Autonomous Driving

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Autonomous Driving

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Driving

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Autonomous Driving Simulation

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Drives

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Waymo Open Motion Dataset

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Driving Scene

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906 papers

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Sensor2Sensor: Cross-Embodiment Sensor Conversion for Autonomous Driving
May 21, 2026Jiahao Wang, Bo Sun, Yijing Bai +12Naturalistic Driving Data Autonomous Driving
N3P: Accelerated Automated Parking via a Learning-Based Naturalistic Three-Stage Scheme
May 21, 2026Yifan Xue, Toktam Mohammadnejad, Faizan M Tariq +5Autonomous Driving Collision Avoidance
Learning to See Like Humans: Gaze-Aligned Cycling Safety Prediction
May 21, 2026Luís Maria Perdigão, Miguel Costa, Carlos Santiago +1Bivariate Bicycle Codes Gaze Target Estimation
Branch-Stochastic Model Predictive Control for Motion Planning under Multi-Modal Uncertainty with Scenario Clustering
May 21, 2026Zekun Xing, Ramkrishna Chaudhari, Marion Leibold +2Model Predictive Control Motion Planners
Beyond Chamfer Distance: Granular Order-aware Evaluation Metric For Online Mapping
May 21, 2026Chouaib Bencheikh Lehocine, Adam Lilja, Junsheng Fu +1Lane-Level Map Generation Geometry-Aware
MOTOR: A Multimodal Dataset for Two-Wheeler Rider Behavior Understanding
May 21, 2026Varun A. Paturkar, Shankar Gangisetty, C. V. JawaharNaturalistic Driving Data Driving
LACO: Adaptive Latent Communication for Collaborative Driving
May 21, 2026Tianhao Chen, Yuheng Wu, Dongman LeeAutonomous Driving Collaborative Perception
Steins;Gate Drive: Semantic Safety Arbitration over Structured Futures for Latency-Decoupled LLM Planning
May 21, 2026Anjie Qiu, Hans D. SchottenLarge Language Model Planning Classical Planning
Diffusion-guided Generalizable Enhancer for Urban Scene Reconstruction
May 21, 2026Henry Che, Jingkang Wang, Yun Chen +3Dynamic Scene Reconstruction Multi-View Diffusion Model
Learning A Unified Risk Map for Autonomous Driving in Partially Observable Environments
May 21, 2026Jie Jia, Yaofeng Su, Zeyu Bao +4Autonomous Driving Diverse Occlusion-And-Revelation Scenarios
Adversarial Trust Poisoning in Vehicular Collaborative Perception
May 21, 2026Yutong Liu, Chenyi Wang, Ming F. Li +1Collaborative Perception Model-Agnostic Defense
LVDrive: Latent Visual Representation Enhanced Vision-Language-Action Autonomous Driving Model
May 21, 2026Xiaodong Mei, Diankun Zhang, Hongwei Xie +3Efficient Vision-Language-Action Models Autonomous Driving
FRED: A Multi-Modal Autonomous Driving Dataset for Flooded Road Environments
May 21, 2026Connor Malone, Sebastien Demmel, Sebastien GlaserNaturalistic Driving Data Autonomous Driving
Improving 3D Labeling in Self-Driving by Inferring Vehicle Information using Vision Language Models
May 20, 2026Steven Chen, Shivesh Khaitan, Nemanja DjuricZero-Shot Inference Autonomous Driving
Lost in Fog: Sensor Perturbations Expose Reasoning Fragility in Driving VLAs
May 20, 2026Abhinaw Priyadershi, Jelena FrtunikjDriving Vision-Language-Action Models
Invascal: Inverse-Vacuity Self-Calibration for Uncertainty-Aware LiDAR Range-View Semantic Segmentation
May 20, 2026Kerim Turacan, Hannes Reichert, Andrei Bolandut +1Lidar Light Detection And Ranging
Closed Loop Dynamic Driving Data Mixture for Real-Synthetic Co-Training
May 20, 2026Hongzhi Ruan, Pei Liu, Weiliang Ma +5Naturalistic Driving Data Iterative Co-Training
DriveMA: Rethinking Language Interfaces in Driving VLAs with One-Step Meta-Actions
May 20, 2026Weicheng Zheng, Yixin Huang, Qiao Sun +2Drives Vision-Language-Action Models
