自动驾驶

TRAVERSE: Traffic-Responsive Autonomous Vehicle Experience & Rare-event Simulation for Enhanced safety

Sandeep Thalapanane, Sandip Sharan Senthil Kumar, Guru Nandhan Appiya Dilipkumar Peethambari, Sourang SriHari, Laura Zheng, Julio Poveda, Ming C. Lin

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

PLT-D3: A High-fidelity Dynamic Driving Simulation Dataset for Stereo Depth and Scene Flow

Joshua Tokarsky, Ibrahim Abdulhafiz, Satya Ayyalasomayajula, Mostafa Mohsen, Navya G. Rao, Adam Forbes

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

CARLA-Loc: Synthetic SLAM Dataset with Full-stack Sensor Setup in Challenging Weather and Dynamic Environments

Yuhang Han, Zhengtao Liu, Shuo Sun, Dongen Li, Jiawei Sun, Chengran Yuan, Marcelo H. Ang

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

The Audio-Visual BatVision Dataset for Research on Sight and Sound

Amandine Brunetto, Sascha Hornauer, Stella X. Yu, Fabien Moutarde

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

Comments Project page https://amandinebtto.github.io/Batvision-Dataset/ This version contains camera ready paper

Journal ref 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

S-NeRF: Neural Radiance Fields for Street Views

Ziyang Xie, Junge Zhang, Wenye Li, Feihu Zhang, Li Zhang

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

Comments ICLR 2023

Are We Ready for Vision-Centric Driving Streaming Perception? The ASAP Benchmark

Xiaofeng Wang, Zheng Zhu, Yunpeng Zhang, Guan Huang, Yun Ye, Wenbo Xu, Ziwei Chen, Xingang Wang

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

Comments code: https://github.com/JeffWang987/ASAP

NYU-VPR: Long-Term Visual Place Recognition Benchmark with View Direction and Data Anonymization Influences

Diwei Sheng, Yuxiang Chai, Xinru Li, Chen Feng, Jianzhe Lin, Claudio Silva, John-Ross Rizzo

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

Comments 8 pages, 10 figures, published in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

Learning Actions for Drift-Free Navigation in Highly Dynamic Scenes

Mohd Omama, Sundar Sripada V. S., Sandeep Chinchali, K. Madhava Krishna

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

Comments Accepted in American Control Conference 2022

KIT Bus: A Shuttle Model for CARLA Simulator

Yusheng Xiang, Shuo Wang, Tianqing Su, Jun Li, Samuel S. Mao, Marcus Geimer

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

Comments 6 pages, 12 figures

FedSceneX: Time-to-Target Orchestration for Same-Scene Multimodal Federated Edge Learning

FedSceneX：面向同场景多模态联邦边缘学习的目标时间编排

Dhe Yeong Tchalla, Beining Wu, Jun Huang, Shuyang Gu, Qiang Duan

专题命中 仿真评测 ：LiDAR(abstract,abstract_cn)

AI总结 FedSceneX针对同场景多模态联邦边缘学习的轮次耗时不固定问题，提出VHP优化方法，在nuScenes基准测试中缩短每轮次活跃时间，20小时预算内准确率最高且保持全部四种模态。

CMU-Drive and V2V-VLA: Cooperative Multi-agent Unified Driving with Reasoning Benchmark and Vehicle-to-Vehicle Vision-Language-Action Models

CMU-Drive与V2V-VLA：具备推理能力的协同多智能体统一驾驶基准及车对车视觉-语言-动作模型

Hsu-kuang Chiu, Stephen F. Smith

机构 * Carnegie Mellon University（卡内基梅隆大学） 纠错

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

AI总结 本文提出协同多智能体统一驾驶基准CMU-Drive及车对车视觉-语言-动作模型V2V-VLA，解决现有VLA模型缺乏协同能力的问题，构建了协同自动驾驶研究的首个基准并将相关资源开源。

NVIDIA OmniDreams: Real-Time Generative World Model for Closed-Loop Autonomous Vehicle Simulation

NVIDIA OmniDreams：用于闭环自动驾驶仿真的实时生成式世界模型

NVIDIA, :, Aarti Basant, Amlan Kar, Despoina Paschalidou, Fangyin Wei, Francesco Ferroni, Guillermo Garcia Cobo, Haithem Turki, Huan Ling, Jaewoo Seo, James Lucas, Jay Zhangjie Wu, Jialiang Wang, Jonathan Lorraine, Jun Gao, Kai He, Katarina Tothova, Kevin Xie, Michał Tyszkiewicz, Qi Wu, Riccardo de Lutio, Ruilong Li, Sanja Fidler, Seung Wook Kim, Tianchang Shen, Tianshi Cao, Tobias Pfaff, William Lew, Xindi Wu, Xuanchi Ren, Yifan Lu, Yuxuan Zhang, Zan Gojcic, Zian Wang

