Autonomous Driving Scenario Generation

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8 papers in the last four weeks, up 60% on the four weeks before. 0.1% of all new papers.

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  1. Controllable and Photorealistic Pedestrian Risky Motion Generation for End-to-End Driving Safety Evaluation

    Oct 5, 2026Siyuan Liu, Miao Li, Haibao Yu +4Pedestrian Behavior ModelingEnd-to-End Autonomous Driving

    School of Vehicle and Mobility, Tsinghua University · Carnegie Mellon University · State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University

  2. How corner is a corner case? Percentile control for highway scenario generation

    Oct 4, 2026Jiaxi Liu, Hang Zhou, Hangyu Li +5Autonomous Driving Safety EvaluationAdversarial Scenario Generation

    Department of Civil and Environmental Engineering, University of Wisconsin–Madison, Madison, 53706, WI, USA

  3. Evaluating Physical Consistency and Plausibility in Generative Scenario Models for Autonomous Driving

    Oct 1, 2026Manasa Mariam Mammen, Zafer Kayatas, Stefan WagnerAutonomous Driving Safety EvaluationAutonomous Driving Scenario Generation

    Technical University of Munich, Heilbronn, Germany · Mercedes Benz AG, Sindelfingen, Germany

  4. TrafficSignBench: Rule-Centric Closed-Loop Evaluation of Traffic-Sign Compliance in Autonomous Driving

    Sep 29, 2026Victoria Smirnova, Viktoriia Zinkovich, Gregorii Bukhtuev +4Autonomous Driving BenchmarksAutonomous Driving Safety Evaluation

    Lomonosov Moscow State University · FusionBrain Lab · Moscow Institute of Physics and Technology +3

  5. ExceptionDrive: A Planning-Oriented Counterfactual Corner-Case Benchmark for Autonomous Driving

    Sep 29, 2026Ziyi Luo, Zhe Sun, Yehao Lu +5Autonomous Driving BenchmarksAutonomous Driving Safety Evaluation

    College of Computer Science and Technology, Zhejiang University, Hangzhou, China · Yinwang Intelligent Technology Co., Ltd., Shenzhen, China

  6. HelloWorld: Towards Practical Applications of Generative Driving World Models

    Sep 24, 2026Fan Lu, Hanshi Wang, Zijing Wang +20Multi-View Video GenerationWorld Models for Autonomous Driving

  7. Teach-to-Crash: A Closed-Loop Student-Teacher LLM Framework for Collision-Inducing Test Scenario Generation

    Sep 23, 2026Zaid Ghazal, Khouloud Gaaloul, Bruce MaximAutonomous Driving Safety EvaluationAdversarial Scenario Generation

    University of Michigan-Dearborn Dearborn, MI, USA

  8. Safety-Critical Scenanrio Emerges from Initial Scene

    Sep 17, 2026Yin Wu, Jiarong Wei, Carl Esselborn +4Adversarial Scenario GenerationAutonomous Driving Simulation

  9. PlannerForge: LLM Agents for Scenario-Based Testing of Motion Planners in Autonomous Driving

    Sep 8, 2026Yuan Gao, Sebastian Müller, Mattia Piccinini +5Autonomous Driving Safety EvaluationLLM Agent Orchestration

    Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design, Technical University of Munich, 85748 Garching, Germany · University College London, London, United Kingdom

  10. CrashDiffuser: VLM-Guided Collision Intent Reasoning for Fine-Grained Safety-Critical Traffic Scenario Generation

    Sep 2, 2026Shucheng Zhang, Yuang Zhang, Bingzhang Wang +3Autonomous Driving Scenario GenerationAdversarial Scenario Generation

    Department of Civil and Environmental Engineering, University of Washington Seattle, WA 98195, USA

  11. BehaviorWorldGen: Closing the Loop between Action Models and World Simulators via Controllable Behavior-Aware Structured World Generation

    Aug 23, 2026Jiaqi Wang, Zhuo Zhang, Haining Guan +15Action-Conditioned World ModelsWorld Models for Autonomous Driving

    AFARI World Model Team

  12. Video2Track: From Real-World Interaction Videos to Steerable Adversarial Closed-Track Testing for Automated Driving Systems

    Aug 12, 2026Mengjie Tian, Xinrui Zhang, Tianyu Li +6Autonomous Driving Safety EvaluationAutonomous Driving

    College of Automotive and Energy Engineering, Tongji University, Shanghai 201804, China · Department of Civil and Environmental Engineering, National University of Singapore, 119077, Singapore

