Autonomous Driving Benchmarks

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13 papers in the last four weeks, up 86% on the four weeks before. 0.1% of all new papers.

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Latest papers 74

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FogDrive: A Multi-Modal Synthetic Driving Dataset for Perception under Graded Fog
Jul 18, 2026Vansh PanwarAutonomous Driving Datasets Autonomous Driving Benchmarks
Indian Institute of Technology, Guwahati
Chat2Scenic: An Iterative RAG-Based Framework for Scenario Generation in Autonomous Driving
Jul 15, 2026Yuan Gao, Wenting Miao, Mattia Piccinini +3Autonomous Driving Benchmarks Retrieval-Augmented Generation
Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design, Technical University of Munich, 85748 Garching, Germany; Munich Institute of Robotics and Machine Intelligence (MIRMI) · University College London, London, United Kingdom
nuTruck: Benchmarking Autonomous Driving Planning for Distributed Electric-drive Trucks
Jul 15, 2026Jinyu Miao, Pu Zhang, Yifei He +5Autonomous Driving Datasets Autonomous Driving Benchmarks
School of Vehicle and Mobility, Tsinghua University, Beijing, China · KargoBot.AI Inc., Beijing, China
AUTOPILOT VQA: Benchmarking Vision-Language Models for Incident-Centric Dashcam Understanding
Jul 9, 2026Siddharth Damodharan, Radhika Gupta, Ali Alshami +2VLM Evaluation Autonomous Driving Benchmarks
University of Colorado Colorado Springs · University of Michigan · University of Notre Dame
Shift & Drift: A Zero-Shot Benchmark for Generalizable and Robust Autonomous Driving Motion Planning
Jul 8, 2026Alessandro Canevaro, Hang Yu, Julian Schmidt +5Autonomous Driving Benchmarks Distribution Shift
Mercedes-Benz AG, Research & Development, Sindelfingen, Germany · University of Tübingen, Tübingen, Germany · Karlsruhe Institute of Technology, ITIV, Karlsruhe, Germany
Flow-ERD: Agent-type Aware Flow Matching with Entropy-Regularized Distillation for Diverse Traffic Simulation
Jul 8, 2026Seulbin Hwang, Kiyoung Om, Daejung Kim +1Autonomous Driving Benchmarks Flow Matching
NAVER LABS Corp., Republic of Korea
Beyond Perfect Priors: Adaptive Gaussian Graph for 4D Driving Reconstruction in the Wild
Jul 7, 2026Xiaoyun Dong, Qian Xu, Yun Wang +3Autonomous Driving Benchmarks Dynamic Scene Reconstruction
City University of Hong Kong · Hon Hai Research Institute
Benchmarking the Robustness of Autonomous Driving to Environmental Illusions: A Lane Perception Perspective
Jul 7, 2026Tianyuan Zhang, Xianglong Liu, Aishan Liu +6Autonomous Driving Benchmarks VLM Robustness
SKLCCSE, the School of Computer Science and Engineering, Beihang University, Beijing 100191, China · School of Cyber Science and Technology, Sun Yat-sen University, Shenzhen 518107, China · Henan University of Science and Technology, Luoyang 471023, China +2
Agent-driven Long-tail Simulation for Autonomous Driving
Jul 5, 2026Junru Gu, Lijin Yang, Jianing Huang +3Autonomous Driving Benchmarks Language Model-Based Control
1IIIS, Tsinghua University · 2Bosch Research
Descriptor: LYNRED Mobility Dataset Multimodal Detection Subset (LYNRED-MDS)
Jul 2, 2026Loïc Arbez, Jessy Matias, Xavier Brenière +2Autonomous Driving Datasets Autonomous Driving Benchmarks
Thoth · INRIA center at University Grenoble Alpes, 38330 Montbonnot-Saint-Martin, France · Lynred, 38113, Veurey-Voroize, France +2
Towards Metric-Agnostic Trajectory Forecasting
Jul 1, 2026Markus Knoche, Daan de Geus, Bastian LeibeAutonomous Driving Benchmarks Multi-Agent Trajectory Prediction
RWTH Aachen University, Germany · Eindhoven University of Technology, Netherlands
Creating Impactful Autonomous Driving Datasets: A Strategic Guide from Research Gap to Benchmark
Jul 1, 2026Richard Schwarzkopf, Jonas Merkert, Frank Bieder +22Autonomous Driving Datasets Autonomous Driving Benchmarks
Karlsruhe Institute of Technology (KIT) · FZI Research Center for Information Technology, Karlsruhe
SENSE-VAD: Sentient and Semantic Video Anomaly Detection for Autonomous Driving
Jun 30, 2026Nghia T. Nguyen, Lokman Bekit, Yasin YilmazAutonomous Driving Benchmarks Video Anomaly Detection
University of South Florida
CooperScene: Multi-Modal Cooperative Autonomy Benchmark with C-V2X Communication Characterization
Jun 30, 2026Bo Wu, Ruoshen Mo, Justin Yue +6Autonomous Driving Datasets Autonomous Driving Benchmarks
University of California, Riverside, USA
Robusto-2: Benchmarking Humans & VLMs for Autonomous Driving in Lima & New York City