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

AI总结 提出OmniDreams，一个基于Cosmos扩散模型训练的基础生成式世界模型，通过自回归生成动作条件视频，实现闭环仿真中复杂长尾场景的实时合成，并验证其在策略模型训练中的有效性。

What Do They See? Interpreting Complex Road Scenarios Through the Eyes of Vision-Language-Action Models for Safe and Trustworthy Autonomous Vehicle Learning

他们看到了什么？通过视觉-语言-动作模型的视角解读复杂道路场景以实现安全可靠的自动驾驶学习

Kalpana Panda, Wesley Maia, Vinti Agarwal, Ross Greer

机构 * Birla Institute of Technology and Science, Pilani（贝拉理工科学学院皮拉尼分校） ； University of California, Merced（加州大学默塞德分校） 纠错

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

AI总结 研究自动驾驶模型内部逻辑不透明问题，提出反事实消融框架CVAA，通过移除摄像头图像中物体创建反事实集评估模型响应差异，应用于阿尔帕马约1轨迹预测器，分析物体因果影响，还通过可解释性技术深入理解模型，创建可解释驾驶系统巩固人机信任。

Physics-Informed Predictive Control for Integrated Electric-Vehicle Thermal Management: An Open, Real-Data-Anchored Benchmark

集成电动汽车热管理的物理信息预测控制：一个开放的、基于真实数据的基准

Yifan Wang

专题命中 仿真评测 ：BEV(abstract,abstract_cn)

AI总结 提出OpenEV-ThermoSciML开放基准，集成电池、座舱、热泵和CO₂模型，基于真实驾驶循环和天气数据，开发物理信息Sci-ML代理模型，实现多目标优化，并在真实热天场景下验证了显著改进。

Comments 7 pages, 2 figures

DVGT: Driving Visual Geometry Transformer

DVGT: 驾驶视觉几何变换器

Sicheng Zuo, Zixun Xie, Wenzhao Zheng, Shaoqing Xu, Fang Li, Shengyin Jiang, Long Chen, Zhi-Xin Yang, Jiwen Lu

机构 * Tsinghua University（清华大学） ； University of Macau（澳门大学） ； Xiaomi EV（小米电动车） ； Peking University（北京大学） 纠错

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

AI总结 提出DVGT，一种从无位姿多视角图像序列重建全局稠密3D点图的视觉几何变换器，通过交替注意力机制学习几何关系，无需相机参数和后处理对齐，在多个驾驶数据集上显著优于现有模型。

Comments Code is available at https://github.com/wzzheng/DVGT

Lipschitz Optimization for Formal Verification of Homographies

单应性矩阵形式化验证的Lipschitz优化

Jean-Guillaume Durand, Panagiotis Kouvaros, Maxime Gariel, Alessio Lomuscio

机构 * Joby Aviation（Joby航空） ； Safe Intelligence 纠错

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

AI总结 提出一种利用Lipschitz优化和分段连续性对单应性矩阵进行形式化验证的方法，首次实现对投影几何变换的鲁棒性验证，在基准测试中取得最高89%加速和7%更紧的边界。

Comments 18 pages, 13 figures, 6 tables, to be published at CVPR 2026

CrashSight: A Phase-Aware, Infrastructure-Centric Video Benchmark for Traffic Crash Scene Understanding and Reasoning

CrashSight：面向交通事故场景理解与推理的相位感知、基础设施导向视频基准

Rui Gan, Junyi Ma, Pei Li, Xingyou Yang, Kai Chen, Sikai Chen, Bin Ran

机构 * University of Wisconsin–Madison（威斯康星大学麦迪逊分校） ； University of Wyoming（怀俄明大学） ； Columbia University（哥伦比亚大学） 纠错

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

AI总结 CrashSight通过真实道路摄像头数据构建大规模视频基准，评估视觉语言模型在交通事故场景中的理解与推理能力，揭示现有模型在时间与因果推理方面的不足。

Drive My Way: Preference Alignment of Vision-Language-Action Model for Personalized Driving

Drive My Way: 为个性化驾驶的视觉-语言-动作模型偏好对齐

Zehao Wang, Huaide Jiang, Shuaiwu Dong, Yuping Wang, Hang Qiu, Jiachen Li

机构 * University of California, Riverside（加州大学河滨分校） ； University of Michigan（密歇根大学） 纠错

