# HorizonWeaver: Generalizable Multi-Level Semantic Editing for Driving Scenes

arXiv: https://arxiv.org/abs/2604.04887 · HTML: https://mlsanity.com/paper/2604.04887/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 58 of its 71 references that are in the map.
- First posted on arXiv 6 Apr 2026.

## Builds on (most cited first, 30 of 58)

- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [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)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Zero-Shot Text-to-Image Generation](https://mlsanity.com/paper/2102.12092/) (2021)
- [LAION-5B: An open large-scale dataset for training next generation image-text models](https://mlsanity.com/paper/2210.08402/) (2022)
- [GLIDE: Towards Photorealistic Image Generation and Editing with Text-Guided Diffusion Models](https://mlsanity.com/paper/2112.10741/) (2021)
- [DreamBooth: Fine Tuning Text-to-Image Diffusion Models for Subject-Driven Generation](https://mlsanity.com/paper/2208.12242/) (2022)
- [InstructPix2Pix: Learning to Follow Image Editing Instructions](https://mlsanity.com/paper/2211.09800/) (2022)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Prompt-to-Prompt Image Editing with Cross Attention Control](https://mlsanity.com/paper/2208.01626/) (2022)
- [SDEdit: Guided Image Synthesis and Editing with Stochastic Differential Equations](https://mlsanity.com/paper/2108.01073/) (2021)
- [Null-text Inversion for Editing Real Images using Guided Diffusion Models](https://mlsanity.com/paper/2211.09794/) (2022)
- [Imagic: Text-Based Real Image Editing with Diffusion Models](https://mlsanity.com/paper/2210.09276/) (2022)
- [Plug-and-Play Diffusion Features for Text-Driven Image-to-Image Translation](https://mlsanity.com/paper/2211.12572/) (2022)
- [BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation](https://mlsanity.com/paper/2205.13542/) (2022)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [MagicBrush: A Manually Annotated Dataset for Instruction-Guided Image Editing](https://mlsanity.com/paper/2306.10012/) (2023)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [BLIP-Diffusion: Pre-trained Subject Representation for Controllable Text-to-Image Generation and Editing](https://mlsanity.com/paper/2305.14720/) (2023)
- [Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation](https://mlsanity.com/paper/2404.15506/) (2024)
- [Emu Edit: Precise Image Editing via Recognition and Generation Tasks](https://mlsanity.com/paper/2311.10089/) (2023)
- [UniSim: A Neural Closed-Loop Sensor Simulator](https://mlsanity.com/paper/2308.01898/) (2023)
- [VQGAN-CLIP: Open Domain Image Generation and Editing with Natural Language Guidance](https://mlsanity.com/paper/2204.08583/) (2022)

## Built on by (most cited first, 2 of 2)

- [Physics-Aware 3D Gaussian Editing for Driving Scene Generation](https://mlsanity.com/paper/2605.25373/) (2026)
- [CrossTimeEdit: A Decade-Spanning Cross-View Dataset and Reward-Guided Editing for Historical Street-View Generation](https://mlsanity.com/paper/2609.36616/) (2026)

## Abstract (arXiv)

Ensuring safety in autonomous driving requires scalable generation of realistic, controllable driving scenes beyond what real-world testing provides. Yet existing instruction guided image editors, trained on object-centric or artistic data, struggle with dense, safety-critical driving layouts. We propose HorizonWeaver, which tackles three fundamental challenges in driving scene editing: (1) multi-level granularity, requiring coherent object- and scene-level edits in dense environments; (2) rich high-level semantics, preserving diverse objects while following detailed instructions; and (3) ubiquitous domain shifts, handling changes in climate, layout, and traffic across unseen environments. The core of HorizonWeaver is a set of complementary contributions across data, model, and training: (1) Data: Large-scale dataset generation, where we build a paired real/synthetic dataset from Boreas, nuScenes, and Argoverse2 to improve generalization; (2) Model: Language-Guided Masks for fine-grained editing, where semantics-enriched masks and prompts enable precise, language-guided edits; and (3) Training: Content preservation and instruction alignment, where joint losses enforce scene consistency and instruction fidelity. Together, HorizonWeaver provides a scalable framework for photorealistic, instruction-driven editing of complex driving scenes, collecting 255K images across 13 editing categories and outperforming prior methods in L1, CLIP, and DINO metrics, achieving +46.4% user preference and improving BEV segmentation IoU by +33%. Project page: https://msoroco.github.io/horizonweaver/