ScenePilot: Controllable Boundary-Driven Critical Scenario Generation for Autonomous Driving
May 20, 2026Qiyu Ruan, Yuxuan Wang, He Li +2Autonomous Driving Simulation Autonomous Driving
Distill to Think, Foresee to Act: Cognitive-Physical Reinforcement Learning for Autonomous Driving
May 20, 2026Yang Wu, Qiang Meng, Zhaojiang Liu +3Autonomous Driving Efficient Vision-Language-Action Models
Anomaly-Informed Confidence Calibration for Vision-Based Safety Prediction
May 20, 2026Zhenjiang Mao, Jiawen Wu, Gabriel Wagner +2Capture-Aware Prototype Calibration Autonomous Driving Perception
LoCar: Localization-Aware Evaluation of In-Vehicle Assistants through Fine-Grained Sociolinguistic Control
May 20, 2026Seogyeong Jeong, Kiwoong Park, Seyoung Song +4Korean Autonomous Driving
Grounding Driving VLA via Inverse Kinematics
May 20, 2026Junsung Park, Hyunjung ShimTrajectory Prediction Vision-Language-Action Models
Towards Physically Consistent 4D Scene Reconstruction for Closed-loop Autonomous Driving Simulation
May 20, 2026Bowyn Tan, Yutong Xie, Bai Huang +5Autonomous Driving Simulation Dynamic Scene Reconstruction
LiteViLNet: Lightweight Vision-LiDAR Fusion Network for Efficient Road Segmentation
May 20, 2026Daojie Peng, Bingtao Wang, Fulong Ma +2Dense Semantic Segmentation Lidar
SubTGraph: Large-Scale Subterranean Environment Synthesis with Controllable Topological Variability for Robotic Autonomy Validation
May 20, 2026F. Labra Caso, A. Saradagi, S. Fredriksson +3Robotics Minute-Long Consistent World Generation
A Semantic and Occlusion-Aware GM-PHD Filter
May 20, 2026Jovan Menezes, Mark CampbellParticle Filters Multi-Object Tracking
STELLAR: Scaling 3D Perception Large Models for Autonomous Driving
May 19, 2026Yingwei Li, Xin Huang, Yang Liu +13Autonomous Driving Perception Autonomous Driving
VL-DPO: Vision-Language-Guided Finetuning for Preference-Aligned Autonomous Driving
May 19, 2026Zhefan Xu, Ghassen Jerfel, Marina Haliem +3Naturalistic Driving Data Driving
Trajectory Planning and Control near the Limits: an Open Experimental Benchmark on the RoboRacer Platform
May 19, 2026Mattia Piccinini, Patrick Zambiasi, Aniello Mungiello +3Autonomous Racing Dynamic Replanning
CADENet: Condition-Adaptive Asynchronous Dual-Stream Enhancement Network for Adverse Weather Perception in Autonomous Driving
May 19, 2026Sherif Khairy, Catherine M. EliasAutonomous Driving Yolo26
From Prompts to Pavement Through Time: Temporal Grounding in Agentic Scene-to-Plan Reasoning
May 19, 2026Ahmed Y. Gado, Omar Y. Goba, Alaa Hassanein +2Temporal Grounding Agentic Reasoning
Beyond Imitation: Learning Safe End-to-End Autonomous Driving from Hard Negatives
May 19, 2026Junli Wang, Zhihua Hua, Xueyi Liu +7Autonomous Driving Imitation Learning
Real-World On-Vehicle Evaluation of Embedding-Based Anomaly Detection
May 19, 2026Albert Schotschneider, Daniel Bogdoll, Svetlana Pavlitska +2Robust Vehicle Recognition Autonomous Driving
HEAT: Heterogeneous End-to-End Autonomous Driving via Trajectory-Guided World Models
May 19, 2026Hoonhee Cho, Giwon Lee, Jae-Young Kang +3Autonomous Driving Waymo Open Motion Dataset
SafeAlign-VLA: A Negative-Enhanced Safe Alignment Framework for Risk-Aware Autonomous Driving
May 19, 2026Kefei Tian, Yuansheng Lian, Kai Yang +2Autonomous Driving Safety Alignment
Closed-Loop Hybrid Digital Twin Platform for Connected and Automated Vehicle Validation
May 19, 2026Kanglong Quan, Zhebing Xia, Linfeng Jiang +4Digital Twin Framework Cognitive Digital Twins
Reason--Imagine--Act: Closed-Loop LLM Decision Making with World Models for Autonomous Driving
May 19, 2026Zhengqi Sun, Yiwen Sun, Boxuan Liu +3Autonomous Driving Large Language Model Decision-Making
Differentiable Model Predictive Safety for Heterogeneous Mobility at Urban Intersections
May 19, 2026Wenzhe Song, Hao ZhangAutonomous Driving Microscopic Traffic Simulations