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

AI总结 本文提出Drive My Way框架，通过学习用户驾驶习惯和自然语言指令，实现个性化驾驶，提升对用户意图的适应能力。

Comments IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2026); Project website: https://dmw-cvpr.github.io/

Evaluation of Flight Parameters in UAV-based 3D Reconstruction for Rooftop Infrastructure Assessment

Nick Chodura, Melissa Greeff, Joshua Woods

机构 * Ingenuity Labs Research Institute, Queen's University, Canada（Ingenuity Labs研究机构、女王大学，加拿大） ； Department of Civil Engineering, Queen's University, Canada（土木工程系、女王大学，加拿大） ； Department of Electrical and Computer Engineering, Queen's University, Canada（电气与计算机工程系、女王大学，加拿大） 纠错

专题命中 仿真评测 ：LiDAR(abstract)；分类 cs.RO、cs.CV、eess.IV

Comments 8 pages, 6 figures, 2 tables

Journal ref Proceedings of the 42nd International Symposium on Automation and Robotics in Construction (ISARC 2025), Montreal, Canada, pp. 1486-1493, 2025

Goal-Based Vision-Language Driving

Santosh Patapati, Trisanth Srinivasan

机构 * Dept. of HCI（人机交互系） ； Cyrion Labs（Cyrion实验室） 纠错

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

Comments 6 pages

Vehicle-to-Infrastructure Collaborative Spatial Perception via Multimodal Large Language Models

Kimia Ehsani, Walid Saad

机构 * Bradley Department of Electrical and Computer Engineering（电气与计算机工程系） 纠错

专题命中 仿真评测 ：BEV(abstract)；LiDAR(abstract)

Comments Accepted at IEEE GLOBECOM 2025

DRAMA-X: A Fine-grained Intent Prediction and Risk Reasoning Benchmark For Driving

Mihir Godbole, Xiangbo Gao, Zhengzhong Tu

机构 * Texas A&M University（德克萨斯A&M大学） 纠错

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

Comments 19 pages, 5 figures, Preprint under review. Code available at: https://github.com/taco-group/DRAMA-X

WeatherEdit: Controllable Weather Editing with 4D Gaussian Field

Chenghao Qian, Wenjing Li, Yuhu Guo, Gustav Markkula

机构 * University of Leeds（利兹大学） ； Carnegie Mellon University（卡内基梅隆大学） 纠错

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

NuPlanQA: A Large-Scale Dataset and Benchmark for Multi-View Driving Scene Understanding in Multi-Modal Large Language Models

Sung-Yeon Park, Can Cui, Yunsheng Ma, Ahmadreza Moradipari, Rohit Gupta, Kyungtae Han, Ziran Wang

机构 * Purdue University（普渡大学） ； Toyota InfoTech Labs（丰田信息技术实验室） 纠错

专题命中 仿真评测 ：BEV(abstract)；分类 cs.RO、cs.CV、cs.AI

Long-term Traffic Simulation with Interleaved Autoregressive Motion and Scenario Generation

Xiuyu Yang, Shuhan Tan, Philipp Krähenbühl

机构 * UT Austin（德克萨斯大学奥斯汀分校） 纠错

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

Comments ICCV 2025. Project page: https://orangesodahub.github.io/InfGen Code: https://github.com/OrangeSodahub/infgen

Scene-Aware Conversational ADAS with Generative AI for Real-Time Driver Assistance

Kyungtae Han, Yitao Chen, Rohit Gupta, Onur Altintas

机构 * InfoTech Labs, Toyota Motor North America（丰田北美信息科技实验室） 纠错

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

LangCoop: Collaborative Driving with Language

Xiangbo Gao, Yuheng Wu, Rujia Wang, Chenxi Liu, Yang Zhou, Zhengzhong Tu

机构 * Texas A&M University（德克萨斯大学） ； KAIST（韩国科学技术院） ； University of Utah（犹他大学） 纠错

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

Journal ref CVPRW 2025

Extrapolated Urban View Synthesis Benchmark

Xiangyu Han, Zhen Jia, Boyi Li, Yan Wang, Boris Ivanovic, Yurong You, Lingjie Liu, Yue Wang, Marco Pavone, Chen Feng, Yiming Li

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

Comments Project page: https://ai4ce.github.io/EUVS-Benchmark/

Edge-Assisted Accelerated Cooperative Sensing for CAVs: Task Placement and Resource Allocation

Yuxuan Wang, Kaige Qu, Wen Wu, Xuemin, Shen

专题命中 仿真评测 ：autonomous driving(abstract)；LiDAR(abstract)

Gradient-Guided Parameter Mask for Multi-Scenario Image Restoration Under Adverse Weather

Jilong Guo, Haobo Yang, Mo Zhou, Xinyu Zhang

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