Autonomous Driving

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906 papers

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DriveSafer: End-to-End Autonomous Driving with Safety Guidance
May 16, 2026Shounak Sural, Raj RajkumarAutonomous Driving Classical Planning
Towards Trustworthy and Explainable AI for Perception Models: From Concept to Prototype Vehicle Deployment
May 15, 2026Till Beemelmanns, Shayan Sharifi, Manas Mehrotra +2Autonomous Driving Perception Explainable Artificial Intelligence
PCASim: Promptable Closed-loop Adversarial Simulation for Urban Traffic Environment
May 15, 2026Chuancheng Zhang, Zhenhao Wang, Kaizheng Li +3Autonomous Driving Simulation Autonomous Driving
DriveCtrl: Conditioned Sim-to-Real Driving Video Generation
May 14, 2026Haonan Zhao, Yiting Wang, Jingkun Chen +3Controllable Video Generation Zero-Shot Sim-To-Real Transfer
Learning Direct Control Policies with Flow Matching for Autonomous Driving
May 14, 2026Marcello Ceresini, Federico Pirazzoli, Andrea Bertogalli +5Autonomous Driving Microscopic Traffic Simulations
EponaV2: Driving World Model with Comprehensive Future Reasoning
May 14, 2026Jiawei Xu, Zhizhou Zhong, Zhijian Shu +8Autonomous Driving Classical Planning
Systematic Discovery of Semantic Attacks in Online Map Construction through Conditional Diffusion
May 14, 2026Chenyi Wang, Ruoyu Song, Raymond Muller +5Lane-Level Map Generation Adversarial Examples
MAPLE: Latent Multi-Agent Play for End-to-End Autonomous Driving
May 13, 2026Rajeev Yasarla, Deepti Hegde, Hsin-Pai Cheng +9Autonomous Driving Closed-Loop Reliability
Motion Planning for Autonomous Vehicles using Optimization over Graphs of Convex Sets
May 13, 2026Matheus Wagner, Antônio Augusto FröhlichTrajectory Optimization Autonomous Driving
Generative Texture Diversification of 3D Pedestrians for Robust Autonomous Driving Perception
May 13, 2026Arka Bhowmick, Enes Ozeren, Ahmed Abdullah +1Autonomous Driving Perception 3D Object Detection
Learning Responsibility-Attributed Adversarial Scenarios for Testing Autonomous Vehicles
May 13, 2026Yizhuo Xiao, Haotian Yan, Ying Wang +5Autonomous Driving Adversaries
Causality-Aware End-to-End Autonomous Driving via Ego-Centric Joint Scene Modeling
May 13, 2026Seokha Moon, Minseung Lee, Joon Seo +2Autonomous Driving Trajectory Prediction
Real2Sim: A Physics-driven and Editable Gaussian Splatting Framework for Autonomous Driving Scenes
May 13, 2026Kaicong Huang, Talha Azfar, Weisong Shi +1Autonomous Driving Simulation Driving Scene
Integration of an Agent Model into an Open Simulation Architecture for Scenario-Based Testing of Automated Vehicles
May 13, 2026Christian Geller, Daniel Becker, Jobst Beckmann +1Multi-Agent Simulations Autonomous Driving
Beyond VMAF: Towards Application-Specific Metrics for Teleoperation Video
May 13, 2026Ines Trautmannsheimer, Richard Grauberger, Frank DiermeyerVideo Quality Teleoperation
Still Camouflage, Moving Illusion: View-Induced Trajectory Manipulation in Autonomous Driving
May 12, 2026Shuo Ju, Qingzhao Zhang, Huashan Chen +6Autonomous Driving Perception Autonomous Driving
A Five-Layer MLOps Architecture for Connected Automated Driving
May 12, 2026Bastian Lampe, Lutz EcksteinAutonomous Driving Driving
Belief-Space Residual Risk for Automated Driving under Localization Uncertainty
May 12, 2026Nijinshan Karunainayagam, Nils Gehrke, Frank DiermeyerAutonomous Driving Robust Localization
Multistep Belief Space Dynamics Learning For Risk-Aware Control
May 12, 2026Jason Gibson, Bogdan Vlahov, Patrick Spieler +1Model Predictive Control Autonomous Driving
MindVLA-U1: VLA Beats VA with Unified Streaming Architecture for Autonomous Driving
May 12, 2026Yuzhou Huang, Benjin Zhu, Hengtong Lu +6Efficient Vision-Language-Action Models Autonomous Driving
Action Emergence from Streaming Intent
May 12, 2026Pengfei Jing, Victor Shea-Jay Huang, Hengtong Lu +3Autonomous Driving Driving
Enabling AI-Native Mobility in 6G: A Real-World Dataset for Handover, Beam Management, and Timing Advance
May 12, 2026Mannam Veera Narayana, Rohit Singh, Deepa M. R +1Mobility Naturalistic Driving Data
