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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From Driving Videos to Simulatable Scenarios
Jun 20, 2026Alexandre Levy, Ernest Valveny Llobet, Antonio Manuel LópezAutonomous Driving Simulation Autonomous Driving Scenario Generation
Dept. Computer Science, Universitat Aut`onoma de Barcelona (UAB) · Computer Vision Center (CVC), UAB
FAST: A Framework for Aligned Sampling and Training in Parallel Reinforcement Learning for Autonomous Driving
Jun 19, 2026Bonan Wang, Letian Tao, Bin Shuai +7Reinforcement Learning RL for Autonomous Driving
School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China · Didi Voyager Labs, DiDi Autonomous Driving · School of Vehicle and Mobility and the College of AI, Tsinghua University, Beijing 100084, China
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 Augmentation Video Diffusion Models
KAIST, Visual Intelligence Lab
World Engine: Towards the Era of Post-Training for Autonomous Driving
Jun 18, 2026Tianyu Li, Li Chen, Caojun Wang +16Autonomous Driving RL Post-Training
Archon Robotics · Shanghai Innovation Institute · NTU +6
Scaling Self-Play for End-to-End Driving
Jun 17, 2026Luke Rowe, Roger Girgis, Rodrigue de Schaetzen +6Self-Play RL End-to-End Autonomous Driving
Mila · Université de Montréal · Polytechnique Montréal +4
A Mixed-Reality Testbed for Autonomous Vehicles
Jun 17, 2026H. M. Sabbir Ahmad, Ehsan Sabouni, Emrullah Celik +4Autonomous Driving Planning Autonomous Driving Simulation
Division of Systems Engineering, Boston University · Department of Electrical and Computer Engineering, Boston University
SPHINX: First Explain, Then Explore
Jun 16, 2026Nguyen Do, Tue M. Cao, Tien Van Do +3Autonomous Driving Safety Evaluation Adversarial 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
TerraTransfer: Learning End-to-End Driving Policies Without Expert Demonstrations
Jun 16, 2026Zikang Xiong, Weixin Li, Zhouchonghao Wu +6End-to-End Autonomous Driving RL for Autonomous Driving
1Applied Intuition · 2UCLA · 3UC Berkeley
Automated Digital Twin Construction for Highway Scenarios Using LiDAR Point Clouds and OpenStreetMap
Jun 15, 2026Yongqi Zhao, Dong Bi, Paul Kovacevic +4Digital Twins Autonomous Driving Simulation
Institute of Automotive Engineering, Graz University of Technology, 8010 Graz, Austria · School of Intelligent Connected Vehicle, Hubei University of Automotive Technology, 442002 Shiyan, China · 3Professorship of Autonomous Vehicle Systems, Technical University of Munich, 85748 Garching, Germany
RealityBridge: Bridging Editable 3D Gaussian Splatting Driving Simulations and Real-World Videos
Jun 15, 2026Zhenhua Wu, Yun Pang, Mingkun Chang +43D Gaussian Splatting Sim-to-Real Transfer
1Sun Yat-sen University · 2Shanghai Innovation Institute · 3Shenzhen Loop Area Institute
ControlMap: Controllable High-Definition Map Generation for Traffic Scenario Simulation
Jun 14, 2026Marwan Farag, Steffen Wäldele, Yu YaoHD Map Construction Procedural Content Generation
University of Stuttgart, Stuttgart, Germany · Robert Bosch GmbH, Renningen, Germany · Motional, Inc
A Corridor-Scale CARLA-VISSIM Co-Simulation Framework for Multi-Intersection Urban Traffic
Jun 13, 2026Sima Ashayer, Austin Haris, Mina SartipiIntelligent Transportation Systems Autonomous Driving Simulation
The University of Tennessee at Chattanooga, Chattanooga, TN, USA
CausalDrive: Real-time Causal World Models for Autonomous Driving
Jun 13, 2026Tianyi Yan, Huan Zheng, Dubing Chen +10Action-Conditioned Video Generation Autonomous Driving
SKL-IOTSC, CIS, University of Macau · Xiaomi EV · CASIA
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
Human-like autonomy emerges from self-play and a pinch of human data
Jun 11, 2026Daphne Cornelisse, Julian Hunt, Zixu Zhang +4Self-Play RL Autonomous Driving
NYU Tandon School of Engineering · NYU Courant · Princeton University +2
PersonaDrive: Human-Style Retrieval-Augmented VLA Agents for Closed-Loop Driving Simulation
Jun 10, 2026Mahmoud Srewa, Praneetsai Iddamsetty, Mohammad Abdullah Al Faruque +1VLMs for Autonomous Driving Autonomous Driving
Department of Electrical Engineering and Computer Science University of California, Irvine Irvine, CA 92697, USA
From Nominal Intensity to Equivalent Rainfall: A Path-Based Credibility Evaluation Framework for Simulated Rainfall in Autonomous-Driving Perception Tests
Jun 10, 2026Tian Xia, Xin Zhao, Shaolingfeng Ye +1Autonomous Driving Perception Autonomous Driving Simulation
College of Automotive and Energy Engineering, Tongji University, Shanghai, China · Tsinghua University, Beijing, China
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
A Causal Probabilistic Framework for Perception-Informed Closed-Loop Simulation of Autonomous Driving
Jun 5, 2026Zhennan Fei, Rickard Johansson, Mikael Andersson +12Autonomous Driving Perception Autonomous Driving Simulation
Volvo Cars, Sweden · Chalmers University of Technology, Sweden · TNO, The Netherlands +2
RiskFlow: Fast and Faithful Safety-Critical Traffic Scenario Generation
Jun 4, 2026Qi Lan, Yining Tang, Yu Shen +4Flow Matching Autonomous Driving Safety Evaluation
College of Mechanical and Vehicle Engineering Chongqing University, Chongqing, China
EvoDrive: Pareto Evolution for Safety-Critical Autonomous Driving via Self-Improving LLM Agents
Jun 2, 2026Tong Nie, Yuewen Mei, Yihong Tang +4Multi-Objective Evolutionary Optimization Autonomous Driving Safety Evaluation
The Hong Kong Polytechnic University · Tongji University · McGill University +1
NVIDIA OmniDreams: Real-Time Generative World Model for Closed-Loop Autonomous Vehicle Simulation
Jun 2, 2026Aarti Basant, Amlan Kar, Despoina Paschalidou +30Action-Conditioned Video Generation Video Diffusion Models
NVIDIA
PairedGTA: Generating Driving Datasets for Controlled Photometric Shift Analysis
May 31, 2026Andrea Chianese, Giulio Rossolini, Alessandro Biondi +2Autonomous Driving Datasets Autonomous Driving Perception
Scuola Superiore Sant’Anna, Pisa, Italy, Department of Excellence in Robotics & AI · University of Pisa, DII, Pisa, Italy
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
V2XCrafter: Learning to Generate Driving Scene Across Agents
May 28, 2026Yihang Tao, Yu Guo, Senkang Hu +4Autonomous Driving Synthetic Data Generation for Robotics
Hong Kong JC STEM Lab of Smart City · City University of Hong Kong · Lingnan University
Modeling Vehicle-Type-Specific Pedestrian Crash Avoidance Behavior in Safety-Critical Interactions Using Smooth-Mamba Deep Reinforcement Learning
May 27, 2026Qingwen Pu, Kun Xie, Hong Yang +2Collision Avoidance Pedestrian Behavior Modeling
Transportation Informatics Lab, Department of Civil and Environmental Engineering, Old Dominion University, Norfolk, VA 23529, United States · Department of Electrical and Computer Engineering, Old Dominion University, Norfolk, VA, United States · Department of Transportation and Urban Infrastructure Studies, SMARTER Center, Morgan State University, 1700 E Cold Spring Ln, Baltimore, MD 21251, USA
AnyScene: Towards Highly Controllable Driving Scene Generation at Anywhere and Beyond
May 25, 2026Haiming Zhang, Junfei Zhou, Feng Jiang +6Long-Horizon Video Generation 3D Scene Generation
Li Auto · Southwest Jiaotong University · Tsinghua University
Physics-Aware 3D Gaussian Editing for Driving Scene Generation
May 25, 2026Feng Zhou, Jian Zhang, Yuhang Sun +53D Gaussian Splatting 3D 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.
ARCANE-PedSynth: Synthetic Multi-Pedestrian Datasets with Behavioural Crossing Annotations
May 24, 2026Muhammad Naveed Riaz, Maciej Wielgosz, Antonio M. López PeñaAutonomous Driving Datasets Pedestrian 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

