自动驾驶

Learning to Generate 4D LiDAR Sequences

Ao Liang, Youquan Liu, Yu Yang, Dongyue Lu, Linfeng Li, Lingdong Kong, Huaici Zhao, Wei Tsang Ooi

机构 * NUS（国立新加坡大学） ； UCAS（中国科学院大学） ； SIA, CAS（中国科学院上海自动化研究所） ； FDU（福建大学） ； ZJU（浙江大学） 纠错

专题命中 仿真评测 ：LiDAR(title,abstract)；occupancy(abstract)；分类 cs.RO、cs.CV

Comments Abstract Paper (Non-Archival) @ ICCV 2025 Wild3D Workshop; GitHub Repo at https://lidarcrafter.github.io/

La La LiDAR: Large-Scale Layout Generation from LiDAR Data

Youquan Liu, Lingdong Kong, Weidong Yang, Xin Li, Ao Liang, Runnan Chen, Ben Fei, Tongliang Liu

专题命中 仿真评测 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.RO、cs.CV

Comments Preprint; 10 pages, 6 figures, 7 tables

Multi-Objective Reinforcement Learning for Adaptable Personalized Autonomous Driving

Hendrik Surmann, Jorge de Heuvel, Maren Bennewitz

机构 * University of Bonn（波恩大学） ； Lamarr Institute for Machine Learning and Artificial Intelligence（拉玛尔机器学习与人工智能研究所） ； Center for Robotics（机器人中心） 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；end-to-end driving(abstract)；分类 cs.RO、cs.CV

X-Driver: Explainable Autonomous Driving with Vision-Language Models

Wei Liu, Jiyuan Zhang, Binxiong Zheng, Yufeng Hu, Yingzhan Lin, Zengfeng Zeng

机构 * Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳）） ； Baidu Inc.（百度公司） 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；end-to-end driving(abstract)；分类 cs.RO、cs.CV

Safety2Drive: Safety-Critical Scenario Benchmark for the Evaluation of Autonomous Driving

Jingzheng Li, Tiancheng Wang, Xingyu Peng, Jiacheng Chen, Zhijun Chen, Bing Li, Xianglong Liu

机构 * Zhongguancun Laboratory（中关村实验室） ； Beihang University（北京航空航天大学） ； A*STAR 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.RO、cs.AI

SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment

Katrin Renz, Long Chen, Elahe Arani, Oleg Sinavski

专题命中 仿真评测 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.RO、cs.CV

Comments CVPR 2025. 1st Place @ CARLA Challenge 2024. Challenge tech report (preliminary version of SimLingo): arXiv:2406.10165

Pit30M: A Benchmark for Global Localization in the Age of Self-Driving Cars

Julieta Martinez, Sasha Doubov, Jack Fan, Ioan Andrei Bârsan, Shenlong Wang, Gellért Máttyus, Raquel Urtasun

专题命中 仿真评测 ：self-driving(title,abstract)；LiDAR(abstract)；分类 cs.RO、cs.CV

Comments Published at IROS 2020

TrafficBots: Towards World Models for Autonomous Driving Simulation and Motion Prediction

Zhejun Zhang, Alexander Liniger, Dengxin Dai, Fisher Yu, Luc Van Gool

专题命中 仿真评测 ：autonomous driving(title,abstract)；end-to-end driving(abstract)；分类 cs.RO、cs.CV

Comments Published at ICRA 2023. The repository is available at https://github.com/zhejz/TrafficBots

Learning Pedestrian Actions to Ensure Safe Autonomous Driving

Jia Huang, Alvika Gautam, Srikanth Saripalli

专题命中 仿真评测 ：autonomous driving(title,abstract)；self-driving(abstract)；分类 cs.RO、cs.CV

Comments 8 pages, 9 figures

Cognitive Level-$k$ Meta-Learning for Safe and Pedestrian-Aware Autonomous Driving

Haozhe Lei, Quanyan Zhu

专题命中 仿真评测 ：autonomous driving(title,abstract)；self-driving(abstract)；分类 cs.RO、cs.AI

