{"id":28573369,"url":"https://github.com/opendrivelab/nexus","last_synced_at":"2025-06-10T21:17:34.630Z","repository":{"id":288072416,"uuid":"961845648","full_name":"OpenDriveLab/Nexus","owner":"OpenDriveLab","description":"Nexus: Decoupled Diffusion Sparks Adaptive Scene Generation","archived":false,"fork":false,"pushed_at":"2025-05-29T15:09:32.000Z","size":11119,"stargazers_count":58,"open_issues_count":1,"forks_count":6,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-06-06T20:15:50.513Z","etag":null,"topics":["diffusion-models","scene-generation","world-models"],"latest_commit_sha":null,"homepage":"https://opendrivelab.com/Nexus","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/OpenDriveLab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":".github/FUNDING.yml","license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null},"funding":{"github":["OpenDriveLab"],"patreon":null,"open_collective":null,"ko_fi":null,"tidelift":null,"community_bridge":null,"liberapay":null,"issuehunt":null,"lfx_crowdfunding":null,"polar":null,"buy_me_a_coffee":null,"custom":null}},"created_at":"2025-04-07T08:57:37.000Z","updated_at":"2025-06-06T01:36:04.000Z","dependencies_parsed_at":"2025-05-29T16:22:50.790Z","dependency_job_id":"b753f13f-f348-4d30-89a4-bf3eff06a652","html_url":"https://github.com/OpenDriveLab/Nexus","commit_stats":null,"previous_names":["opendrivelab/nexus"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OpenDriveLab%2FNexus","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OpenDriveLab%2FNexus/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OpenDriveLab%2FNexus/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OpenDriveLab%2FNexus/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/OpenDriveLab","download_url":"https://codeload.github.com/OpenDriveLab/Nexus/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OpenDriveLab%2FNexus/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":259152773,"owners_count":22813223,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["diffusion-models","scene-generation","world-models"],"created_at":"2025-06-10T21:17:33.802Z","updated_at":"2025-06-10T21:17:34.617Z","avatar_url":"https://github.com/OpenDriveLab.png","language":"Python","funding_links":["https://github.com/sponsors/OpenDriveLab"],"categories":[],"sub_categories":[],"readme":"\u003cdiv id=\"top\" align=\"center\"\u003e\n\n\u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/NEXUS-text.gif\" alt=\"Image description\" width=\"70%\"\u003e\n\n# Decoupled Diffusion Sparks Adaptive Scene Generation\n\n\u003c!--\n**Revive driving scene understanding by delving into the embodiment philosophy**--\u003e\n\n\u003ca href=\"http://arxiv.org/abs/2504.10485\"\u003e\u003cimg src=\"https://img.shields.io/badge/arXiv-Paper-\u003ccolor\u003e\"\u003e\u003c/a\u003e\n\u003ca href=\"https://opendrivelab.com/Nexus\"\u003e\u003cimg src=\"https://img.shields.io/badge/Project-Page-orange\"\u003e\u003c/a\u003e\n\u003ca href=\"README.md\"\u003e\n  \u003cimg alt=\"Nexus: v1.0\" src=\"https://img.shields.io/badge/Nexus-v1.0-blueviolet\"/\u003e\n\u003c/a\u003e\n\u003ca href=\"#license-and-citation\"\u003e\n  \u003cimg alt=\"License: Apache2.0\" src=\"https://img.shields.io/badge/license-Apache%202.0-blue.svg\"/\u003e\n\u003c/a\u003e\n\n\u003c!--\n\u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/teaser.png\" alt=\"Image description\" width=\"70%\"\u003e\n--\u003e\n\n\u003c/div\u003e\n\n\n\n\n\n\u003cdiv style=\"display: flex; justify-content: center; align-items: center; gap: 1%;\"\u003e\n\n  \u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/main_vis1.gif\" width=\"24%\" alt=\"Video 1\"\u003e\n\n  \u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/main_vis2.gif\" width=\"24%\" alt=\"Video 2\"\u003e\n\n  \u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/main_vis3.gif\" width=\"24%\" alt=\"Video 3\"\u003e\n\n  \u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/main_vis4.gif\" width=\"24%\" alt=\"Video 4\"\u003e\n\n\u003c/div\u003e\n\n\u003e [Yunsong Zhou](https://zhouyunsong.github.io/), [Naisheng Ye](https://Y-vic.github.io/), William Ljungbergh, Tianyu Li, _et al._\n\u003e - :mailbox_with_mail: Primary contact: [Yunsong Zhou]((https://zhouyunsong-sjtu.github.io/)) ( zhouyunsong2017@gmail.com ) \n\n\n## Highlights \u003ca name=\"highlights\"\u003e\u003c/a\u003e\n\n:fire: **Nexus** is a **noise-decoupled** prediction pipeline designed for adaptive driving scene generation, ensuring both `timely reaction⏲️` and `goal-directed control🥅`.