{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T09:29:16Z","timestamp":1780392556204,"version":"3.54.1"},"reference-count":84,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"ERC Starting","award":["LEGO-3D 850533"],"award-info":[{"award-number":["LEGO-3D 850533"]}]},{"name":"DFG EXC Number 2064\/1"},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62202418"],"award-info":[{"award-number":["62202418"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62373322"],"award-info":[{"award-number":["62373322"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U21B2004"],"award-info":[{"award-number":["U21B2004"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62441223"],"award-info":[{"award-number":["62441223"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Zhejiang Provincial NSFC","award":["LD24F030001"],"award-info":[{"award-number":["LD24F030001"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Pattern Anal. Mach. Intell."],"published-print":{"date-parts":[[2026,4]]},"DOI":"10.1109\/tpami.2025.3647952","type":"journal-article","created":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T18:45:42Z","timestamp":1766601942000},"page":"4673-4691","source":"Crossref","is-referenced-by-count":6,"title":["HUGSIM: A Real-Time, Photo-Realistic and Closed-Loop Simulator for Autonomous Driving"],"prefix":"10.1109","volume":"48","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-5198-9451","authenticated-orcid":false,"given":"Hongyu","family":"Zhou","sequence":"first","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6422-559X","authenticated-orcid":false,"given":"Longzhong","family":"Lin","sequence":"additional","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiabao","family":"Wang","sequence":"additional","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-3246-0166","authenticated-orcid":false,"given":"Yichong","family":"Lu","sequence":"additional","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-3159-5076","authenticated-orcid":false,"given":"Dongfeng","family":"Bai","sequence":"additional","affiliation":[{"name":"Huawei Corporation, Shenzhen, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bingbing","family":"Liu","sequence":"additional","affiliation":[{"name":"Huawei Corporation, Shenzhen, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0981-935X","authenticated-orcid":false,"given":"Yue","family":"Wang","sequence":"additional","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8151-3726","authenticated-orcid":false,"given":"Andreas","family":"Geiger","sequence":"additional","affiliation":[{"name":"Autonomous Vision Group (AVG), University of Tübingen and the Tübingen AI Center, Tübingen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6662-3022","authenticated-orcid":false,"given":"Yiyi","family":"Liao","sequence":"additional","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1145\/2001269.2001293"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00580"},{"key":"ref3","article-title":"Demystifying MMDGANs","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Bi\u0144kowski","year":"2018"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00584"},{"key":"ref5","first-page":"120","article-title":"The openCV library","volume":"25","author":"Bradski","year":"2000","journal-title":"Dr Dobb\u2019s J. Softw. Tools"},{"key":"ref6","article-title":"OpenAI gym","author":"Brockman","year":"2016"},{"key":"ref7","article-title":"Virtual kitti 2","author":"Cabon","year":"2020"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01164"},{"key":"ref9","first-page":"2021","article-title":"nuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles","author":"Caesar"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58574-7_9"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-72664-4_21"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-026-02740-3"},{"key":"ref13","article-title":"OmniRe: Omni urban scene reconstruction","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Chen","year":"2025"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2022.3200245"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460487"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00942"},{"key":"ref17","first-page":"1268","article-title":"Parting with misconceptions about learning-based vehicle motion planning","volume-title":"Proc. Conf. Robot Learn.","author":"Dauner","year":"2023"},{"key":"ref18","first-page":"28706","article-title":"NAVSIM: Data-driven non-reactive autonomous vehicle simulation and benchmarking","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Dauner","year":"2024"},{"key":"ref19","first-page":"1","article-title":"CARLA: An open urban driving simulator","volume-title":"Proc. Conf. Robot Learn.","author":"Dosovitskiy","year":"2017"},{"key":"ref20","first-page":"26488","article-title":"3DRealCar: An in-the-wild RGB-D car dataset with 360-degree views","volume-title":"Proc. IEEE\/CVF Int. Conf. Comput. Vis.","author":"Du","year":"2025"},{"key":"ref21","article-title":"RoGs: Large scale road surface reconstruction with meshgrid Gaussian","author":"Feng","year":"2024"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.52202\/079017-2558"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/3DV57658.2022.00042"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2010.5539804"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.52202\/079017-2906"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref27","first-page":"7730","article-title":"WayMax: An accelerated, data-driven simulator for large-scale autonomous driving research","volume-title":"Proc. Neural Inf. Process. Syst.","author":"Gulino","year":"2023"},{"key":"ref28","article-title":"StreetSurf: Extending multi-view implicit surface reconstruction to street views","author":"Guo","year":"2023"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v39i3.32344"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19839-7_20"},{"key":"ref31","article-title":"GAIA-1: A generative world model for autonomous driving","author":"Hu","year":"2023"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2022.3168781"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01712"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1145\/3641519.3657428"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00766"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610077"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1145\/3592433"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/icra55743.2025.11127564"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01253"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2012.84"},{"key":"ref41","first-page":"325","article-title":"GGRT: Towards generalizable 3D Gaussians without pose priors in real-time","volume-title":"Proc. Eur. Conf. Comput. Vis.","author":"Li","year":"2024"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2022.3190471"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.02045"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2022.3179507"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-73404-5_10"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00049"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00713"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364084"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-73404-5_6"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1145\/3687934"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1145\/3687934"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00288"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01259"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1201\/9781003048381-3"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.445"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/icmew68306.2025.11152054"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2025.3575937"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00252"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00807"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1145\/3588432.3591516"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01411"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.62.1805"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01191"},{"key":"ref64","article-title":"FreeVS: Generative view synthesis on free driving trajectory","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Wang","year":"2025"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-73195-2_4"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC57777.2023.10422219"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00876"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-99-8850-1_1"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC48978.2021.9565009"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-73464-9_10"},{"key":"ref71","article-title":"EmerNeRF: Emergent spatial-temporal scene decomposition via self-supervision","volume-title":"Proc. Int. Conf. Learn. Representations.","author":"Yang","year":"2024"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01389"},{"key":"ref73","first-page":"26933","article-title":"DriveArena: A closed-loop generative simulation platform for autonomous driving","volume-title":"Proc. IEEE\/CVF Int. Conf. Comput. Vis.","author":"Yang","year":"2025"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00140"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01922"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2025.3613256"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/WACV61041.2025.00375"},{"key":"ref78","first-page":"2357","article-title":"CAT: Closed-loop adversarial training for safe end-to-end driving","volume-title":"Proc. Conf. Robot Learn.","author":"Zhang","year":"2023"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00068"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00800"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01554"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.02016"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.02044"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2002.1021576"}],"container-title":["IEEE Transactions on Pattern Analysis and Machine Intelligence"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/34\/11424231\/11314796.pdf?arnumber=11314796","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T19:53:13Z","timestamp":1773172393000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11314796\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,4]]},"references-count":84,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tpami.2025.3647952","relation":{},"ISSN":["0162-8828","2160-9292","1939-3539"],"issn-type":[{"value":"0162-8828","type":"print"},{"value":"2160-9292","type":"electronic"},{"value":"1939-3539","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,4]]}}}