Dynamic Conditional Imitation Learning for Autonomous Driving

Hesham M. Eraqi, Mohamed N. Moustafa, Jens Honer

专题命中 仿真评测 ：autonomous driving(title,abstract)；occupancy(abstract)；分类 cs.RO、cs.AI

Comments 14 pages, 11 figures, 7 tables

Journal ref IEEE Transactions on Intelligent Transportation Systems

Finding Physical Adversarial Examples for Autonomous Driving with Fast and Differentiable Image Compositing

Jinghan Yang, Adith Boloor, Ayan Chakrabarti, Xuan Zhang, Yevgeniy Vorobeychik

专题命中 仿真评测 ：autonomous driving(title,abstract)；self-driving(abstract)；分类 cs.CV、cs.AI

SuperQuadricOcc: Real-Time Self-Supervised Semantic Occupancy Estimation with Superquadric Volume Rendering

SuperQuadricOcc: 基于超级二次曲面体渲染的实时自监督语义占用估计

Seamie Hayes, Alexandre Boulch, Andrei Bursuc, Reenu Mohandas, Ganesh Sistu, Tim Brophy, Ciaran Eising

机构 * Data Driven Computer Engineering (D²iCE) Research Centre（数据驱动计算机工程（D²iCE）研究中心） ； University of Limerick（利默里克大学） ； Taighde Éireann – Research Ireland（爱尔兰研究——塔吉德） 纠错

专题命中 仿真评测 ：occupancy(title,abstract)；autonomous driving(abstract)；分类 cs.CV

AI总结 本文提出SuperQuadricOcc，通过超级二次曲面体渲染实现实时自监督语义占用估计，相比传统方法更高效且占用内存更少，在Occ3D-nuScenes数据集上取得最佳性能。

Comments Accepted at WACV 2027

LaGen: Towards Autoregressive LiDAR Scene Generation

LaGen：迈向自主驾驶的自回归激光雷达场景生成

Sizhuo Zhou, Xiaosong Jia, Fanrui Zhang, Junjie Li, Juyong Zhang, Yukang Feng, Jianwen Sun, Songbur Wong, Junqi You, Junchi Yan

机构 * University of Science and Technology of China（中国科学技术大学） ； Shanghai Innovation Institute（上海创新研究院） ； Shanghai Jiao Tong University（上海交通大学） ； Fudan University（复旦大学） 纠错

专题命中 仿真评测 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

AI总结 本文提出LaGen，首个支持长时交互生成的自回归框架，能基于单帧输入生成高保真4D激光雷达场景，并通过场景解耦和噪声调节模块提升生成质量。

Comments Accepted to ECCV 2026

Self-Driving Negotiator: An interactive, verifiable benchmark for social negotiation and theory of mind under hidden intent

自动驾驶谈判者：一个在隐藏意图下进行社会谈判和心理理论的交互式可验证基准

Ashutosh Kumar

机构 * Owl Autonomous Imaging, Inc（Owl 自动成像公司） 纠错

专题命中 仿真评测 ：self-driving(title,abstract)；autonomous driving(abstract)；分类 cs.RO

AI总结 提出一个文本多轮程序化生成环境，用于衡量自动驾驶中基于隐藏意图推断的隐式社会协调能力，通过特权模拟器状态计算奖励和诊断，当前最佳模型平均成功率仅0.68。

SAMoE-VLA: A Scene Adaptive Mixture-of-Experts Vision-Language-Action Model for Autonomous Driving

SAMoE-VLA：一种面向自动驾驶的场景自适应混合专家视觉-语言-动作模型

Zihan You, Hongwei Liu, Chenxu Dang, Zhe Wang, Sining Ang, Aoqi Wang, Yan Wang

机构 * Institute for AI Industry Research (AIR), Tsinghua University（人工智能产业研究院（AIR），清华大学） ； School of Instrument Science and Engineering, Southeast University（仪器科学与工程学院，东南大学） ； Zhili College, Tsinghua University（紫荆学院，清华大学） ； School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（人工智能与自动化学院，华中科技大学） ； Department of Automation, University of Science and Technology of China（自动化学院，中国科学技术大学） ； Department of Automation, University of Science and Technology Beijing（自动化学院，北京科技大学） 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；BEV(abstract)；分类 cs.CV

