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2101.06549
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AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehicles
Computer Vision and Pattern Recognition (CVPR), 2021
16 January 2021
Jingkang Wang
Ava Pun
James Tu
S. Manivasagam
Abbas Sadat
Sergio Casas
Mengye Ren
R. Urtasun
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Papers citing
"AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehicles"
50 / 109 papers shown
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International Conference on Learning Representations (ICLR), 2025
Phat Nguyen
Tsun-Hsuan Wang
Zhang-Wei Hong
Erfan Aasi
Andrew Silva
Guy Rosman
S. Karaman
Daniela Rus
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215
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06 Nov 2025
SynAD: Enhancing Real-World End-to-End Autonomous Driving Models through Synthetic Data Integration
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Jaeyoung Lee
Gyojin Han
Dongjae Lee
Minki Jeong
Junmo Kim
156
1
0
28 Oct 2025
Leveraging 2D Priors and SDF Guidance for Dynamic Urban Scene Rendering
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Jayaram Reddy
Akash Kumbar
Satyajit Tourani
Nishant Goyal
Madhava Krishna
N. Dinesh Reddy
M. H. Khan
3DGS
168
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15 Oct 2025
Controllable Collision Scenario Generation via Collision Pattern Prediction
Pin-Lun Chen
Chi-Hsi Kung
Che-Han Chang
Wei-Chen Chiu
Yi-Ting Chen
162
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0
14 Oct 2025
Scalable Offline Metrics for Autonomous Driving
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Adwait Kulkarni
Eshed Ohn-Bar
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265
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09 Oct 2025
Temporal Logic-Based Multi-Vehicle Backdoor Attacks against Offline RL Agents in End-to-end Autonomous Driving
Xuan Chen
Shiwei Feng
Zikang Xiong
Shengwei An
Yunshu Mao
Lu Yan
Guanhong Tao
Wenbo Guo
Xiangyu Zhang
AAML
264
2
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21 Sep 2025
SynthDrive: Scalable Real2Sim2Real Sensor Simulation Pipeline for High-Fidelity Asset Generation and Driving Data Synthesis
Zhengqing Chen
Ruohong Mei
Xiaoyang Guo
Qingjie Wang
Yubin Hu
Wei Yin
Weiqiang Ren
Qian Zhang
144
1
0
08 Sep 2025
Adversarial Generation and Collaborative Evolution of Safety-Critical Scenarios for Autonomous Vehicles
Jiangfan Liu
Yongkang Guo
Fangzhi Zhong
Tianyuan Zhang
Zonglei Jing
Yaning Tan
Jinyang Guo
Mingchuan Zhang
Aishan Liu
Xianglong Liu
AAML
234
2
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20 Aug 2025
Diverse and Adaptive Behavior Curriculum for Autonomous Driving: A Student-Teacher Framework with Multi-Agent RL
Ahmed Abouelazm
Johannes Ratz
Philip Schorner
J. M. Zöllner
274
0
0
25 Jul 2025
Long-term Traffic Simulation with Interleaved Autoregressive Motion and Scenario Generation
Xiuyu Yang
Shuhan Tan
Philipp Krahenbuhl
302
5
0
20 Jun 2025
CrashAgent: Crash Scenario Generation via Multi-modal Reasoning
Miao Li
Wenhao Ding
Haohong Lin
Yiqi Lyu
Yihang Yao
Yuyou Zhang
Ding Zhao
LLMAG
217
4
0
23 May 2025
Robust Planning for Autonomous Driving via Mixed Adversarial Diffusion Predictions
IEEE International Conference on Robotics and Automation (ICRA), 2025
Albert Zhao
Stefano Soatto
DiffM
486
0
0
18 May 2025
LD-Scene: LLM-Guided Diffusion for Controllable Generation of Adversarial Safety-Critical Driving Scenarios
Mingxing Peng
Yuting Xie
Xusen Guo
Ruoyu Yao
Hai Yang
Jun Ma
436
10
0
16 May 2025
Automatic Curriculum Learning for Driving Scenarios: Towards Robust and Efficient Reinforcement Learning
Ahmed Abouelazm
Tim Weinstein
Tim Joseph
Philip Schorner
J. M. Zöllner
437
1
0
13 May 2025
Realistic Adversarial Attacks for Robustness Evaluation of Trajectory Prediction Models via Future State Perturbation
J. Schumann
Jeroen Hagenus
Frederik Baymler Mathiesen
Arkady Zgonnikov