LychSim: A Controllable and Interactive Simulation Framework for Vision Research
May 12, 2026Wufei Ma, Chloe Wang, Siyi Chen +3Large Vision Language Models Autonomous Driving Simulation
LIDSA: Cognitive Arbitration for Signal-Free Autonomous Intersection Management
May 12, 2026Abderrahmane Lakas, Mohamed Amine Ferrag, Merouane DebbahAdaptive Traffic Signal Control Autonomous Driving
OOM-Free Alpamayo via CPU-GPU Memory Swapping for Vision-Language-Action Models
May 12, 2026Seungwoo Roh, Huiyeong Kim, Jong-Chan KimGraphics Processing Unit Memory Real-Time Inference
HorizonDrive: Self-Corrective Autoregressive World Model for Long-horizon Driving Simulation
May 12, 2026Conglang Zhang, Yifan Zhan, Qingjie Wang +10Autonomous Driving Simulation Autoregressive Rollout
The DAWN of World-Action Interactive Models
May 12, 2026Hongbo Lu, Liang Yao, Chenghao He +6Efficient World-Action Model World Models
MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systems
May 11, 2026Marco Coscoy, Zewei Zhou, Seth Z. Zhao +9V2X Autonomous Driving Simulation
Is Your Driving World Model an All-Around Player?
May 11, 2026Lingdong Kong, Ao Liang, Tianyi Yan +20World Models Large-Scale Video Generation Models
C-CoT: Counterfactual Chain-of-Thought with Vision-Language Models for Safe Autonomous Driving
May 11, 2026Kefei Tian, Yuansheng Lian, Kai Yang +2Autonomous Driving Efficient Vision-Language-Action Models
Embodied AI in Action: Insights from SAE World Congress 2026 on Safety, Trust, Robotics, and Real-World Deployment
May 11, 2026Jan-Mou Li, Paul Schmitt, Wei Tong +4Intelligence Artificial Intelligence Systems
DeepSight: Long-Horizon World Modeling via Latent States Prediction for End-to-End Autonomous Driving
May 11, 2026Lingjun Zhang, Changjie Wu, Linzhe Shi +6Autonomous Driving Large Vision Language Models
A Theory of Multilevel Interactive Equilibrium in NeuroAI
May 11, 2026Zhe Sage Chen, Quanyan ZhuGame Theory Multi-Agent Systems
CoWorld-VLA: Thinking in a Multi-Expert World Model for Autonomous Driving
May 11, 2026Minqing Huang, Yujiao Xiang, Zihan Liang +7Efficient Vision-Language-Action Models Autonomous Driving
Temporal Sampling Frequency Matters: A Capacity-Aware Study of End-to-End Driving Trajectory Prediction
May 11, 2026Yumao Liu, Tao Liu, Xiangyu Li +2Autonomous Driving Trajectory Prediction
GuardAD: Safeguarding Autonomous Driving MLLMs via Markovian Safety Logic
May 11, 2026Tianyuan Zhang, Peng Yue, Zihao Peng +8Autonomous Driving Mllm-Based
MTA-RL: Robust Urban Driving via Multi-modal Transformer-based 3D Affordances and Reinforcement Learning
May 11, 2026Guangli Chen, Dianzhao Li, Wenjian Zhong +2Autonomous Driving 3D Scene Understanding
Think as Needed: Geometry-Driven Adaptive Perception for Autonomous Driving
May 11, 2026Donghyun Kim, Jaehyoung ParkAutonomous Driving Perception Autonomous Driving
Beyond Self-Play and Scale: A Behavior Benchmark for Generalization in Autonomous Driving
May 11, 2026Aron Distelzweig, Faris Janjoš, Andreas Look +7Autonomous Driving Self-Play
MUSDA: Multi-source Multi-modality Unsupervised Domain Adaptive 3D Object Detection for Autonomous Driving
May 11, 2026Xiaohu Lu, Hamed Khatounabadi, Hayder Radha3D Object Detection Autonomous Driving Perception
HiDrive: A Closed-Loop Benchmark for High-Level Autonomous Driving
May 11, 2026Zhongyu Xia, Guanyu Zhu, Guo Tang +2Autonomous Driving Drives
DRIVE-C: A Controlled Corruption Dataset for Autonomous Driving
May 10, 2026Shiva AherNaturalistic Driving Data Autonomous Driving
MOTOR-Bench: A Real-world Dataset and Multi-agent Framework for Zero-shot Human Mental State Understanding
May 10, 2026Xiaoyu Yuan, Niklas Heikkala, Tiina Törmänen +3Theory-Of-Mind Reasoning Multi-Agent Reasoning
DriveFuture: Future-Aware Latent World Models for Autonomous Driving
May 10, 2026Yufeng Hong, Xiaotian Zhou, Yingyan Li +6Autonomous Driving Trajectory Prediction
ConFixGS: Learning to Fix Feedforward 3D Gaussian Splatting with Confidence-Aware Diffusion Priors in Driving Scenes
May 10, 2026Rui Song, Tianhui Cai, Markus Gross +5Feed-Forward 3D Gaussian Splatting Feed-Forward 3D Gaussian
