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The generation of safety-critical scenarios in simulation has become increasingly crucial for safety evaluation in autonomous vehicles prior to road deployment in society. However, current approaches largely rely on predefined threat…

Automated creation of synthetic traffic scenarios is a key part of validating the safety of autonomous vehicles (AVs). In this paper, we propose Scenario Diffusion, a novel diffusion-based architecture for generating traffic scenarios that…

Deep generative models allow for photorealistic image synthesis at high resolutions. But for many applications, this is not enough: content creation also needs to be controllable. While several recent works investigate how to disentangle…

Evaluating the safety of autonomous vehicles (AVs) requires diverse, safety-critical scenarios, with collisions being especially important yet rare and unsafe to collect in the real world. Therefore, the community has been focusing on…

There has been exciting progress in generating images from natural language or layout conditions. However, these methods struggle to faithfully reproduce complex scenes due to the insufficient modeling of multiple objects and their…

Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…

Developing safe autonomous driving systems is a major scientific and technical challenge. Existing AI-based end-to-end solutions do not offer the necessary safety guarantees, while traditional systems engineering approaches are defeated by…

Image composition targets at synthesizing a realistic composite image from a pair of foreground and background images. Recently, generative composition methods are built on large pretrained diffusion models to generate composite images,…

Generating safety-critical scenarios is essential for testing and verifying the safety of autonomous vehicles. Traditional optimization techniques suffer from the curse of dimensionality and limit the search space to fixed parameter spaces.…

The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…

In text-to-image (T2I) generation, achieving fine-grained control over attributes - such as age or smile - remains challenging, even with detailed text prompts. Slider-based methods offer a solution for precise control of image attributes.…

Self-driving software pipelines include components that are learned from a significant number of training examples, yet it remains challenging to evaluate the overall system's safety and generalization performance. Together with scaling up…

Generating adversarial scenarios, which have the potential to fail autonomous driving systems, provides an effective way to improve robustness. Extending purely data-driven generative models, recent specialized models satisfy additional…

Controllable scene generation could reduce the cost of diverse data collection substantially for autonomous driving. Prior works formulate the traffic layout generation as predictive progress, either by denoising entire sequences at once or…

There is considerable evidence that deep neural networks are vulnerable to adversarial perturbations applied directly to their digital inputs. However, it remains an open question whether this translates to vulnerabilities in real systems.…

Generative models offer a scalable and flexible paradigm for simulating complex environments, yet current approaches fall short in addressing the domain-specific requirements of autonomous driving - such as multi-agent interactions,…

Autonomous vehicles increasingly rely on cameras to provide the input for perception and scene understanding and the ability of these models to classify their environment and objects, under adverse conditions and image noise is crucial.…

Simulation is crucial for developing and evaluating autonomous vehicle (AV) systems. Recent literature builds on a new generation of generative models to synthesize highly realistic images for full-stack simulation. However, purely…

Verification and validation of autonomous driving (AD) systems and components is of increasing importance, as such technology increases in real-world prevalence. Safety-critical scenario generation is a key approach to robustify AD policies…

Controllable synthetic data generation can substantially lower the annotation cost of training data. Prior works use diffusion models to generate driving images conditioned on the 3D object layout. However, those models are trained on…