InfiniVerse: Occupancy Guided Unbounded Scene Generation for Autonomous Driving

• URL: http://arxiv.org/abs/2606.31109v1
• Date: Tue, 30 Jun 2026 04:08:22 GMT
• Title: InfiniVerse: Occupancy Guided Unbounded Scene Generation for Autonomous Driving
• Abstract summary: We introduce InfiniVerse, a unified pipeline for synthesis of dynamic urban scenes from a single frame.<n>InfiniVerse achieves state-of-the-art performance with a FID of 6.4 and FVD of 67.97, significantly outperforming existing benchmarks in both duration and stability.
• Score: 70.7737035270887
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Generating realistic, controllable, and temporally coherent urban environments is a critical yet unresolved challenge in the autonomous driving community. In this paper, we introduce InfiniVerse, a unified pipeline for long-range, 2D-3D-aligned, and controllable synthesis of dynamic urban scenes from a single frame. In practice, our approach first reconstructs a 3D occupancy representation from the input multi-view frame. This representation serves as a foundation for autoregressive scene extension along arbitrary trajectories. Subsequently, a video diffusion model translates the coarse occupancy grid into realistic, spatiotemporally consistent video sequences. Moreover, we propose a hierarchical sketch-and-refine paradigm, in which the generated videos are re-projected as image-conditioned feedback to enhance the 3D occupancy representation, establishing cross-modal alignment and mutual enhancement between the visual and spatial domains. Extensive evaluations on the Waymo Open Dataset and nuScenes demonstrate that InfiniVerse achieves state-of-the-art performance, with a FID of 6.4 and FVD of 67.97, significantly outperforming existing benchmarks in both duration and stability.

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