Jun 20, 2026J/K move · Enter open · S save

From Driving Videos to Simulatable Scenarios

Alexandre Levy, Ernest Valveny Llobet, Antonio Manuel López

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

Autonomous Driving Simulation Autonomous Driving Scenario Generation

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Autonomous vehicles (AVs) face driving scenarios ranging from routine traffic to rare events. To assess safety it is crucial to reproduce these scenarios in a controllable, repeatable, and scalable manner, with simulation playing a key role. This paper introduces D-V2S, a novel framework that automatically generates simulatable driving scenarios from driving videos. D-V2S operates in two stages: a Driving Record Analyzer (DRA) uses a vision language model (VLM) with our designed prompt to produce natural-language descriptions from input videos, capturing road layouts and dynamic traffic interactions; subsequently, a Scenario Generator (SG) uses a large language model (LLM) and our conditioning context to translate these descriptions into executable scenarios. Using simulations, we show that D-V2S generates scenarios where 90% of the relevant semantic elements of the videos are present. We also provide qualitative results demonstrating D-V2S's capability to transform real-world driving videos into simulatable scenarios. Moreover, we provide both semantic and human driven ablative analyses of D-V2S's modules. In particular, we show how the VLM choice matters for DRA, and how our SG achieves a 75% preference rate over other state-of-the-art methods.