@inproceedings{zhang2024learning,
  title={Copilot4D: Learning Unsupervised World Models for Autonomous Driving via Discrete Diffusion},
  author={Lunjun Zhang and Yuwen Xiong and Ze Yang and Sergio Casas and Rui Hu and Raquel Urtasun},
  booktitle={International Conference on Learning Representations (ICLR)},
  year={2024}
}