KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients

28 April 2022

Niklas Hanselmann

Katrin Renz

Kashyap Chitta

Apratim Bhattacharyya

Andreas Geiger

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Papers citing "KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients"

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RADE: Learning Risk-Adjustable Driving Environment via Multi-Agent Conditional Diffusion Jiawei Wang Xintao Yan Yao Mu Haowei Sun Zhong Cao Henry X. Liu 131 0 0 06 May 2025
RIFT: Closed-Loop RL Fine-Tuning for Realistic and Controllable Traffic Simulation Keyu Chen Wenchao Sun Hao Cheng Sifa Zheng 45 0 0 06 May 2025
Safety-Critical Traffic Simulation with Guided Latent Diffusion Model Mingxing Peng Ruoyu Yao Xusen Guo Yuting Xie Xianda Chen Jun Ma 26 0 0 01 May 2025
CaRL: Learning Scalable Planning Policies with Simple Rewards Bernhard Jaeger D. Dauner Jens Beißwenger Simon Gerstenecker Kashyap Chitta Andreas Geiger 54 0 0 24 Apr 2025
My Precious Crash Data: Barriers and Opportunities in Encouraging Autonomous Driving Companies to Share Safety-Critical Data Hauke Sandhaus Angel Hsing-Chi Hwang Wendy Ju Qian Yang 22 1 0 10 Apr 2025
CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving Junrui Zhang Chenjie Wang Jie Peng Haoyu Li Jianmin Ji Yu Zhang Y. Zhang 38 0 0 09 Apr 2025
Towards Benchmarking and Assessing the Safety and Robustness of Autonomous Driving on Safety-critical Scenarios Jingzheng Li X. Liu Shikui Wei Zhijun Chen B. Li Qing-Wu Guo Xianqi Yang Yanjun Pu Jiakai Wang AAML ELM 71 0 0 31 Mar 2025
Unraveling the Effects of Synthetic Data on End-to-End Autonomous Driving Junhao Ge Zuhong Liu Longteng Fan Yifan Jiang Jiaqi Su Yiming Li Zhejun Zhang S. Chen SyDa 77 0 0 23 Mar 2025
HazardNet: A Small-Scale Vision Language Model for Real-Time Traffic Safety Detection at Edge Devices M. Tami Mohammed Elhenawy Huthaifa I. Ashqar 38 0 0 27 Feb 2025
Direct Preference Optimization-Enhanced Multi-Guided Diffusion Model for Traffic Scenario Generation Seungjun Yu Kisung Kim Daejung Kim Haewook Han Jinhan Lee 59 0 0 14 Feb 2025
DriveLM: Driving with Graph Visual Question Answering Chonghao Sima Katrin Renz Kashyap Chitta L. Chen Hanxue Zhang Chengen Xie Jens Beißwenger Ping Luo Andreas Geiger Hongyang Li 96 162 0 17 Jan 2025
SafeAug: Safety-Critical Driving Data Augmentation from Naturalistic Datasets Zhaobin Mo Yunlong Li Xuan Di 33 0 0 03 Jan 2025
EMPERROR: A Flexible Generative Perception Error Model for Probing Self-Driving Planners Niklas Hanselmann Simon Doll Marius Cordts Hendrik P. A. Lensch Andreas Geiger 41 0 0 12 Nov 2024
AdvDiffuser: Generating Adversarial Safety-Critical Driving Scenarios via Guided Diffusion Yuting Xie Xianda Guo Cong Wang Kunhua Liu Long Chen AAML 46 4 0 11 Oct 2024
Learning to Drive via Asymmetric Self-Play Chris Zhang Sourav Biswas Kelvin Wong Kion Fallah Lunjun Zhang Dian Chen Sergio Casas R. Urtasun 44 0 0 26 Sep 2024
Robust Bird's Eye View Segmentation by Adapting DINOv2 Merve Rabia Barın Görkay Aydemir Fatma Guney 22 1 0 16 Sep 2024
SEAL: Towards Safe Autonomous Driving via Skill-Enabled Adversary Learning for Closed-Loop Scenario Generation Benjamin Stoler Ingrid Navarro Jonathan M Francis Jean Oh AAML 60 4 0 16 Sep 2024
ReGentS: Real-World Safety-Critical Driving Scenario Generation Made Stable Yuan Yin Pegah Khayatan Éloi Zablocki Alexandre Boulch Matthieu Cord 42 2 0 12 Sep 2024
Improving Thompson Sampling via Information Relaxation for Budgeted Multi-armed Bandits Woojin Jeong Seungki Min 55 0 0 28 Aug 2024
Adversarial Safety-Critical Scenario Generation using Naturalistic Human Driving Priors Kunkun Hao Yonggang Luo Wen Cui Yuqiao Bai Jucheng Yang Songyang Yan Yuxi Pan Zijiang Yang AAML 28 17 0 06 Aug 2024
CarFormer: Self-Driving with Learned Object-Centric Representations Shadi S. Hamdan Fatma Guney 3DPC OCL 40 2 0 22 Jul 2024
Dance of the ADS: Orchestrating Failures through Historically-Informed Scenario Fuzzing Tong Wang Taotao Gu Huan Deng Hu Li Xiaohui Kuang Gang Zhao 37 3 0 05 Jul 2024
AD-H: Autonomous Driving with Hierarchical Agents Zaibin Zhang Shiyu Tang Yuanhang Zhang Talas Fu Yifan Wang Yang Liu Dong Wang Jing Shao Lijun Wang H. Lu 44 3 0 05 Jun 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 39 2 0 05 Jun 2024