Jun 18, 2026Adrian Cespedes, Marcelo Chincha, Dunant Cusipuma +3VLM Evaluation Autonomous Driving Datasets
Artificio Lima, Peru
Self-Driving Negotiator: An interactive, verifiable benchmark for social negotiation and theory of mind under hidden intent
Jun 13, 2026Ashutosh KumarAutonomous Driving Benchmarks Automated Negotiation
Owl Autonomous Imaging, Inc.
ReactSim-Bench: Benchmarking Reactive Behavior World Model Simulation in Autonomous Driving
Jun 12, 2026Zhiyuan Zhang, Yanlun Peng, Jianing Zhang +7Autonomous Driving Benchmarks World Models for Autonomous Driving
Sch. of Computer Science & Sch. of Artificial Intelligence, Shanghai Jiao Tong University · Great Wall Motor · Institute of Trustworthy Embodied AI (TEAI), Fudan University +2
VLADriveBench: Evaluating CoT-Action Relationship in VLA for Autonomous Driving
Jun 10, 2026Thach Nguyen, Danhua Guo, Tom Lampo +2Autonomous Driving Benchmarks CoT Faithfulness
Uber AV Labs
Where Does the Answer Come From? Benchmarking View-Level Visual Evidence Identification in Multi-View MLLMs for Autonomous Driving
Jun 8, 2026Yimu Wang, Yee Man Choi, Barry Zhang +3VLM Evaluation Autonomous Driving Benchmarks
University of Waterloo
DriveReward: A Comprehensive Dataset and Generative Vision-Language Reward Model for Autonomous Driving
Jun 7, 2026Qimao Chen, Fang Li, Yuechen Luo +11Autonomous Driving Datasets Autonomous Driving Benchmarks
1Tsinghua University · 2Xiaomi EV
Dash2Sim: Closed-Loop Driving Simulation from in-the-wild Dashcam Videos
Jun 5, 2026Anurag Ghosh, Francesco Pittaluga, Khiem Vuong +4Autonomous Driving Datasets Autonomous Driving Benchmarks
1Carnegie Mellon University · 2NEC Labs America · 3MIT∗ +1
The Road Ahead in Autonomous Driving: The KITScenes Multimodal Dataset
Jun 1, 2026Richard Schwarzkopf, Fabian Immel, Alexander Blumberg +21Autonomous Driving Datasets Autonomous Driving Benchmarks
FZI Research Center for Information Technology · Karlsruhe Institute of Technology · University Charles III of Madrid +1
GeoDrive-Bench: Benchmarking Region-Specific Multimodal Reasoning in Autonomous Driving
Jun 1, 2026Yingzi Ma, Chaowei Xiao, Ming JiangVLM Evaluation Autonomous Driving Benchmarks
University of Wisconsin-Madison · Johns Hopkins University
nuReasoning: A Reasoning-Centric Dataset and Benchmark for Long-Tail Autonomous Driving
May 29, 2026Zhiyu Huang, Johnson Liu, Rui Song +13Autonomous Driving Datasets Autonomous Driving Benchmarks
Xuewei · University of California, Los Angeles · 2Motional
Safe2Drive: Evaluating Safe Driving Behaviors of E2E Autonomous Driving Models
May 29, 2026Nishad Sahu, Kalpana Panda, Congyuan Yu +3Autonomous Driving Benchmarks End-to-End Autonomous Driving
1Carnegie Mellon University · 2Birla Institute of Technology and Science Pilani
A Pedestrian-Vehicle Interaction Benchmark and Annotation Framework for Unstructured Scenes via Uncalibrated Cameras
May 25, 2026Haoyang Peng, Qian Hu, Songan Zhang +1Autonomous Driving Datasets Autonomous Driving Benchmarks
School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China · Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai 200240, China
DRIVESPATIAL: A Benchmark for Spatiotemporal Intelligence in VLMs for Autonomous Driving
May 22, 2026Hao Vo, Khoa Vo, Phu Loc Nguyen +10VLM Evaluation Autonomous Driving Datasets
University of Arkansas, USA · Google Research, Google · University of Liverpool, UK +1
Trajectory Planning and Control near the Limits: an Open Experimental Benchmark on the RoboRacer Platform
May 19, 2026Mattia Piccinini, Patrick Zambiasi, Aniello Mungiello +3Autonomous Driving Benchmarks Robot Trajectory Tracking
Professorship of Autonomous Vehicle Systems, Technical University of Munich, 85748 Garching, Germany; Munich Institute of Robotics and Machine Intelligence (MIRMI). · Avilus GmbH, Germany. · Department of Information Technology and Electrical Engineering (DIETI), University of Naples Federico II, Naples 80125, Italy. +1
Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations
May 18, 2026Zhiyuan Zhang, Zhenghao Jin, Yanlun Peng +8Autonomous Driving Benchmarks End-to-End Autonomous Driving
Sch. of Computer Science & Sch. of Artificial Intelligence, Shanghai Jiao Tong University · Institute of Trustworthy Embodied AI (TEAI), Fudan University · Great Wall Motor +2
XWOD: A Real-World Benchmark for Object Detection under Extreme Weather Conditions
May 12, 2026Chih-Hsin Chen, Yu-Tung Liu, Amar Fadillah +2Autonomous Driving Datasets Autonomous Driving Benchmarks
Department of Electronic Engineering, National Taipei University of Technology · Adobe Inc.

