ScenePilot: Controllable Boundary-Driven Critical Scenario Generation for Autonomous Driving
Safety-critical scenarios are central to evaluating autonomous driving systems, yet their rarity in naturalistic logs makes simulation-based stress testing indispensable. Most scenario generation methods treat surrounding agents as adversaries, but they either (i) induce failures without explicitly modeling vehicle-road physical limits, yielding visually extreme yet physically unsolvable crashes, or (ii) enforce physical feasibility or policy feasibility in isolation, which can over-focus on aggressive maneuvers or remain tied to a controller-dependent capability boundary. We propose ScenePilot, a feasibility-guided, boundary-driven framework that targets the boundary band: scenarios that...
| Authors | Qiyu Ruan, Yuxuan Wang, He Li et al. |
|---|---|
| Primary category | cs.AI |
| Published | 20 May 2026 |
| Last updated at source | 29 May 2026 |
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