  13. Top-down Traffic Scenario Generation via Joint Initial-Goal Diffusion and Trajectory Infilling

    Aug 11, 2026Da Saem Lee, Yash Vardhan Pant, Sebastian FischmeisterAutonomous Driving SimulationAutonomous Driving Scenario Generation

    Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Canada

  14. Threat-guided Policy-aware Scene Perturbation for Safe Autonomous Driving with Online Reinforcement Learning

    Aug 11, 2026Xincong Hu, Lei Ou, Maosen Li +3Adversarial Scenario GenerationSafe RL

    Nanjing University · 1Nanjing University, Nanjing, Jiangsu, China · 2Yinwang Intelligent Technology Co., Ltd., China +1

  15. muSync-GS: Physics-Synchronized Driving Video Synthesis for Weather and Geometric Road Hazards

    Aug 5, 2026Yang Chen, Yicheng Zhu, Tao Li +1Physical Consistency in Video GenerationVideo Generation

    Rochester Institute of Technology · City University of Hong Kong

  16. Long-term Traffic Scene Prediction via Polynomial Representations in Autonomous Driving

    Aug 4, 2026Yue YaoMulti-Agent Trajectory PredictionAutonomous Driving Scenario Generation

    Fachbereich Mathematik und Informatik der Freien Universität Berlin

  17. RealWeather: Realistic and Scene-Faithful Weather Translation with Driving World Models

    Aug 3, 2026Yuwei Ning, Liangzhi Wang, Yi Xiao +5Synthetic-to-Real Domain AdaptationWorld Models for Autonomous Driving

    1Sun Yat-sen University · 2Shenzhen Loop Area Institute

  18. Extended Field of View Analysis for VideoGAN-based Trajectory Generation

    Aug 3, 2026Annajoyce Mariani, Kira Maag, Hanno GottschalkPhysical Consistency in Video GenerationAutonomous Driving Simulation

    Technical University of Berlin, Berlin, Germany · Heinrich Heine University Düsseldorf, Düsseldorf, Germany

  19. GSRAIN: Physically Calibrated High-/Low-Frequency Rainfall Synthesis for 3D Gaussian Driving Scenes

    Aug 3, 2026Fanyu Wang, Longgao Zhang, Junyi Chen3D Gaussian SplattingConditional Generative Modeling

    Fanyu Wang, Longgao Zhang, and Junyi Chen are with the College of Automotive and Energy Engineering, Tongji University, Shanghai, China.

  20. SimBEV2X: A Large-Scale Dataset and Data Generation Tool for Multi-Task Vehicle-to-Everything Cooperative Perception

    Jul 27, 2026Goodarz Mehr, Sepideh Gohari, Montasir Abbas +1Autonomous Driving DatasetsSynthetic Data Generation for Robotics

    Autonomous Robots and Vehicles Laboratory (ARVL), College of Engineering, Virginia Commonwealth University (VCU), Richmond, Virginia, United States · Charles E. Via, Jr. Department of Civil & Environmental Engineering, Virginia Tech, Blacksburg, Virginia, United States

  21. SafeGen: Goal-Conditioned Video Diffusion of Safety-Critical Scenarios for VLM-Based Autonomous Driving

    Jul 22, 2026Jiangfan Liu, Zexuan Cui, Tianyuan Zhang +7Video Diffusion ModelsVLMs for Autonomous Driving

    Beihang University, China · Zhongguancun Laboratory, China · Chery Automobile Co., Ltd., China

  22. End-to-end Conditional Diffusion for Realistic and Controllable Visual Traffic Scenario Generation

    Jul 21, 2026Jingzheng Li, Yufei Ge, Zhijun Chen +8Autonomous Driving Safety EvaluationAutonomous Driving Simulation

    Zhongguancun Laboratory, Beijing 100094, China · Tianjin University, Tianjin 300073, China · Beihang University, Beijing 100091, China +4

  23. Chat2Scenic: An Iterative RAG-Based Framework for Scenario Generation in Autonomous Driving

    Jul 15, 2026Yuan Gao, Wenting Miao, Mattia Piccinini +3Autonomous Driving BenchmarksRetrieval-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

  24. M4^\text{4}World: A Multi-view Multimodal Driving World Model for Interactive Object Manipulation and Minute-long Streaming

    Jul 15, 2026Ke Cheng, Hanqiao Ye, Lei Shi +8Multi-View Video GenerationLong-Horizon Video Generation

