DriveFix: Spatio-Temporally Coherent Driving Scene Restoration

Recent advancements in 4D scene reconstruction, particularly those leveraging diffusion priors, have shown promise for novel view synthesis in autonomous driving. However, these methods often process frames independently or in a view-by-view manner, leading to a critical lack of spatio-temporal synergy. This results in spatial misalignment across cameras and temporal drift in sequences. We propose DriveFix, a novel multi-view restoration framework that ensures spatio-temporal coherence for driving scenes. Our approach employs an interleaved diffusion transformer architecture with specialized blocks to explicitly model both temporal dependencies and cross-camera spatial consistency. By conditioning the generation on historical context and integrating geometry-aware training losses, DriveFix enforces that the restored views adhere to a unified 3D geometry. This enables the consistent propagation of high-fidelity textures and significantly reduces artifacts. Extensive evaluations on the Waymo, nuScenes, and PandaSet datasets demonstrate that DriveFix achieves state-of-the-art performance in both reconstruction and novel view synthesis, marking a substantial step toward robust 4D world modeling for real-world deployment.

FAR-Drive: Frame-AutoRegressive Video Generation in Closed-Loop Autonomous Driving

Despite rapid progress in autonomous driving, reliable training and evaluation of driving systems remain fundamentally constrained by the lack of scalable and interactive simulation environments. Recent generative video models achieve remarkable visual fidelity, yet most operate in open-loop settings and fail to support fine-grained frame-level interaction between agent actions and environment evolution. Building a learning-based closed-loop simulator for autonomous driving poses three major challenges: maintaining long-horizon temporal and cross-view consistency, mitigating autoregressive degradation under iterative self-conditioning, and satisfying low-latency inference constraints. In this work, we propose FAR-Drive, a frame-level autoregressive video generation framework for autonomous driving. We introduce a multi-view diffusion transformer with fine-grained structured control, enabling geometrically consistent multi-camera generation. To address long-horizon consistency and iterative degradation, we design a two-stage training strategy consisting of adaptive reference horizon conditioning and blend-forcing autoregressive training, which progressively improves consistency and robustness under self-conditioning. To meet low-latency interaction requirements, we further integrate system-level efficiency optimizations for inference acceleration. Experiments on the nuScenes dataset demonstrate that our method achieves state-of-the-art performance among existing closed-loop autonomous driving simulation approaches, while maintaining sub-second latency on a single GPU.