Autonomous Driving Simulation

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Latest papers 217

25 papers in the last four weeks, up 79% on the four weeks before. 0.1% of all new papers.

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Diffusion-guided Generalizable Enhancer for Urban Scene Reconstruction
May 21, 2026Henry Che, Jingkang Wang, Yun Chen +33D Gaussian Splatting Diffusion Model Guidance
1Waabi · University of Illinois Urbana-Champaign · University of Toronto
ScenePilot: Controllable Boundary-Driven Critical Scenario Generation for Autonomous Driving
May 20, 2026Qiyu Ruan, Yuxuan Wang, He Li +2Autonomous Driving Safety Evaluation Adversarial 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
Towards Physically Consistent 4D Scene Reconstruction for Closed-loop Autonomous Driving Simulation
May 20, 2026Bowyn Tan, Yutong Xie, Bai Huang +53D Gaussian Splatting Dynamic Scene Reconstruction
Tsinghua University · Meituan · Central University of Finance and Economics
Closed-Loop Hybrid Digital Twin Platform for Connected and Automated Vehicle Validation
May 19, 2026Kanglong Quan, Zhebing Xia, Linfeng Jiang +4Digital Twins Autonomous Driving Simulation
School of Advanced Technology Xi’an Jiaotong-Liverpool University, Jiangsu, China
Reason--Imagine--Act: Closed-Loop LLM Decision Making with World Models for Autonomous Driving
May 19, 2026Zhengqi Sun, Yiwen Sun, Boxuan Liu +3Language Model-Based Control World Models
Department of Information Management, Peking University, Beijing 100871, China · School of Intelligence Science and Technology, Peking University, Beijing 100871, China · State Key Laboratory of General Artificial Intelligence, BIGAI, Beijing 100080, China +3
Guiding Neuro-Symbolic Scenario Generation with Spatio-Temporal Logic
May 18, 2026Lorenzo Bonin, Francesco Giacomarra, Luca Bortolussi +2Autonomous Driving Safety Evaluation Synthetic Data Generation for Robotics
University of Trieste · University of Southern California
RLFTSim: Realistic and Controllable Multi-Agent Traffic Simulation via Reinforcement Learning Fine-Tuning
May 18, 2026Ehsan Ahmadi, Hunter Schofield, Behzad Khamidehi +5Multi-Agent Systems Autonomous Driving Simulation
University of Alberta · 2Huawei Technologies Canada · 3York University +1
Geometry-Aware Surrogate for Real-Time Hydrodynamics Estimation of Autonomous Ground Vehicles in Amphibious Environments
May 18, 2026Ammar Waheed, Luke Gallantree, Zohaib HasnainNeural Surrogate Modeling PDE Surrogate Modeling
J. Mike Walker ’66 Department of Mechanical Engineering, Texas A&M University, College Station, TX 77801, USA · Mounted Systems Engineering Team, Platform Systems Division, Defence Science and Technology Laboratory, Portsdown West, PO17 6AD, UK
Multi-Agent Reinforcement Learning for Safe Autonomous Driving Under Pedestrian Behavioral Uncertainty
May 18, 2026Prakash Aryan, Kaushik Raghupathruni, Timo Kehrer +1Pedestrian Behavior Modeling Human Behavior Simulation
University of Bern, Bern, Switzerland. · AI4I, The Italian Institute of Artificial Intelligence, Turin, Italy.
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 Reconstruction World Models for Autonomous Driving
Xiaomi Auto World Model Team
Scenario Generation in Roundabouts with Adjustable Interaction Intensity
May 18, 2026Li Li, Till Temmen, Tobias Brinkmann +3Autonomous Driving Simulation Automated Test Generation
Chair of Mechatronics in Mobile Propulsion, RWTH Aachen University, Germany
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 Evaluation Adversarial 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
Generating Realistic Safety-Critical Scenarios for Vehicle-Pedestrian Interactions
May 17, 2026Qingwen Pu, Kun Xie, Yuan Zhu +1Human Behavior Simulation Autonomous 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
P2GS: Physical Prior-guided Gaussian Splatting for Photometrically Consistent Urban Reconstruction
May 16, 2026Kota Shimomura, Hidehisa Arai, Tsubasa Takahashi +2Multi-View Consistency 3D Gaussian Splatting
Chubu University1 · Turing Inc.2
PCASim: Promptable Closed-loop Adversarial Simulation for Urban Traffic Environment
May 15, 2026Chuancheng Zhang, Zhenhao Wang, Kaizheng Li +3Autonomous Driving Safety Evaluation Synthetic 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.
DriveCtrl: Conditioned Sim-to-Real Driving Video Generation
May 14, 2026Haonan Zhao, Yiting Wang, Jingkun Chen +3Autonomous Driving Datasets Synthetic Data Augmentation
University of Warwick · 2Northwestern Polytechnical University · 3Queen Mary University of London
Learning Responsibility-Attributed Adversarial Scenarios for Testing Autonomous Vehicles
May 13, 2026Yizhuo Xiao, Haotian Yan, Ying Wang +5AI Accountability Autonomous 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
Real2Sim: A Physics-driven and Editable Gaussian Splatting Framework for Autonomous Driving Scenes
May 13, 2026Kaicong Huang, Talha Azfar, Weisong Shi +13D Gaussian Splatting Synthetic 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.
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 +1Autonomous Driving Simulation
Institute for Automotive Engineering, RWTH Aachen University - Vehicle Intelligence & Automated Driving · Institute for Automotive Engineering, RWTH Aachen University
HorizonDrive: Self-Corrective Autoregressive World Model for Long-horizon Driving Simulation
May 12, 2026Conglang Zhang, Yifan Zhan, Qingjie Wang +10World Model Learning Long-Horizon Video Generation
Wuhan University · The University of Tokyo · Horizon Robotics +3
MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systems
May 11, 2026Marco Coscoy, Zewei Zhou, Seth Z. Zhao +9Autonomous Driving Benchmarks Autonomous Driving
University of California, Los Angeles
Beyond Self-Play and Scale: A Behavior Benchmark for Generalization in Autonomous Driving
May 11, 2026Aron Distelzweig, Faris Janjoš, Andreas Look +7Autonomous Driving Benchmarks Self-Play RL
University of Freiburg · Bosch Center for Artificial Intelligence · Coburg University of Applied Sciences +1
HiDrive: A Closed-Loop Benchmark for High-Level Autonomous Driving
May 11, 2026Zhongyu Xia, Guanyu Zhu, Guo Tang +2Autonomous Driving Benchmarks End-to-End Autonomous Driving
Wangxuan Institute of Computer Technology, Peking University
Beyond Self-Play: Hierarchical Reasoning for Continuous Motion in Closed-Loop Traffic Simulation
May 9, 2026Weifan Zhang, Xiaofeng Zhao, Adel Bazzi +3Human Behavior Simulation Hierarchical RL
Isuzu Technical Center of America, Plymouth, MI, USA · School of Aeronautics and Astronautics, Purdue University, West Lafayette, IN 47907, USA
REAP: Reinforcement-Learning End-to-End Autonomous Parking with Gaussian Splatting Simulator for Real2Sim2Real Transfer
May 9, 2026Changze Li, Zhe Chen, Shaoyu Chen +7End-to-End Autonomous Driving Autonomous Parking
Horizon Robotics Technology Research and Development Co., Ltd.
SceneFactory: GPU-Accelerated Multi-Agent Driving Simulation with Physics-Based Vehicle Dynamics
May 8, 2026Yicheng Zhu, Yang Chen, Tao Li +1GPU Acceleration Vehicle Dynamics
Rochester Institute of Technology · City University of Hong Kong
Traffic Scenario Orchestration from Language via Constraint Satisfaction
May 7, 2026Frieda Rong, Chris Zhang, Kelvin Wong +1Autonomous Driving Simulation Automated Test Generation
University of Toronto · 2Waabi
Practical validation of synthetic pre-crash scenarios
May 6, 2026Jian Wu, Ulrich Sander, Carol Flannagan +1Autonomous Driving Safety Evaluation Autonomous Driving Simulation
Safety Center, Volvo Cars, 41878 Göteborg, Sweden · Department of Mechanics and Maritime Sciences, Chalmers University of Technology, 41756 Göteborg, Sweden · University of Michigan Transportation Research Institute, Ann Arbor, Michigan 48109, USA
Conditional Flow-VAE for Safety-Critical Traffic Scenario Generation
May 6, 2026Zimu Gong, Brian Zhaoning Zhang, Chris Zhang +2Flow Matching Synthetic Data Generation for Robotics
University of Michigan-Ann Arbor · University of Waterloo · 1Waabi Innovation Inc +1
From Concept to Capability: Evaluating 3D Gaussian Splatting for Synthetic Scene Editing in Autonomous Driving
May 3, 2026Ali Nouri, Yifei Zhang, Yifan Zhang +53D Gaussian Splatting 3D Scene Editing
Volvo Cars, Gothenburg, Sweden · Zenseact AB, Gothenburg, Sweden · Lund University, Lund, Sweden +1

