [Contrastive Learning for Unpaired Image-to-Image Translation](https://mlsanity.com/paper/2007.15651/) (2020)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [InternImage: Exploring Large-Scale Vision Foundation Models with Deformable Convolutions](https://mlsanity.com/paper/2211.05778/) (2022)
- [VACE: All-in-One Video Creation and Editing](https://mlsanity.com/paper/2503.07598/) (2025)
- [VideoComposer: Compositional Video Synthesis with Motion Controllability](https://mlsanity.com/paper/2306.02018/) (2023)
- [CameraCtrl: Enabling Camera Control for Text-to-Video Generation](https://mlsanity.com/paper/2404.02101/) (2024)
- [TokenFlow: Consistent Diffusion Features for Consistent Video Editing](https://mlsanity.com/paper/2307.10373/) (2023)
- [AnyDoor: Zero-shot Object-level Image Customization](https://mlsanity.com/paper/2307.09481/) (2023)
- [Uni-ControlNet: All-in-One Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2305.16322/) (2023)
- [ControlVideo: Training-free Controllable Text-to-Video Generation](https://mlsanity.com/paper/2305.13077/) (2023)
- [Pix2Video: Video Editing using Image Diffusion](https://mlsanity.com/paper/2303.12688/) (2023)

## Built on by (most cited first, 5 of 5)

- [GeodesicNVS: Probability Density Geodesic Flow Matching for Novel View Synthesis](https://mlsanity.com/paper/2603.01010/) (2026)
- [IConE: Batch Independent Collapse Prevention for Self-Supervised Representation Learning](https://mlsanity.com/paper/2603.15263/) (2026)
- [Control-DINO: Feature Space Conditioning for Controllable Image-to-Video Diffusion](https://mlsanity.com/paper/2604.01761/) (2026)
- [CityRAG: Stepping Into a City via Spatially-Grounded Video Generation](https://mlsanity.com/paper/2604.19741/) (2026)
- [The Domain Is a Residue: Adapting Self-Supervised Features, Not Generators](https://mlsanity.com/paper/2609.37330/) (2026)

## Abstract (arXiv)

Driven by the emergence of Controllable Video Diffusion, existing Sim2Real methods for autonomous driving video generation typically rely on explicit intermediate representations to bridge the domain gap. However, these modalities face a fundamental Consistency-Realism Dilemma. Low-level signals (e.g., edges, blurred images) ensure precise control but compromise realism by "baking in" synthetic artifacts, whereas high-level priors (e.g., depth, semantics, HDMaps) facilitate photorealism but lack the structural detail required for consistent guidance. In this work, we present Driving with DINO (DwD), a novel framework that leverages Vision Foundation Module (VFM) features as a unified bridge between the simulation and real-world domains. We first identify that these features encode a spectrum of information, from high-level semantics to fine-grained structure. To effectively utilize this, we employ Principal Subspace Projection to discard the high-frequency elements responsible for "texture baking," while concurrently introducing Random Channel Tail Drop to mitigate the structural loss inherent in rigid dimensionality reduction, thereby reconciling realism with control consistency. Furthermore, to fully leverage DINOv3's high-resolution capabilities for enhancing control precision, we introduce a learnable Spatial Alignment Module that adapts these high-resolution features to the diffusion backbone. Finally, we propose a Causal Temporal Aggregator employing causal convolutions to explicitly preserve historical motion context when integrating frame-wise DINO features, which effectively mitigates motion blur and guarantees temporal stability. Project page: https://albertchen98.github.io/DwD-project/