Guiding Neuro-Symbolic Scenario Generation with Spatio-Temporal Logic
May 18, 2026Lorenzo Bonin, Francesco Giacomarra, Luca Bortolussi +2Scenario Generation Autonomous Driving
RLFTSim: Realistic and Controllable Multi-Agent Traffic Simulation via Reinforcement Learning Fine-Tuning
May 18, 2026Ehsan Ahmadi, Hunter Schofield, Behzad Khamidehi +5Microscopic Traffic Simulations Waymo Open Motion Dataset
Reinterpreting Safety Thresholds as Neuron Spiking Thresholds
May 18, 2026Enrico Del Re, Mohamed Sabry, Cristina Olaverri-MonrealSpiking Neural Networks Autonomous Driving
Multi-Agent Reinforcement Learning for Safe Autonomous Driving Under Pedestrian Behavioral Uncertainty
May 18, 2026Prakash Aryan, Kaushik Raghupathruni, Timo Kehrer +1Pedestrian Autonomous Driving
Xiaomi Auto World Model: A Joint World Model Integrating Reconstruction and Generation for Autonomous Driving
May 18, 2026Lijun Zhou, Hongcheng Luo, Zhenxin Zhu +34Autonomous Driving Feed-Forward 3D Gaussian Reconstruction
4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving
May 18, 2026Kane Qian, Xin Zhao, Yining Shi +7Lidar Autonomous Driving
KVDrive: A Holistic Multi-Tier KV Cache Management System for Long-Context LLM Inference
May 18, 2026Jian Lin, Jiazhi Mi, Zicong Hong +5Key-Value Cache Efficient Long-Context Inference
Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations
May 18, 2026Zhiyuan Zhang, Zhenghao Jin, Yanlun Peng +8Autonomous Driving Simulation Autonomous Driving
Scenario Generation in Roundabouts with Adjustable Interaction Intensity
May 18, 2026Li Li, Till Temmen, Tobias Brinkmann +3Scenario Generation Safety-Critical Scenarios
L-Drive: Beyond a Single Mapping-Latent Context Drives Time Series Forecasting
May 18, 2026Fan Zhang, Shijun Chen, Hua WangLlm-Based Forecasting Methods Multivariate Forecasting
GEM: Gaussian Evolution Model for Occupancy Forecasting and Motion Planning
May 17, 2026Cheng Chen, Hao Huang, Saurabh Bagchi3D Semantic Occupancy Prediction Occupancy
Empowering Embodied AI in 6G Networks: Architecture, Enablers, and Open Challenges
May 17, 2026Junaid Sajid, Sheikh Salman Hassan, Wenshuai Liu +7Intelligence Embodied
KG-ASG: Collision-Knowledge-Guided Closed-Loop Adversarial Scenario Generation With Primary-Support Attribution
May 17, 2026Cheng Wang, Chen Xiong, Ziwen Wang +2Autonomous Driving Safety-Critical Scenarios
CLAP: Contrastive Latent-space Prompt Optimization for End-to-end Autonomous Driving
May 17, 2026Ruiyang Zhu, Yuehan He, Boyuan Zheng +4Autonomous Driving Efficient Vision-Language-Action Models
Is VLA Reasoning Faithful? Probing Safety of Chain-of-Causation in Autonomous Driving Models
May 17, 2026Nicanor Mayumu, Xiaoheng Deng, Patrick MukalaAutonomous Driving Vision-Language-Action Models
Generating Realistic Safety-Critical Scenarios for Vehicle-Pedestrian Interactions
May 17, 2026Qingwen Pu, Kun Xie, Yuan Zhu +1Autonomous Driving Simulation Autonomous Driving
P2GS: Physical Prior-guided Gaussian Splatting for Photometrically Consistent Urban Reconstruction
May 16, 2026Kota Shimomura, Hidehisa Arai, Tsubasa Takahashi +23D Gaussian Splats Gaussian Splatting
Motion Cues from Image-based Point Tracking for LiDAR Scene Flow Estimation
May 16, 2026Youngdong Jang, Gyeongrok Oh, Jong Wook Kim +6Optical Flow Multi-Object Tracking
Beyond Safety Filtering: Control Barrier Function-Informed Reinforcement Learning for Connected and Automated Vehicles
May 16, 2026Jianye Xu, Bassam AlrifaeeControl Barrier Functions Multi-Agent Reinforcement Learning
DriveSafe: A Framework for Risk Detection and Safety Suggestions in Driving Scenarios
May 16, 2026Sainithin Artham, Shankar Gangisetty, Avijit Dasgupta +1Autonomous Driving Drives
Pedestrian-Aware LLM-Driven Behavioral Planning for Autonomous Vehicles
May 16, 2026Aidana Baimbetova, Haruki Yonekura, Hamada Rizk +1Pedestrian Pedestrian Trajectory Prediction