Jul 18, 2026, cs.CVJ/K move · Enter open · S save

FogDrive: A Multi-Modal Synthetic Driving Dataset for Perception under Graded Fog

Vansh Panwar

Indian Institute of Technology, Guwahati

Autonomous Driving Datasets Autonomous Driving Benchmarks Multimodal Robustness Autonomous Driving Perception Autonomous Driving Simulation Multimodal Sensor Fusion

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Perception under adverse weather remains a critical bottleneck for reliable autonomous driving, yet existing benchmarks lack the systematic multi-modal alignments needed to evaluate robust sensor fusion. Real-world weather datasets suffer from uncontrolled collection and single-level, uncalibrated conditions, while synthetic alternatives either target camera-only restoration or lack the paired clean-and-foggy structure needed to benchmark "defog-then-detect" pipelines. We present FogDrive, a rigorously calibrated, multi-modal autonomous-driving dataset bridging data-centric engineering and robust machine learning. Built with the CARLA simulator, FogDrive contains 660 scenes (~133k fully annotated frames, 50:50 day/night) across four synchronized cameras (RGB, depth, semantic segmentation), a LiDAR and semantic-LiDAR pair, and front radar. Physically consistent fog is modeled independently on camera channels (Koschmieder model) and LiDAR channels (Beer-Lambert law) at three calibrated visibility densities (160m, 100m, 50m). Every scene ships in four matched variants (clean plus three graded fog levels) with cross-calibrated 2D and 3D bounding boxes. A semantic-segmentation-based quality audit over 8k images validates annotations at 95.1% precision and over 99% recall for vehicles within 40m. We establish baseline benchmarks with state-of-the-art architectures (TransFusion, BEVFusion, YOLOv8-m) across two paradigms: 3D multi-modal fusion and 2D image restoration. These yield critical data-centric insights: mixing multi-density fog during training tightens 3D bounding-box geometry without added data-scaling cost, while in 2D pipelines image-quality metrics (PSNR, SSIM) prove poor predictors of downstream detection performance. FogDrive will be fully open-sourced alongside our data-generation framework to accelerate robust, multi-modal research.

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