arXiv:2606. 31131v1 Announce Type: new Abstract: To ensure safe on-road behavior, pre-deployment testing and failure discovery of Autonomous Driving Systems (ADS) is crucial.
arXiv:2607. 14387v1 Announce Type: new Abstract: Validating autonomous driving systems requires diverse, regulation-compliant test scenarios.
PlannerForge is a unified LLM‑agent framework that covers the entire scenario‑based testing pipeline for autonomous driving systems, from scenario generation to ADS assessment, and adds ADS enhancement and benchmarking stages. It was evaluated with ten off‑the‑shelf LLMs across all tasks and five prompt conditions, achieving best‑per‑task scores between 0.88 and 1.00 and matching commercial APIs with open‑source models such as Qwen3.6:35B. The end‑to‑end chaining retains 83% of seed queries for commercial backends and 78% for open‑source, outperforming existing tools like Scenario Factory 2.0 and BM25 in natural‑language generation, attribute realization, and physically valid edits. whyItMatters":"PlannerForge demonstrates that a single LLM‑based system can streamline and improve the fragmented scenario‑based testing workflow for autonomous driving, achieving high performance without domain‑specific fine‑tuning."
arXiv:2503. 08936v3 Announce Type: replace-cross Abstract: Scenario-based testing with driving simulators is extensively used to identify failing conditions of automated driving assistance systems (ADAS).
arXiv:2606. 11874v1 Announce Type: new Abstract: With the development of autonomous driving systems, mining high-value, safety-critical, and planning-relevant scenarios from large-scale driving logs has become essential for data-driven evaluation.
AURORA is a natural‑language‑driven framework that treats air‑ground scenario generation as a compilation process with verification. It introduces the Air‑Ground Scenario Graph (AGSG), a typed intermediate representation linking agents, missions, events, communication, and success conditions, enabling joint grounding, temporal planning, pre‑execution checks, runtime verification, failure localization, and bounded repair. The authors also present AURORA‑Bench to evaluate not only execution but faithful realization of requested interactions, showing that structured execution and runtime verification improve reliability and that explicit intermediate representations facilitate verifiable and repairable co‑simulation.
Teach-to-Crash is a closed‑loop testing framework that uses a dual‑LLM architecture to generate collision‑inducing scenarios for autonomous driving systems. A high‑reasoning Teacher LLM controls the search when collision metrics stagnate, while a low‑reasoning Student LLM produces simulator‑executable scenarios in JSON. In a CARLA case study, Teach‑to‑Crash achieved the highest collision hit rate (90.79 %), the shortest mean time‑to‑collision (18.31 s), and superior diversity and avoidability metrics compared to other methods.
arXiv:2606. 31844v1 Announce Type: cross Abstract: A local-to-global context mismatch arises when autoregressive traffic simulators trained on ego-centric driving logs are deployed in globally observable closed-loop environments.
arXiv:2608. 13719v1 Announce Type: new Abstract: Autonomous systems can fail in rare and heterogeneous ways, making real-world failure discovery difficult under limited testing budgets.
CrashDiffuser is a closed-loop VLM‑guided diffusion framework designed for fine‑grained safety‑critical traffic scenario generation. It separates semantic collision reasoning from trajectory synthesis via a hierarchical collision‑intent interface that specifies target contact regions (head, rear, or side). The system uses a vision‑language model to extract scene context and predict structured action tuples, which condition a diffusion model to produce executable adversarial trajectories, achieving high target‑collision and contact‑region control rates on WOMD‑derived scenarios.
The paper introduces an automated pipeline that converts non‑critical driving scenes into safety‑critical scenarios by integrating computer vision, Large Language Models (LLMs), and Augmented Reality (AR). It detects and tracks road users, extracts safety features such as distance, velocity, motion direction, and Time‑to‑Collision (TTC), and evaluates scene criticality. Safe scenes are then modified by an LLM, which generates realistic collision‑inducing objects and behaviors that are overlaid onto the original scene using AR, achieving 97.52% safety classification accuracy on the nuScenes dataset and producing realistic scenarios like pedestrian crossings, rear overtaking vehicles, and sudden‑stop events.
arXiv:2602. 16073v2 Announce Type: replace-cross Abstract: Developing autonomous driving systems for complex traffic environments requires balancing multiple objectives, such as avoiding collisions, obeying traffic rules, and making efficient progress.
arXiv:2607. 07103v1 Announce Type: new Abstract: Safe autonomous driving requires both rapid responses to common high-risk events and deeper reasoning over rare, extreme long-tail scenarios in traffic safety.