    1Meituan · Institute of Automation, Chinese Academy of Sciences · 3Beijing Institute of Technology

  25. TerraZero: Procedural Driving Simulation for Zero-Demonstration Self-Play at Scale

    Jul 14, 2026Zhouchonghao Wu, Akshay Rangesh, Weixin Li +4Self-Play RLRL for Autonomous Driving

    1Applied Intuition · University of California, Berkeley

  26. CARLA-GS: Decoupling Representation, Reasoning, and Physics Simulation for Autonomous Driving Corner-Case Synthesis

    Jul 8, 2026Kaicong Huang, Meng Ma, Ruimin KeAutonomous Driving Safety EvaluationAutonomous Driving

    Department of Civil and Environmental Engineering, Rensselaer Polytechnic Institute, 110 Eighth Street, Troy, NY USA 12180.

  27. Point as Skeleton: Accumulated Point Cloud Enhanced Autoregressive Generation for Closed-Loop Autonomous Driving Simulation

    Jul 7, 2026Songbur Wong, Xiaosong Jia, Junqi You +12Autoregressive Video GenerationAutonomous Driving Simulation

    1Shanghai Jiao Tong University · 3Fudan University · 4Shanghai Artificial Intelligence Laboratory +3

  28. CCFM: Collision-Constrained Flow Matching for Safety-Critical Scenario Generation

    Jul 5, 2026Ke Li, Kaidi Liang, Yuxin Ding +3Flow MatchingAutonomous Driving Safety Evaluation

    Stony Brook University, Stony Brook, NY 11794, USA · Pennsylvania State University, University Park, PA 16802, USA

  29. Agent-driven Long-tail Simulation for Autonomous Driving

    Jul 5, 2026Junru Gu, Lijin Yang, Jianing Huang +3Autonomous Driving BenchmarksLanguage Model-Based Control

    1IIIS, Tsinghua University · 2Bosch Research

  30. ECoSim: Data Efficient Fine-Tuning for Controllable Traffic Simulation

    Jul 1, 2026Yu-Hsiang Chen, Wei-Jer Chang, Yi-Ting Chen +1Synthetic Data Generation for RoboticsAutonomous Driving Simulation

    National Yang Ming Chiao Tung University, Taiwan · University of California, Berkeley, USA

  31. Scenario Generation for Testing of Autonomous Driving Systems Using Real-World Failure Records

    Jun 30, 2026Anjali Parashar, Chuchu FanAutonomous Driving Safety EvaluationSynthetic Data Generation

    Massachusetts Institute of Technology, Cambridge, MA

  32. InfiniVerse: Occupancy Guided Unbounded Scene Generation for Autonomous Driving

    Jun 30, 2026Xiaoyu Ye, Leheng Li, Xinyu Ji +8Long-Horizon Video Generation3D Scene Generation

    The Chinese University of Hong Kong, Shenzhen · The Hong Kong University of Science and Technolody(Guangzhou) · Nanyang Technological University +2

  33. TrafficAlign: Aligning Large Language Models for Traffic Scenario Generation

    Jun 27, 2026Zhi Tu, Liangkun Niu, Tianyi ZhangLLM AlignmentAutonomous Driving Safety Evaluation

    Purdue University

  34. Proposal-Conditioned Latent Diffusion for Closed-Loop Traffic Scenario Generation

    Jun 25, 2026Shubham Vaijanath Phoolari, Aleyna Kara, Christoph Lauer +1Diffusion GuidanceDiffusion Model Acceleration

    Authors are with CARIAD SE, Germany. · Author is with the Institute of Automotive Engineering (FZD), TU Darmstadt, Germany. · Author is with the Technical University of Munich, Germany.

  35. From Driving Videos to Simulatable Scenarios

    Jun 20, 2026Alexandre Levy, Ernest Valveny Llobet, Antonio Manuel LópezAutonomous Driving SimulationAutonomous Driving Scenario Generation

    Dept. Computer Science, Universitat Aut`onoma de Barcelona (UAB) · Computer Vision Center (CVC), UAB

  36. FrozenDrive: Zero-Shot Text-Guided Driving Scene Generation and Data Augmentation with Parameter-Free Frozen Diffusion Model

    Jun 18, 2026Yuhwan Jeong, Hyeonseong Kim, Daehyun We +5Synthetic Data AugmentationVideo Diffusion Models

    KAIST, Visual Intelligence Lab

  37. SPHINX: First Explain, Then Explore

    Jun 16, 2026Nguyen Do, Tue M. Cao, Tien Van Do +3Autonomous Driving Safety EvaluationAdversarial Robustness