AI总结 SAMoE-VLA通过场景自适应混合专家机制提升自动驾驶中的视觉-语言-动作推理性能。

JiSAM: Alleviate Labeling Burden and Corner Case Problems in Autonomous Driving via Minimal Real-World Data

JiSAM: 通过最小真实世界数据缓解自动驾驶中的标注负担和边缘案例问题

Runjian Chen, Wenqi Shao, Bo Zhang, Shaoshuai Shi, Li Jiang, Ping Luo

机构 * The University of Hong Kong（香港大学） ； Shanghai AI Laboratory（上海人工智能实验室） ； Voyager Research, Didi Chuxing（滴滴出行 Voyager 研究） ； The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳）） ； HKU Shanghai Intelligent Computing Research Center（香港大学上海智能计算研究中心） 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

AI总结 JiSAM通过最小真实世界数据缓解自动驾驶中的标注负担和边缘案例问题，利用模拟数据提升真实感知性能。

A Style-Based Profiling Framework for Quantifying the Synthetic-to-Real Gap in Autonomous Driving Datasets

基于风格的 profiling 框架用于量化自动驾驶数据集的合成到现实差距

Dingyi Yao, Xinyao Han, Ruibo Ming, Zhihang Song, Lihui Peng, Jianming Hu, Danya Yao, Yi Zhang

机构 * Department of Automation, Tsinghua University（自动化系，清华大学） 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；driving perception(abstract)；分类 cs.CV

AI总结 本文提出基于风格的 profiling 框架，通过 SEDD 度量标准量化合成与现实数据集的差距，提升自动驾驶数据集的质量控制。

Comments Accepted for publication at the 2026 IEEE Intelligent Vehicles Symposium (IEEE IV 2026)

Journal ref 2026 IEEE Intelligent Vehicles Symposium (IEEE IV 2026)

RoboDriveVLM: A Novel Benchmark and Baseline towards Robust Vision-Language Models for Autonomous Driving

RoboDriveVLM：一种面向自动驾驶鲁棒视觉-语言模型的新型基准与基线

Dacheng Liao, Mengshi Qi, Peng Shu, Zhining Zhang, Yuxin Lin, Liang Liu, Huadong Ma

机构 * State Key Laboratory of Networking and Switching Technology（网络与交换技术国家重点实验室） ； Beijing University of Posts and Telecommunications（北京邮电大学） 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.AI

AI总结 RoboDriveVLM提出了一种新型基准和基线，用于评估视觉-语言模型在自动驾驶中的鲁棒性，通过模拟多种腐蚀场景提升系统可靠性。

Hybrid Rendering for Multimodal Autonomous Driving: Merging Neural and Physics-Based Simulation

多模态自动驾驶的混合渲染：融合神经网络与基于物理的模拟

Máté Tóth, Péter Kovács, Réka Bencses, Zoltán Bendefy, Zoltán Hortsin, Balázs Teréki, Tamás Matuszka

机构 * aiMotive 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

AI总结 本文提出混合渲染方法，结合神经网络与基于物理的模拟，提升自动驾驶模拟中新颖视角合成质量及实时渲染效率。

D-AWSIM: Distributed Autonomous Driving Simulator for Dynamic Map Generation Framework

Shunsuke Ito, Chaoran Zhao, Ryo Okamura, Takuya Azumi

机构 * Graduate School of Science and Engineering（科学与工程研究生学校） 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.RO

Comments 9 pages. This version includes minor lstlisting configuration adjustments for successful compilation. No changes to content or layout. Originally published at Euromicro DSD 2025

A Multi-Modality Evaluation of the Reality Gap in Autonomous Driving Systems

Stefano Carlo Lambertenghi, Mirena Flores Valdez, Andrea Stocco

专题命中 仿真评测 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.RO

Comments In proceedings of the 40th IEEE/ACM International Conference on Automated Software Engineering (ASE '25)

Decoupled Functional Evaluation of Autonomous Driving Models via Feature Map Quality Scoring

