Collision Snapshot Guided Time-Reversed Safety-Critical Scenario Generation
The generation of safety-critical traffic scenarios is essential for training and evaluating autonomous vehicles. Prior approaches typically perturb the trajectories of existing agents in a traffic scenario using simplified adversarial objectives to induce safety-critical interactions, which can limit the plausibility and diversity of the generated scenarios. Although inserting new adversarial vehicles can alleviate this limitation, determining when and where to introduce them in a scenario-specific manner remains challenging. In this work, we introduce \underline{CO}llision \underline{S}napshot guided \underline{T}im\underline{E}-\underline{R}eversed safety-critical scenario generation (...
| Authors | Taehyung Kim, Jongeun Choi |
|---|---|
| Primary category | cs.RO |
| Published | 6 September 2026 |
| Last updated at source | 6 September 2026 |
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