https://github.com/opendrivelab/nexus
Nexus: Decoupled Diffusion Sparks Adaptive Scene Generation
https://github.com/opendrivelab/nexus
diffusion-models scene-generation world-models
Last synced: 7 months ago
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Nexus: Decoupled Diffusion Sparks Adaptive Scene Generation
- Host: GitHub
- URL: https://github.com/opendrivelab/nexus
- Owner: OpenDriveLab
- Created: 2025-04-07T08:57:37.000Z (9 months ago)
- Default Branch: main
- Last Pushed: 2025-05-29T15:09:32.000Z (8 months ago)
- Last Synced: 2025-06-06T20:15:50.513Z (7 months ago)
- Topics: diffusion-models, scene-generation, world-models
- Language: Python
- Homepage: https://opendrivelab.com/Nexus
- Size: 10.6 MB
- Stars: 58
- Watchers: 1
- Forks: 6
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- Funding: .github/FUNDING.yml
Awesome Lists containing this project
README
# Decoupled Diffusion Sparks Adaptive Scene Generation
> [Yunsong Zhou](https://zhouyunsong.github.io/), [Naisheng Ye](https://Y-vic.github.io/), William Ljungbergh, Tianyu Li, _et al._
> - :mailbox_with_mail: Primary contact: [Yunsong Zhou]((https://zhouyunsong-sjtu.github.io/)) ( zhouyunsong2017@gmail.com )
:fire: **Nexus** is a **noise-decoupled** prediction pipeline designed for adaptive driving scene generation, ensuring both `timely reaction⏲️` and `goal-directed control🥅`.
:star2: Nexus can generate realistic `safety-critical` driving scenarios by flexibly controlling the future state of a scene, with the assistance of NeRF.
- `[2024/04]` Nexus [paper](https://arxiv.org/abs/2504.10485) released.
- `[2025/04]` Nexus code and data initially released.
## Table of Contents
1. [Highlights](#highlights)
2. [News](#news)
3. [TODO List](#todo)
4. [Getting Started](#get-start)
5. [Dataset](#dataset)
6. [License and Citation](#license-and-citation)
7. [Related Resources](#resources)
- [ ] Guidance tutorial
- [x] Training code
- [x] Nexus & checkpoint
- [x] Initial repo & paper
## Getting Started
- [Installation](docs/install.md)
- [Try Our Demo 🔥](docs/demo.md)
- [Prepare Dataset](docs/prepare_dataset.md)
- [Train and Eval](docs/train_eval.md)
Nexus-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).
## License and Citation
All 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.
```BibTeX
@article{zhou2024decoupled,
title={Decoupled Diffusion Sparks Adaptive Scene Generation},
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},
journal={arXiv preprint arXiv:2504.10485},
year={2025}
}
```
We acknowledge all the open-source contributors for the following projects to make this work possible:
- [GUMP](https://github.com/HorizonRobotics/GUMP) | [DiffusionPlanner](https://github.com/ZhengYinan-AIR/Diffusion-Planner)
- [SimGen](https://github.com/OpenDriveLab/DriveAGI) | [Vista](https://github.com/OpenDriveLab/Vista) | [Centaur](https://github.com/OpenDriveLab/Centaur)
- [MTGS](https://github.com/OpenDriveLab/MTGS) | [OpenLane-V2](https://github.com/OpenDriveLab/OpenLane-V2) | [OpenScene](https://github.com/OpenDriveLab/OpenScene)