Ludan Zhang, Sihan Wang, Yuqi Dai, Shuofei Qiao, Qinyue Luo, Lei He

机构 * School of Vehicle and Mobility, Tsinghua University（车辆与移动系统学院，清华大学） ； State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University（智能绿色车辆与移动系统国家重点实验室，清华大学） ； School of Mathematical Sciences, Nankai University（数学科学学院，南开大学） ； College of Computer Science and Technology, Zhejiang University（计算机科学与技术学院，浙江大学） ； SAIC-GM-Wuling Automobile Co., Ltd.（上汽通用五菱汽车有限公司） 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；driving perception(abstract)；分类 cs.CV

S2R-Bench: A Sim-to-Real Evaluation Benchmark for Autonomous Driving

Li Wang, Guangqi Yang, Lei Yang, Ziying Song, Xinyu Zhang, Ying Chen, Lin Liu, Junjie Gao, Zhiwei Li, Qingshan Yang, Jun Li, Liangliang Wang, Wenhao Yu, Bin Xu, Weida Wang, Huaping Liu

机构 * School of Machanical Engineering, Beijing Institute of Technology（北京理工大学机械工程学院） ； College of Computer Science and Technology, Jilin University（吉林大学计算机科学与技术学院） ； School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航空航天工程学院） ； School of Computer and Information Technology, Beijing Key Lab of Traffic Data Analysis and Mining, Beijing Jiaotong University（北京交通大学计算机与信息学院） ； School of Vehicle and Mobility and Suzhou Automotive Research Institute, Tsinghua University（清华大学车辆与移动系统学院及苏州汽车研究院） ； Department of Electrical and Computer Engineering, National University of Singapore（新加坡国立大学电子与计算机工程学院） ； School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动系统学院） ； College of Information Science and Technology, Beijing University of Chemical Technology（北京化工大学信息科学与技术学院） ； Beijing Jingwei Hirain Technologies（北京京wei慧仁科技） 纠错

专题命中 仿真评测 ：autonomous driving(title,abstract)；driving perception(abstract)；分类 cs.RO

IGDrivSim: A Benchmark for the Imitation Gap in Autonomous Driving

Clémence Grislain, Risto Vuorio, Cong Lu, Shimon Whiteson

专题命中 仿真评测 ：autonomous driving(title,abstract)；self-driving(abstract)；分类 cs.RO

Comments 8 pages, 4 figures, 1 table

COOOL: Challenge Of Out-Of-Label A Novel Benchmark for Autonomous Driving

Ali K. AlShami, Ananya Kalita, Ryan Rabinowitz, Khang Lam, Rishabh Bezbarua, Terrance Boult, Jugal Kalita

专题命中 仿真评测 ：autonomous driving(title,abstract)；self-driving(abstract)；分类 cs.CV

A Novel MLLM-based Approach for Autonomous Driving in Different Weather Conditions

Sonda Fourati, Wael Jaafar, Noura Baccar

专题命中 仿真评测 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.RO

Comments 9 pages, 6 figures; Submitted to IEEE Transactions on Intelligent Transportation Systems

Moving Forward: A Review of Autonomous Driving Software and Hardware Systems

Xu Wang, Mohammad Ali Maleki, Muhammad Waqar Azhar, Pedro Trancoso

专题命中 仿真评测 ：autonomous driving(title,abstract)；self-driving(abstract)；分类 cs.RO

An Online Self-learning Graph-based Lateral Controller for Self-Driving Cars

Jilan Samiuddin, Benoit Boulet, Di Wu

专题命中 仿真评测 ：self-driving(title,abstract)；autonomous driving(abstract)；分类 cs.RO

Comments The article has been published in the early access area on IEEE Xplore for the IEEE Transactions on Intelligent Vehicles (2024). This is the accepted version. Number of pages: 12 pages, Number of figures: 10

NeuRAD: Neural Rendering for Autonomous Driving

Adam Tonderski, Carl Lindström, Georg Hess, William Ljungbergh, Lennart Svensson, Christoffer Petersson

专题命中 仿真评测 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV