R3D2 trains a lightweight diffusion model on synthetic placements of 3DGS-generated assets to produce photorealistic insertions with consistent illumination into autonomous driving scenes.
Scalability in perception for autonomous driving: Waymo open dataset
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R3D2: Realistic 3D Asset Insertion via Diffusion for Autonomous Driving Simulation
R3D2 trains a lightweight diffusion model on synthetic placements of 3DGS-generated assets to produce photorealistic insertions with consistent illumination into autonomous driving scenes.