May 21, 2026 · cs.CVJ/K move · Enter open · S save

Sensor2Sensor: Cross-Embodiment Sensor Conversion for Autonomous Driving

Jiahao Wang, Bo Sun, Yijing Bai, Vincent Casser+11

Waymo · Johns Hopkins University · Google DeepMind · University of Washington

Robust training and validation of Autonomous Driving Systems (ADS) require massive, diverse datasets. Proprietary data collected by Autonomous Vehicle (AV) fleets, while high-fidelity, are limited in scale, diversity of sensor configurations, as well as geographic and long-tail-behavioral coverage. In contrast, in-the-wild data from sources like dashcams offers immense scale and diversity, capturing critical long-tail scenarios and novel environments. However, this unstructured, in-the-wild video data is incompatible with ADS expecting structured, multi-modal sensor inputs for validation and training. To bridge this data gap, we propose Sensor2Sensor, a novel generative modeling paradigm that translates in-the-wild monocular dashcam videos into a high-fidelity, multi-modal sensor suite (AV logs) comprising multi-view camera images and LiDAR point clouds. A core challenge is the lack of paired training data. We address this by converting real AV logs into dashcam-style videos via 4D Gaussian Splatting (4DGS) reconstruction and novel-view rendering. Sensor2Sensor then utilizes a diffusion architecture to perform the generative conversion. We perform comprehensive quantitative evaluations on the fidelity and realism of the generated sensor data. We demonstrate Sensor2Sensor's practical utility by converting challenging in-the-wild internet and dashcam footage into realistic, multi-modal data formats, further unlocking vast external data sources for AV development.

Naturalistic Driving Data Autonomous Driving In-The-Wild Monocular Videos Sensors Multimodal Dataset Light Detection And Ranging Point Clouds Generative Models Cross-Embodiment Transfer

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