arxivcs.CV2026-07-07
Point as Skeleton: Accumulated Point Cloud Enhanced Autoregressive Generation for Closed-Loop Autonomous Driving Simulation
Songbur Wong, Xiaosong Jia, Junqi You, Bo Zhang, Pei Xu, Renqiu Xia, et al.
Evaluating end-to-end autonomous driving (E2E-AD) remains challenging, as existing driving simulation methods often trade off closed-loop interactivity (e.g., CARLA) and real-world visual fidelity (e.g., nuScenes). We present \textbf{\emph{Point as Skeleton}}, a generative sensor…