相关论文: Generating Traffic Scenarios via In-Context Learni…

Evaluating and improving planning for autonomous vehicles requires scalable generation of long-tail traffic scenarios. To be useful, these scenarios must be realistic and challenging, but not impossible to drive through safely. In this…

The automated generation of diverse and complex training scenarios has been an important ingredient in many complex learning tasks. Especially in real-world application domains, such as autonomous driving, auto-curriculum generation is…

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…

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…

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…

Machine learning based autonomous driving systems often face challenges with safety-critical scenarios that are rare in real-world data, hindering their large-scale deployment. While increasing real-world training data coverage could…

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…

Realistic and interactive traffic simulation is essential for training and evaluating autonomous driving systems. However, most existing data-driven simulation methods rely on static initialization or log-replay data, limiting their ability…

Developing reliable autonomous driving algorithms poses challenges in testing, particularly when it comes to safety-critical traffic scenarios involving pedestrians. An open question is how to simulate rare events, not necessarily found in…

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…

ML-based motion planning is a promising approach to produce agents that exhibit complex behaviors, and automatically adapt to novel environments. In the context of autonomous driving, it is common to treat all available training data…

Autonomous driving promises safer roads, reduced congestion, and improved mobility, yet validating these systems across diverse conditions remains a major challenge. Real-world testing is expensive, time-consuming, and sometimes unsafe,…

Autonomous vehicle (AV) planners must undergo rigorous evaluation before widespread deployment on public roads, particularly to assess their robustness against the uncertainty of human behaviors. While recent advancements in data-driven…

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…

We present ChatScene, a Large Language Model (LLM)-based agent that leverages the capabilities of LLMs to generate safety-critical scenarios for autonomous vehicles. Given unstructured language instructions, the agent first generates…

Safely interacting with humans is a significant challenge for autonomous driving. The performance of this interaction depends on machine learning-based modules of an autopilot, such as perception, behavior prediction, and planning. These…

Scenario-based testing is becoming increasingly important in safety assurance for automated driving. However, comprehensive and sufficiently complete coverage of the scenario space requires significant effort and resources if using only…

We propose a new scheme to learn motion planning constraints from human driving trajectories. Behavioral and motion planning are the key components in an autonomous driving system. The behavioral planning is responsible for high-level…

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…

For autonomous vehicles, safe navigation in complex environments depends on handling a broad range of diverse and rare driving scenarios. Simulation- and scenario-based testing have emerged as key approaches to development and validation of…