相关论文: ReGentS: Real-World Safety-Critical Driving Scenar…

Simulation plays a crucial role in the development of autonomous vehicles (AVs) due to the potential risks associated with real-world testing. Although significant progress has been made in the visual aspects of simulators, generating…

Autonomous driving systems have witnessed a significant development during the past years thanks to the advance in machine learning-enabled sensing and decision-making algorithms. One critical challenge for their massive deployment in the…

Long-tail and rare event problems become crucial when autonomous driving algorithms are applied in the real world. For the purpose of evaluating systems in challenging settings, we propose a generative framework to create safety-critical…

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…

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.…

Diverse and realistic traffic scenarios are crucial for evaluating the AI safety of autonomous driving systems in simulation. This work introduces a data-driven method called TrafficGen for traffic scenario generation. It learns from the…

Accurate trajectory prediction is fundamental to autonomous driving, as it underpins safe motion planning and collision avoidance in complex environments. However, existing benchmark datasets suffer from a pronounced long-tail distribution…

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…

We consider the problem of generating realistic traffic scenes automatically. Existing methods typically insert actors into the scene according to a set of hand-crafted heuristics and are limited in their ability to model the true…

Realistic and diverse traffic scenarios in large quantities are crucial for the development and validation of autonomous driving systems. However, owing to numerous difficulties in the data collection process and the reliance on intensive…

Motion planning is a crucial component in autonomous driving. State-of-the-art motion planners are trained on meticulously curated datasets, which are not only expensive to annotate but also insufficient in capturing rarely seen critical…

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…

The rapid advancement of autonomous driving (AD) technologies has outpaced the development of robust safety evaluation methods. Conventional testing relies on exposing AD systems to vast numbers of real-world traffic scenes -- a brute-force…

In order to find the most likely failure scenarios which may occur under certain given operation domain, critical-scenario-based test is supposed as an effective and widely used method, which gives suggestions for designers to improve the…

Existing neural network-based autonomous systems are shown to be vulnerable against adversarial attacks, therefore sophisticated evaluation on their robustness is of great importance. However, evaluating the robustness only under the…

We propose a unified deep learning framework for the generation and analysis of driving scenario trajectories, and validate its effectiveness in a principled way. To model and generate scenarios of trajectories with different lengths, we…

Extracting interesting scenarios from real-world data as well as generating failure cases is important for the development and testing of autonomous systems. We propose efficient mechanisms to both characterize and generate testing…

Simulation plays a key role in scaling robot learning and validating policies, but constructing simulations remains a labor-intensive process. This paper introduces ReGen, a generative simulation framework that automates simulation design…

Video generation models have shown strong potential as world models for autonomous driving simulation. However, existing approaches are primarily trained on real-world driving datasets, which mostly contain natural and safe driving…

The generation of realistic and diverse traffic scenarios in simulation is essential for developing and evaluating autonomous driving systems. However, most simulation frameworks rely on rule-based or simplified models for scene generation,…