AAML
403
2
0
09 May 2025
Seeking to Collide: Online Safety-Critical Scenario Generation for Autonomous Driving with Retrieval Augmented Large Language Models
Yuewen Mei
Tong Nie
Jian Sun
Ye Tian
454
7
0
02 May 2025
Safety-Critical Traffic Simulation with Guided Latent Diffusion Model
Mingxing Peng
Ruoyu Yao
Xusen Guo
Yuting Xie
Xianda Chen
Jun Ma
471
3
0
01 May 2025
Testing the Fault-Tolerance of Multi-Sensor Fusion Perception in Autonomous Driving Systems
Haoxiang Tian
Wenqiang Ding
Xingshuo Han
Guoquan Wu
An Guo
Junqi Zhang. Wei Chen
Jun Wei
Tianwei Zhang
AAML
325
4
0
18 Apr 2025
My Precious Crash Data: Barriers and Opportunities in Encouraging Autonomous Driving Companies to Share Safety-Critical Data
Proceedings of the ACM on Human-Computer Interaction (PACMHCI), 2025
Hauke Sandhaus
Angel Hsing-Chi Hwang
Wendy Ju
Qian Yang
237
1
0
10 Apr 2025
Towards Benchmarking and Assessing the Safety and Robustness of Autonomous Driving on Safety-critical Scenarios
Jingzheng Li
Xianglong Liu
Shikui Wei
Zhijun Chen
Yangqiu Song
Qing Guo
Xianqi Yang
Yanjun Pu
Jinyang Guo
AAML
ELM
547
2
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31 Mar 2025
AccidentSim: Generating Vehicle Collision Videos with Physically Realistic Collision Trajectories from Real-World Accident Reports
Xinsong Zhang
Qian Zhang
Longfei Han
Qiang Qu
Xiaoming Chen
Weidong Cai
VGen
435
1
0
26 Mar 2025
Safety-Critical Traffic Simulation with Adversarial Transfer of Driving Intentions
IEEE International Conference on Robotics and Automation (ICRA), 2025
Zherui Huang
Xing Gao
Guanjie Zheng
Licheng Wen
Xuemeng Yang
Xingwu Sun
AAML
401
2
0
07 Mar 2025
DriveGen: Towards Infinite Diverse Traffic Scenarios with Large Models
Shenyu Zhang
Jiaguo Tian
Zhengbang Zhu
Shan Huang
Jucheng Yang
Weinan Zhang
252
9
0
04 Mar 2025
Navigating the Edge with the State-of-the-Art Insights into Corner Case Identification and Generation for Enhanced Autonomous Vehicle Safety
Gabriel Kenji Godoy Shimanuki
Alexandre Moreira Nascimento
Lucio Flavio Vismari
Joao Batista Camargo Junior
Jorge Rady de Almeida Junior
Paulo Sergio Cugnasca
280
2
0
27 Feb 2025
Unveiling Security Weaknesses in Autonomous Driving Systems: An In-Depth Empirical Study
Information and Software Technology (IST), 2025
Wenyuan Cheng
Hui Yuan
Peng Liang
Ran Mo
Hui Liu
AAML
332
1
0
27 Feb 2025
DriveLM: Driving with Graph Visual Question Answering
European Conference on Computer Vision (ECCV), 2023
Chonghao Sima
Katrin Renz
Kashyap Chitta
Lawrence Yunliang Chen
Hanxue Zhang
Chengen Xie
Jens Beißwenger
Ping Luo
Andreas Geiger
Hongyang Li
975
439
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17 Jan 2025
SafeAug: Safety-Critical Driving Data Augmentation from Naturalistic Datasets
Chengbo Zang
Yunlong Li
Xuan Di
346
2
0
03 Jan 2025
Black Swan: Abductive and Defeasible Video Reasoning in Unpredictable Events
Computer Vision and Pattern Recognition (CVPR), 2024
Aditya Chinchure
Sahithya Ravi
R. Ng
Vered Shwartz
Boyang Albert Li
Leonid Sigal
ReLM
LRM
VLM
525
10
0
07 Dec 2024
Generating Out-Of-Distribution Scenarios Using Language Models
IEEE International Conference on Robotics and Automation (ICRA), 2024
Erfan Aasi
Phat Nguyen
Shiva Sreeram
Guy Rosman
S. Karaman
Daniela Rus
OODD
429
10
0
25 Nov 2024
EMPERROR: A Flexible Generative Perception Error Model for Probing Self-Driving Planners
IEEE Robotics and Automation Letters (RA-L), 2024
Niklas Hanselmann
Simon Doll
Marius Cordts
Hendrik P. A. Lensch
Andreas Geiger
612
2
0
12 Nov 2024
AdvDiffuser: Generating Adversarial Safety-Critical Driving Scenarios via Guided Diffusion
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Yuting Xie
Xianda Guo
Cong Wang
Kunhua Liu
Long Chen
AAML
263
21
0
11 Oct 2024
G3R: Gradient Guided Generalizable Reconstruction
European Conference on Computer Vision (ECCV), 2024
Yun Chen
Jingkang Wang
Ze Yang
S. Manivasagam
R. Urtasun
368
27
0
28 Sep 2024
Learning to Drive via Asymmetric Self-Play