    University of Florida, Gainesville, Florida, USA · Budapest University of Technology and Economics, Department of Networked Systems and Services, Budapest, Hungary · University of Debrecen, Debrecen, Hungary

  38. ControlMap: Controllable High-Definition Map Generation for Traffic Scenario Simulation

    Jun 14, 2026Marwan Farag, Steffen Wäldele, Yu YaoHD Map ConstructionProcedural Content Generation

    University of Stuttgart, Stuttgart, Germany · Robert Bosch GmbH, Renningen, Germany · Motional, Inc

  39. CausalDrive: Real-time Causal World Models for Autonomous Driving

    Jun 13, 2026Tianyi Yan, Huan Zheng, Dubing Chen +10Action-Conditioned Video GenerationAutonomous Driving

    SKL-IOTSC, CIS, University of Macau · Xiaomi EV · CASIA

  40. From Attacks to Curricula: Learnability-Guided Adversarial Training for Safe Autonomous Driving

    Jun 12, 2026Yuewen Mei, Tong Nie, Jie Sun +3Adversarial TrainingAutonomous Driving

    College of Transportation & Key Laboratory of Road and Traffic Engineering of Ministry of Education, Tongji University, Shanghai, 201804, China · Department of Civil and Environmental Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, China

  41. Dash2Sim: Closed-Loop Driving Simulation from in-the-wild Dashcam Videos

    Jun 5, 2026Anurag Ghosh, Francesco Pittaluga, Khiem Vuong +4Autonomous Driving DatasetsAutonomous Driving Benchmarks

    1Carnegie Mellon University · 2NEC Labs America · 3MIT∗ +1

  42. RiskFlow: Fast and Faithful Safety-Critical Traffic Scenario Generation

    Jun 4, 2026Qi Lan, Yining Tang, Yu Shen +4Flow MatchingAutonomous Driving Safety Evaluation

    College of Mechanical and Vehicle Engineering Chongqing University, Chongqing, China

  43. EvoDrive: Pareto Evolution for Safety-Critical Autonomous Driving via Self-Improving LLM Agents

    Jun 2, 2026Tong Nie, Yuewen Mei, Yihong Tang +4Multi-Objective Evolutionary OptimizationAutonomous Driving Safety Evaluation

    The Hong Kong Polytechnic University · Tongji University · McGill University +1

  44. NVIDIA OmniDreams: Real-Time Generative World Model for Closed-Loop Autonomous Vehicle Simulation

    Jun 2, 2026Aarti Basant, Amlan Kar, Despoina Paschalidou +30Action-Conditioned Video GenerationVideo Diffusion Models

    NVIDIA

  45. PairedGTA: Generating Driving Datasets for Controlled Photometric Shift Analysis

    May 31, 2026Andrea Chianese, Giulio Rossolini, Alessandro Biondi +2Autonomous Driving DatasetsAutonomous Driving Perception

    Scuola Superiore Sant’Anna, Pisa, Italy, Department of Excellence in Robotics & AI · University of Pisa, DII, Pisa, Italy

  46. CityGen: Structure-Guided City-Style Synthesis for Cross-City Autonomous Driving

    May 28, 2026Zezhong Qian, Zhao Yang, Lu Tan +4Domain AdaptationConditional Image Generation

    1Jiangsu Cytoderm Intelligent Technology Co., Ltd., China · 2Xi’an Jiaotong University, Xi’an, China · 3Tsinghua University, Beijing, China +1

  47. AnyScene: Towards Highly Controllable Driving Scene Generation at Anywhere and Beyond

    May 25, 2026Haiming Zhang, Junfei Zhou, Feng Jiang +6Long-Horizon Video Generation3D Scene Generation

    Li Auto · Southwest Jiaotong University · Tsinghua University

  48. Physics-Aware 3D Gaussian Editing for Driving Scene Generation

    May 25, 2026Feng Zhou, Jian Zhang, Yuhang Sun +53D Gaussian Splatting3D Scene Editing

    School of Artificial Intelligence, Jilin University, Changchun, China. · China FAW Group Co., Ltd., Changchun, China. · National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun, China.