\n\n:star2: Nexus can generate realistic `safety-critical` driving scenarios by flexibly controlling the future state of a scene, with the assistance of NeRF.\n\n\n\u003cdiv style=\"display: flex; justify-content: center; align-items: center; gap: 1%;\"\u003e\n\n  \u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/nerf-1.gif\" width=\"24%\" alt=\"Video 1\"\u003e\n\n  \u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/nerf-2.gif\" width=\"24%\" alt=\"Video 2\"\u003e\n\n  \u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/nerf-5.gif\" width=\"24%\" alt=\"Video 3\"\u003e\n\n  \u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/nerf-4.gif\" width=\"24%\" alt=\"Video 4\"\u003e\n\n\u003c/div\u003e\n\n\n## News \u003ca name=\"news\"\u003e\u003c/a\u003e\n\n- `[2024/04]` Nexus [paper](https://arxiv.org/abs/2504.10485) released.\n- `[2025/04]` Nexus code and data initially released.\n\n## Table of Contents\n\n1. [Highlights](#highlights)\n2. [News](#news)\n3. [TODO List](#todo)\n4. [Getting Started](#get-start)\n5. [Dataset](#dataset)\n6. [License and Citation](#license-and-citation)\n7. [Related Resources](#resources)\n\n## TODO List \u003ca name=\"todo\"\u003e\u003c/a\u003e\n\n\n- [ ] Guidance tutorial\n- [x] Training code\n- [x] Nexus \u0026 checkpoint\n- [x] Initial repo \u0026 paper\n\n\n## Getting Started \u003ca name=\"get-start\"\u003e\u003c/a\u003e\n- [Installation](docs/install.md)\n- [Try Our Demo 🔥](docs/demo.md)\n- [Prepare Dataset](docs/prepare_dataset.md)\n- [Train and Eval](docs/train_eval.md)\n\n## Dataset \u003ca name=\"dataset\"\u003e\u003c/a\u003e\n\n\u003cimg src=\"https://opendrivelab.github.io/Nexus/resources/nexus-data.png\" alt=\"Image description\" width=\"100%\"\u003e\n\nNexus-Data is induced from real-world scenarios, in which we can obtain real-world map topology and layout. It also includes hazardous driving behaviors through interactions introduced by adversarial traffic generation. The safety-critical scenarios (on nuPlan dataset) can be obtained through this 🔗[data link](https://huggingface.co/datasets/OpenDriveLab-org/Nexus-data/tree/main).\n\n\n\n\n## License and Citation\n\nAll assets and code in this repository are under the [Apache 2.0 license](./LICENSE) unless specified otherwise. The data is under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our paper and project if they help your research.\n\n```BibTeX\n@article{zhou2024decoupled,\n  title={Decoupled Diffusion Sparks Adaptive Scene Generation},\n  author={Zhou, Yunsong and Ye, Naisheng and Ljungbergh, William and Li, Tianyu and Yang, Jiazhi and Yang, Zetong and Zhu, Hongzi and Petersson, Christoffer and Li, Hongyang},\n  journal={arXiv preprint arXiv:2504.10485},\n  year={2025}\n}\n```\n\n## Related Resources \u003ca name=\"resources\"\u003e\u003c/a\u003e\n\nWe acknowledge all the open-source contributors for the following projects to make this work possible:\n\n- [GUMP](https://github.com/HorizonRobotics/GUMP) | [DiffusionPlanner](https://github.com/ZhengYinan-AIR/Diffusion-Planner)\n\n\n\u003ca href=\"https://twitter.com/OpenDriveLab\" target=\"_blank\"\u003e\n    \u003cimg alt=\"Twitter Follow\" src=\"https://img.shields.io/twitter/follow/OpenDriveLab?style=social\u0026color=brightgreen\u0026logo=twitter\" /\u003e\n  \u003c/a\u003e\n\n- [SimGen](https://github.com/OpenDriveLab/DriveAGI) | [Vista](https://github.com/OpenDriveLab/Vista) | [Centaur](https://github.com/OpenDriveLab/Centaur)\n- [MTGS](https://github.com/OpenDriveLab/MTGS) | [OpenLane-V2](https://github.com/OpenDriveLab/OpenLane-V2) |  [OpenScene](https://github.com/OpenDriveLab/OpenScene)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fopendrivelab%2Fnexus","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fopendrivelab%2Fnexus","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fopendrivelab%2Fnexus/lists"}