相关论文: Composing Driving Worlds through Disentangled Cont…

Microscopic traffic simulation has become an important tool for autonomous driving training and testing. Although recent data-driven approaches advance realistic behavior generation, their learning still relies primarily on a single…

Safety validation of autonomous driving systems is extremely challenging due to the high risks and costs of real-world testing as well as the rarity and diversity of potential failures. To address these challenges, we train a denoising…

Collaborative perception allows connected and autonomous vehicles (CAVs) to improve perception by sharing sensory data, but it also introduces security risks from manipulated inputs. Prior work shows that attackers can spoof or remove…

Deep reinforcement learning (DRL) has achieved remarkable progress in online path planning tasks for multi-UAV systems. However, existing DRL-based methods often suffer from performance degradation when tackling unseen scenarios, since the…

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…

Existing generative approaches for guided image synthesis of multi-object scenes typically rely on 2D controls in the image or text space. As a result, these methods struggle to maintain and respect consistent three-dimensional geometric…

Generating photorealistic driving videos has seen significant progress recently, but current methods largely focus on ordinary, non-adversarial scenarios. Meanwhile, efforts to generate adversarial driving scenarios often operate on…

Understanding the context of crash occurrence in complex driving environments is essential for improving traffic safety and advancing automated driving. Previous studies have used statistical models and deep learning to predict crashes…

Disentangled representations support a range of downstream tasks including causal reasoning, generative modeling, and fair machine learning. Unfortunately, disentanglement has been shown to be impossible without the incorporation of…

Generating high-fidelity and controllable synthetic data is critical for advancing end-to-end autonomous driving, particularly for addressing the long tail of rare safety-critical scenarios. Existing occupancy-guided methods typically rely…

Text-to-image diffusion generative models can generate high quality images at the cost of tedious prompt engineering. Controllability can be improved by introducing layout conditioning, however existing methods lack layout editing ability…

Constrained generative modeling is fundamental to applications such as robotic control and autonomous driving, where models must respect physical laws and safety-critical constraints. In real-world settings, these constraints rarely take…

This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…

Building on the success of diffusion models, significant advancements have been made in multimodal image generation tasks. Among these, human image generation has emerged as a promising technique, offering the potential to revolutionize the…

Generating safety-critical scenarios, which are essential yet difficult to collect at scale, offers an effective method to evaluate the robustness of autonomous vehicles (AVs). Existing methods focus on optimizing adversariality while…

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,…

An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…

Generating controllable indoor scenes is fundamental to applications in game development, architectural visualization, and embodied AI. However, existing approaches either support a limited input modalities or rely on implicit generation…

Ensuring the safety and reliability of Automated Driving Systems (ADS) remains a critical challenge, as traditional verification methods such as large-scale on-road testing are prohibitively costly and time-consuming.To address…

Generating realistic 3D indoor scenes from user inputs remains a challenging problem in computer vision and graphics, requiring careful balance of geometric consistency, spatial relationships, and visual realism. While neural generation…