  49. ARCANE-PedSynth: Synthetic Multi-Pedestrian Datasets with Behavioural Crossing Annotations

    May 24, 2026Muhammad Naveed Riaz, Maciej Wielgosz, Antonio M. López PeñaAutonomous Driving DatasetsPedestrian Behavior Modeling

    Departament de Ciències de la Computació and Computer Vision Center (CVC), Universitat Autònoma de Barcelona (UAB), Bellaterra, Barcelona, Spain · Institute of Electronics, Faculty of Computer Science, Electronics and Telecommunications, AGH University of Krakow, Kraków, Poland

  50. ScenePilot: Controllable Boundary-Driven Critical Scenario Generation for Autonomous Driving

    May 20, 2026Qiyu Ruan, Yuxuan Wang, He Li +2Autonomous Driving Safety EvaluationAdversarial Scenario Generation

    State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), University of Macau, Macau, China · Faculty of Science and Technology, University of Macau, Macau, China

  51. Guiding Neuro-Symbolic Scenario Generation with Spatio-Temporal Logic

    May 18, 2026Lorenzo Bonin, Francesco Giacomarra, Luca Bortolussi +2Autonomous Driving Safety EvaluationSynthetic Data Generation for Robotics

    University of Trieste · University of Southern California

  52. Xiaomi Auto World Model: A Joint World Model Integrating Reconstruction and Generation for Autonomous Driving

    May 18, 2026Lijun Zhou, Hongcheng Luo, Zhenxin Zhu +34Dynamic Scene ReconstructionWorld Models for Autonomous Driving

    Xiaomi Auto World Model Team

  53. Scenario Generation in Roundabouts with Adjustable Interaction Intensity

    May 18, 2026Li Li, Till Temmen, Tobias Brinkmann +3Autonomous Driving SimulationAutomated Test Generation

    Chair of Mechatronics in Mobile Propulsion, RWTH Aachen University, Germany

  54. 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 EvaluationAdversarial Scenario Generation

    Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China

  55. Generating Realistic Safety-Critical Scenarios for Vehicle-Pedestrian Interactions

    May 17, 2026Qingwen Pu, Kun Xie, Yuan Zhu +1Human Behavior SimulationAutonomous Driving Safety Evaluation

    Transportation Informatics Lab, Department of Civil and Environmental Engineering, Old Dominion University, Norfolk, VA 23529, United States · Inner Mongolia Center for Transportation Research, Inner Mongolia University, Rm A357A, Transportation Building, Inner Mongolia University South Campus, 49 S Xilin Rd, Hohhot, Inner Mongolia, 010020, China · School of Transportation and Logistics, National Engineering Laboratory of Integrated Transportation Big Data Application Technology, National and Local Joint Engineering Research Center of Integrated Transportation Intelligence, Southwest Jiaotong University, Chengdu 611756, China

  56. PCASim: Promptable Closed-loop Adversarial Simulation for Urban Traffic Environment

    May 15, 2026Chuancheng Zhang, Zhenhao Wang, Kaizheng Li +3Autonomous Driving Safety EvaluationSynthetic Data Generation

    Shenzhen Research Institute of Shandong University, Shenzhen, 518057, Guangdong, China · School of Airspace Science and Engineering, Shandong University, 264209 Weihai, China. · School of Computer Science and Technology, Shandong University of Finance and Economics, 250014, Jinan, China.

  57. Learning Responsibility-Attributed Adversarial Scenarios for Testing Autonomous Vehicles

    May 13, 2026Yizhuo Xiao, Haotian Yan, Ying Wang +5AI AccountabilityAutonomous Driving Safety Evaluation

    School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, U.K. · State Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China · College of Computer Science and Technology, Jilin University, Changchun, China +3

  58. Real2Sim: A Physics-driven and Editable Gaussian Splatting Framework for Autonomous Driving Scenes

    May 13, 2026Kaicong Huang, Talha Azfar, Weisong Shi +13D Gaussian SplattingSynthetic Data Generation

    Department of Civil and Environmental Engineering, Rensselaer Polytechnic Institute, 110 Eighth Street, Troy, NY USA 12180. · Department of Computer and Information Sciences, University of Delaware, Newark, DE USA 19716.

  59. SceneFactory: GPU-Accelerated Multi-Agent Driving Simulation with Physics-Based Vehicle Dynamics

    May 8, 2026Yicheng Zhu, Yang Chen, Tao Li +1GPU AccelerationVehicle Dynamics

    Rochester Institute of Technology · City University of Hong Kong

  60. Traffic Scenario Orchestration from Language via Constraint Satisfaction

    May 7, 2026Frieda Rong, Chris Zhang, Kelvin Wong +1Autonomous Driving SimulationAutomated Test Generation

    University of Toronto · 2Waabi