RECAST: From Log Replay to Closed-Loop Driving Simulation with View-Complete Actors
Closed-loop driving simulation requires rendered observations to remain reliable as the ego vehicle and surrounding actors move beyond their recorded trajectories, exposing views absent from the source log. Existing data-driven simulators reconstruct dynamic actors from sparse observations, which can result in rendering artifacts under these viewpoint changes. We introduce RECAST (REconstructing Controllable Actors for Simulation and Testing), a 3D Gaussian Splatting framework that generates a view-complete actor from a single segmented vehicle observation in a driving log and registers the generated actor in the reconstructed scene. RECAST supports planner-in-the-loop rendering under con...
| Authors | Zijun Zhao, Liewen Liao, Kang Shen et al. |
|---|---|
| Primary category | cs.RO |
| Published | 25 September 2026 |
| Last updated at source | 25 September 2026 |
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