相关论文: Risk-Aware Scene Sampling for Dynamic Assurance of…

Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…

Autonomous Driving Systems (ADS) require diverse and safety-critical traffic scenarios for effective training and testing, but the existing data generation methods struggle to provide flexibility and scalability. We propose LASER, a novel…

Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…

Large language models require continuous adaptation to new tasks while preserving safety alignment. However, fine-tuning on even benign data often compromises safety behaviors, including refusal of harmful requests, truthfulness, and…

The robustness of semantic segmentation on edge cases of traffic scene is a vital factor for the safety of intelligent transportation. However, most of the critical scenes of traffic accidents are extremely dynamic and previously unseen,…

Sampling critical testing scenarios is an essential step in intelligence testing for Automated Vehicles (AVs). However, due to the lack of prior knowledge on the distribution of critical scenarios in sampling space, we can hardly…

Simulation is essential to validate autonomous driving systems. However, a simple simulation, even for an extremely high number of simulated miles or hours, is not sufficient. We need well-founded criteria showing that simulation does…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

Establishing trustworthy safety assurance for autonomous driving systems (ADSs) requires evidence that failures arise from avoidable system deficiencies rather than unavoidable traffic conflicts. Current adversarial simulation methods can…

Scenario-based testing is a promising approach to solve the challenge of proving the safe behavior of vehicles equipped with automated driving systems. Since an infinite number of concrete scenarios can theoretically occur in real-world…

Autonomous driving testing increasingly relies on mining safety critical scenarios from large scale naturalistic driving data, yet existing screening pipelines still depend on manual risk annotation and expensive frame by frame risk…

Training vision models to detect workplace hazards accurately requires realistic images of unsafe conditions that could lead to accidents. However, acquiring such datasets is difficult because capturing accident-triggering scenarios as they…

Testing and validating Autonomous Vehicle (AV) performance in safety-critical and diverse scenarios is crucial before real-world deployment. However, manually creating such scenarios in simulation remains a significant and time-consuming…

The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety-critical -- especially when facing dynamic racing scenarios…

The rapidly evolving field of autonomous driving systems (ADSs) is full of promise. However, in order to fulfil these promises, ADSs need to be safe in all circumstances. This paper introduces ISS-Scenario, an autonomous driving testing…

We study the problem of synthetic generation of samples of environmental features for autonomous vehicle navigation. These features are described by a spatiotemporally varying scalar field that we refer to as a threat field. The threat…

Contemporary research in autonomous driving has demonstrated tremendous potential in emulating the traits of human driving. However, they primarily cater to areas with well built road infrastructure and appropriate traffic management…

Designing diverse and safety-critical driving scenarios is essential for evaluating autonomous driving systems. In this paper, we propose a novel framework that leverages Large Language Models (LLMs) for few-shot code generation to…

Deep vision models are now mature enough to be integrated in industrial and possibly critical applications such as autonomous navigation. Yet, data collection and labeling to train such models requires too much efforts and costs for a…

Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…