May 21, 2026J/K move · Enter open · S save

Diffusion-guided Generalizable Enhancer for Urban Scene Reconstruction

Henry Che, Jingkang Wang, Yun Chen, Ze Yang+2

1Waabi · University of Illinois Urbana-Champaign · University of Toronto

3D Gaussian Splatting Diffusion Model Guidance 3D Reconstruction Feed-Forward 3D Reconstruction Autonomous Driving Simulation

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Urban scene reconstruction from real-world observations has emerged as a powerful tool for self-driving development and testing. While current neural rendering approaches achieve high-fidelity rendering along the recorded trajectories, their quality degrades significantly under large viewpoint shifts, limiting the applicability for closed-loop simulation. Recent works have shown promising results in using diffusion models to enhance quality at these challenging viewpoints and distill improvements back into 3D representations. However, they often require costly per-scene optimization, and the distilled representations remain fragile and fail to generalize beyond limited synthesized views. To address these limitations, we propose GenRe, a novel diffusion-guided generalizable enhancer for urban scene reconstruction. GenRe takes as input any pretrained 3D Gaussian representation and fixes the deficiencies within a few minutes. By learning to distill generative priors across diverse scenes, GenRe produces robust and high-fidelity representation efficiently that generalizes reliably to challenging unseen viewpoints (e.g., lane change). Experiments show that GenRe outperforms existing methods in both quality and efficiency and benefits various downstream tasks, enabling robust and scalable sensor simulation for autonomous driving.