GSMap: 2D Gaussians for Online HD Mapping
May 10, 2026Zhenxuan Zeng, Lingxuan Wang, Sheng Yang +4Lane-Level Map Generation Map
AtteConDA: Attention-Based Conflict Suppression in Multi-Condition Diffusion Models and Synthetic Data Augmentation
May 10, 2026Shogo NoguchiSynthetic Data Augmentation High-Fidelity Conditional Generation
Mismatch-Aware Adaptive Constraint Tightening for Bicycle-Model Trajectory Optimization
May 10, 2026Lingxue Lyu, Zihui LiuVehicle Dynamics Trajectory Optimization
Beyond Self-Play: Hierarchical Reasoning for Continuous Motion in Closed-Loop Traffic Simulation
May 9, 2026Weifan Zhang, Xiaofeng Zhao, Adel Bazzi +3Microscopic Traffic Simulations Multi-Agent Reinforcement Learning
Latency Analysis and Optimization of Alpamayo 1 via Efficient Trajectory Generation
May 9, 2026Yunseong Jeon, Namcheol Lee, Yoonsu Lee +4Reasoning Trajectory Inference Latency
Unified Modeling of Lane and Lane Topology for Driving Scene Reasoning
May 9, 2026Han Li, Yulu Gao, Si Liu +3Lane Topology Driving Scene
VECTOR-Drive: Tightly Coupled Vision-Language and Trajectory Expert Routing for End-to-End Autonomous Driving
May 9, 2026Rui Zhao, Jianlin Yu, Zhenhai Gao +2Efficient Vision-Language-Action Models Autonomous Driving
REAP: Reinforcement-Learning End-to-End Autonomous Parking with Gaussian Splatting Simulator for Real2Sim2Real Transfer
May 9, 2026Changze Li, Zhe Chen, Shaoyu Chen +7Autonomous Driving Simulation Autonomous Driving
SceneFactory: GPU-Accelerated Multi-Agent Driving Simulation with Physics-Based Vehicle Dynamics
May 8, 2026Yicheng Zhu, Yang Chen, Tao Li +1Autonomous Driving Simulation Waymo Open Motion Dataset
123D: Unifying Multi-Modal Autonomous Driving Data at Scale
May 8, 2026Daniel Dauner, Valentin Charraut, Bastian Berle +10Naturalistic Driving Data Autonomous Driving
One World, Dual Timeline: Decoupled Spatio-Temporal Gaussian Scene Graph for 4D Cooperative Driving Reconstruction
May 8, 2026Yulong Chen, Xiaoyun Dong, Haoyu Zhang +6Dynamic Scene Reconstruction Driving Scene
Operating Within the Operational Design Domain: Zero-Shot Perception with Vision-Language Models
May 8, 2026Berkehan Ünal, Hauke Dierend, Dren Fazlija +1Autonomous Driving Perception Operations
MORPH-U: Multi-Objective Resilient Motion Planning for V2X-Enabled Autonomous Driving in High-Uncertainty Environments via Simulation
May 8, 2026Shih-Yu LaiV2X Autonomous Driving
GEM: Generating LiDAR World Model via Deformable Mamba
May 8, 2026Yang Wu, Zhaojiang Liu, Qiang Meng +5Lidar Light Detection And Ranging
See Tomorrow, Act Today: Foresight-Driven Autonomous Driving
May 8, 2026Bozhou Zhang, Nan Song, Yuang Wang +3Autonomous Driving Foresight

May 16, 2026 · cs.ROJ/K move · Enter open · S save

DriveSafer: End-to-End Autonomous Driving with Safety Guidance

Shounak Sural, Raj Rajkumar

Carnegie Mellon University Pittsburgh, PA

End-to-End (E2E) autonomous driving models have shown growing capability in recent years, with performance improving on increasingly challenging benchmarks. However, modern generative E2E planners still suffer from a substantial number of catastrophic failures in safety-critical scenarios. We find that many such failures arise from violations of physical constraints and safety requirements, leading to unsafe behavior. Motivated by this finding, in this paper, we focus on improving safety outcomes in generative end-to-end driving with a targeted reduction of catastrophic planning failures, instead of enhancing average planning quality. Towards this end, we propose DriveSafer, a failure-aware safety framework for end-to-end planners. DriveSafer explicitly steers generative planners towards safe behaviors leveraging both training-time safety constraints and inference-time safety guidance. Compared to the state-of-the-art DiffusionDrive model, on the NAVSIM benchmark, DriveSafer reduces the number of catastrophic failures (PDMS=0) by 48%, with over 65% reduction in drivable-area compliance failures.

Autonomous Driving Classical Planning Inference-Time Defense

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