BodyBridge: Grounded Body Layers for Sim-to-Real Translation of Vulnerable Road Users
Simulation-to-real driving video diffusion models can translate photorealistic scenes, but they typically represent pedestrians and cyclists, vulnerable road users (VRUs), as generic object classes. This is insufficient for vulnerable road users whose safety-relevant appearance depends on articulated pose and identity. We present BodyBridge and Grounded Body Layers (GBL), a simulator-derived, pixel-aligned representation that combines scene geometry, canonical per-pixel body correspondence, and exact VRU masks. GBL provides explicit articulation to the video diffusion model, emphasizes VRU regions during control-branch post-training, and supports additive composition with scene-geometry c...
| Authors | Mark Azer, Fabian B. Flohr |
|---|---|
| Primary category | cs.CV |
| Published | 17 October 2026 |
| Last updated at source | 17 October 2026 |
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