European Conference on Computer Vision (ECCV), 2024
Chris Zhang
Sourav Biswas
Kelvin Wong
Kion Fallah
Lunjun Zhang
Dian Chen
Sergio Casas
R. Urtasun
208
8
0
26 Sep 2024
Realistic Extreme Behavior Generation for Improved AV Testing
IEEE International Conference on Robotics and Automation (ICRA), 2024
Robert Dyro
Matthew Foutter
Ruolin Li
L. D. Lillo
Edward Schmerling
Xilin Zhou
Marco Pavone
AAML
355
3
0
16 Sep 2024
SEAL: Towards Safe Autonomous Driving via Skill-Enabled Adversary Learning for Closed-Loop Scenario Generation
IEEE Robotics and Automation Letters (RA-L), 2024
Benjamin Stoler
Ingrid Navarro
Jonathan M Francis
Jean Oh
AAML
481
10
0
16 Sep 2024
Traffic Scene Generation from Natural Language Description for Autonomous Vehicles with Large Language Model
Bo-Kai Ruan
Hao-Tang Tsui
Yung-Hui Li
Hong-Han Shuai
LM&Ro
538
18
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15 Sep 2024
ReGentS: Real-World Safety-Critical Driving Scenario Generation Made Stable
Yuan Yin
Pegah Khayatan
Éloi Zablocki
Alexandre Boulch
Matthieu Cord
304
6
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12 Sep 2024
Multimodal Large Language Model Driven Scenario Testing for Autonomous Vehicles
Qiujing Lu
Xuanhan Wang
Yiwei Jiang
Guangming Zhao
Mingyue Ma
Shuo Feng
363
27
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10 Sep 2024
Improving Thompson Sampling via Information Relaxation for Budgeted Multi-armed Bandits
Woojin Jeong
Seungki Min
249
1
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28 Aug 2024
Adversarial Safety-Critical Scenario Generation using Naturalistic Human Driving Priors
IEEE Transactions on Intelligent Vehicles (TIV), 2024
Kunkun Hao
Yonggang Luo
Wen Cui
Yuqiao Bai
Jucheng Yang
Songyang Yan
Yuxi Pan
Zijiang Yang
AAML
568
40
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06 Aug 2024
FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality
Keyu Chen
Yuheng Lei
Hao Cheng
Haoran Wu
Wenchao Sun
Sifa Zheng
AAML
383
11
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05 Jun 2024
ChatScene: Knowledge-Enabled Safety-Critical Scenario Generation for Autonomous Vehicles
Computer Vision and Pattern Recognition (CVPR), 2024
Jiawei Zhang
Chejian Xu
Yue Liu
314
122
0
22 May 2024
Can Vehicle Motion Planning Generalize to Realistic Long-tail Scenarios?
Marcel Hallgarten
Julian Zapata
Martin Stoll
Katrin Renz
Andreas Zell
342
32
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11 Apr 2024
RADIUM: Predicting and Repairing End-to-End Robot Failures using Gradient-Accelerated Sampling
IEEE Transactions on robotics (IEEE Trans. Robot.), 2024
Charles Dawson
Anjali Parashar
Chuchu Fan
174
0
0
04 Apr 2024
CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learning
Luke Rowe
Roger Girgis
Anthony Gosselin
Bruno Carrez
Florian Golemo
Felix Heide
Liam Paull
Christopher Pal
450
18
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29 Mar 2024
GENESIS-RL: GEnerating Natural Edge-cases with Systematic Integration of Safety considerations and Reinforcement Learning
Hsin-Jung Yang
Joe Beck
Md Zahid Hasan
Ekin Beyazit
Subhadeep Chakraborty
Tichakorn Wongpiromsarn
Soumik Sarkar
210
2
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27 Mar 2024
SLEDGE: Synthesizing Driving Environments with Generative Models and Rule-Based Traffic
Kashyap Chitta
D. Dauner
Andreas Geiger
3DGS
417
25
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26 Mar 2024
CaDRE: Controllable and Diverse Generation of Safety-Critical Driving Scenarios using Real-World Trajectories
Peide Huang
Wenhao Ding
Jonathan M Francis
Bingqing Chen
Ding Zhao
315
10
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19 Mar 2024
Adaptive Testing Environment Generation for Connected and Automated Vehicles with Dense Reinforcement Learning
Jingxuan Yang
Ruoxuan Bai
Haoyuan Ji
Yi Zhang
Jianming Hu
Shuo Feng
265
8
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29 Feb 2024
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