ARCH2S: Dataset, Benchmark and Challenges for Learning Exterior Architectural Structures from Point Clouds Ka Lung Cheung Chi Chung Lee 3DV 3DPC 23 0 0 03 Jun 2024
AnoVox: A Benchmark for Multimodal Anomaly Detection in Autonomous Driving Daniel Bogdoll Iramm Hamdard Lukas Namgyu Rößler Felix Geisler Muhammed Bayram ... Miguel de Campos Anushervon Tabarov Yitian Yang Hanno Gottschalk J. Marius Zöllner 36 5 0 13 May 2024
A Review of Reward Functions for Reinforcement Learning in the context of Autonomous Driving Ahmed Abouelazm Jonas Michel J. M. Zöllner 38 6 0 12 Apr 2024
Can Vehicle Motion Planning Generalize to Realistic Long-tail Scenarios? Marcel Hallgarten Julian Zapata Martin Stoll Katrin Renz Andreas Zell 38 10 0 11 Apr 2024
RADIUM: Predicting and Repairing End-to-End Robot Failures using Gradient-Accelerated Sampling Charles Dawson Anjali Parashar Chuchu Fan 48 0 0 04 Apr 2024
SLEDGE: Synthesizing Driving Environments with Generative Models and Rule-Based Traffic Kashyap Chitta D. Dauner Andreas Geiger 3DGS 43 5 0 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 37 4 0 19 Mar 2024
Generalized Predictive Model for Autonomous Driving Jiazhi Yang Shenyuan Gao Yihang Qiu Li Chen Tianyu Li ... Ping Luo Jun Zhang Andreas Geiger Yu Qiao Hongyang Li VGen 73 57 0 14 Mar 2024
Delving into Multi-modal Multi-task Foundation Models for Road Scene Understanding: From Learning Paradigm Perspectives Sheng Luo Wei-Neng Chen Wanxin Tian Rui Liu Luanxuan Hou ... Ling Shao Yi Yang Bojun Gao Qun Li Guobin Wu 51 13 0 05 Feb 2024
Hybrid-Prediction Integrated Planning for Autonomous Driving Haochen Liu Zhiyu Huang Wenhui Huang Haohan Yang Xiaoyu Mo Chen Lv 28 5 0 04 Feb 2024
A Parameter Privacy-Preserving Strategy for Mixed-Autonomy Platoon Control Jingyuan Zhou Kaidi Yang 27 5 0 28 Jan 2024
SAFE-SIM: Safety-Critical Closed-Loop Traffic Simulation with Controllable Adversaries Wei-Jer Chang Francesco Pittaluga Masayoshi Tomizuka Wei Zhan Manmohan Chandraker 21 7 0 31 Dec 2023
RealGen: Retrieval Augmented Generation for Controllable Traffic Scenarios Wenhao Ding Yulong Cao Ding Zhao Chaowei Xiao Marco Pavone 19 22 0 19 Dec 2023
Action-slot: Visual Action-centric Representations for Multi-label Atomic Activity Recognition in Traffic Scenes Chi-Hsi Kung Shu-Wei Lu Yi-Hsuan Tsai Yi-Ting Chen 35 6 0 29 Nov 2023
Attacking Motion Planners Using Adversarial Perception Errors Jonathan Sadeghi Nicholas A. Lord John Redford Romain Mueller AAML 24 2 0 21 Nov 2023
Bridging Data-Driven and Knowledge-Driven Approaches for Safety-Critical Scenario Generation in Automated Vehicle Validation Kunkun Hao Lu Liu Wen Cui Jianxing Zhang Songyang Yan Yuxi Pan Zijiang Yang 9 2 0 18 Nov 2023
Scenario Diffusion: Controllable Driving Scenario Generation With Diffusion Ethan Pronovost Meghana Reddy Ganesina Noureldin Hendy Zeyu Wang Andres Morales Kai Wang Nicholas Roy 22 30 0 05 Nov 2023
Adv3D: Generating Safety-Critical 3D Objects through Closed-Loop Simulation Jay Sarva Jingkang Wang James Tu Yuwen Xiong S. Manivasagam R. Urtasun 57 8 0 02 Nov 2023
Learning Realistic Traffic Agents in Closed-loop Chris Zhang James Tu Lunjun Zhang Kelvin Wong Simon Suo R. Urtasun 31 18 0 02 Nov 2023
CAT: Closed-loop Adversarial Training for Safe End-to-End Driving Linrui Zhang Zhenghao Peng Quanyi Li Bolei Zhou AAML 36 26 0 19 Oct 2023
Generating Transferable Adversarial Simulation Scenarios for Self-Driving via Neural Rendering Yasasa Abeysirigoonawardena Kevin Xie Chuhan Chen Salar Hosseini Ruiting Chen Ruiqi Wang Florian Shkurti 29 2 0 27 Sep 2023
Stackelberg Driver Model for Continual Policy Improvement in Scenario-Based Closed-Loop Autonomous Driving Haoyi Niu Qimao Chen Yingyue Li Yi Zhang Jianming Hu 32 3 0 25 Sep 2023
Continual Driving Policy Optimization with Closed-Loop Individualized Curricula Haoyi Niu Yi Tian Xu Xingjian Jiang Jianming Hu 33 3 0 25 Sep 2023
Learning to Drive Anywhere Ruizhao Zhu Peng Huang Eshed Ohn-Bar Venkatesh Saligrama 42 6 0 21 Sep 2023
SafeShift: Safety-Informed Distribution Shifts for Robust Trajectory Prediction in Autonomous Driving Ben Stoler Ingrid Navarro Meghdeep Jana Soonmin Hwang Jonathan M Francis Jean Oh 16 8 0 16 Sep 2023
InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers Jiawei Fu Yanqing Shen Zhiqiang Jian Shi-tao Chen J. Xin Nanning Zheng ViT 32 4 0 07 Sep 2023