自动驾驶

NuScenes-QA: A Multi-modal Visual Question Answering Benchmark for Autonomous Driving Scenario

Tianwen Qian, Jingjing Chen, Linhai Zhuo, Yang Jiao, Yu-Gang Jiang

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

Comments Accepted to AAAI 2024

Generating Transferable Adversarial Simulation Scenarios for Self-Driving via Neural Rendering

Yasasa Abeysirigoonawardena, Kevin Xie, Chuhan Chen, Salar Hosseini, Ruiting Chen, Ruiqi Wang, Florian Shkurti

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

Comments Conference paper submitted to CoRL 23

First-principles Based 3D Virtual Simulation Testing for Discovering SOTIF Corner Cases of Autonomous Driving

Lehang Li, Haokuan Wu, Botao Yao, Tianyu He, Shuohan Huang, Chuanyi Liu

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

Comments 11 pages, 10 figures

Rethinking the Open-Loop Evaluation of End-to-End Autonomous Driving in nuScenes

Jiang-Tian Zhai, Ze Feng, Jinhao Du, Yongqiang Mao, Jiang-Jiang Liu, Zichang Tan, Yifu Zhang, Xiaoqing Ye, Jingdong Wang

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

Comments Technical report. Code is available

Sim-on-Wheels: Physical World in the Loop Simulation for Self-Driving

Yuan Shen, Bhargav Chandaka, Zhi-hao Lin, Albert Zhai, Hang Cui, David Forsyth, Shenlong Wang

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

Customized Co-Simulation Environment for Autonomous Driving Algorithm Development and Evaluation

Mustafa Ridvan Cantas, Levent Guvenc

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

Safe Autonomous Driving in Adverse Weather: Sensor Evaluation and Performance Monitoring

Fatih Sezgin, Daniel Vriesman, Dagmar Steinhauser, Robert Lugner, Thomas Brandmeier

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

Comments Accepted for the 35th IEEE Intelligent Vehicles Symposium (IV 2023), 6 pages

DriveFuzz: Discovering Autonomous Driving Bugs through Driving Quality-Guided Fuzzing

Seulbae Kim, Major Liu, Junghwan "John" Rhee, Yuseok Jeon, Yonghwi Kwon, Chung Hwan Kim

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

Comments This is the full version of the paper published at ACM CCS 2022. This version includes the appendices (pages 14 and 15)

ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning

Shengchao Hu, Li Chen, Penghao Wu, Hongyang Li, Junchi Yan, Dacheng Tao

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

Comments ECCV 2022

Attacks and Faults Injection in Self-Driving Agents on the Carla Simulator -- Experience Report

Niccolò Piazzesi, Massimo Hong, Andrea Ceccarelli

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

Comments submitted version; appeared at: International Conference on Computer Safety, Reliability, and Security. Springer, Cham, 2021

AADS: Augmented Autonomous Driving Simulation using Data-driven Algorithms

Wei Li, Chengwei Pan, Rong Zhang, Jiaping Ren, Yuexin Ma, Jin Fang, Feilong Yan, Qichuan Geng, Xinyu Huang, Huajun Gong, Weiwei Xu, Guoping Wang, Dinesh Manocha, Ruigang Yang

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

Journal ref Sci. Robotics. 4 (2019) eaaw0863

LiDARsim: Realistic LiDAR Simulation by Leveraging the Real World

Sivabalan Manivasagam, Shenlong Wang, Kelvin Wong, Wenyuan Zeng, Mikita Sazanovich, Shuhan Tan, Bin Yang, Wei-Chiu Ma, Raquel Urtasun

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

Comments CVPR 2020 (Oral)

Creating Impactful Autonomous Driving Datasets: A Strategic Guide from Research Gap to Benchmark

创建有影响力的自动驾驶数据集：从研究空白到基准的战略指南

Richard Schwarzkopf, Jonas Merkert, Frank Bieder, Annika Bätz, Alexander Blumberg, Carlos Fernandez, Felix Hauser, Fabian Immel, Christian Kinzig, Hendrik Königshof, Fabian Konstantinidis, Martin Lauer, Willi Poh, Nils Rack, Kevin Rösch, Yinzhe Shen, Marlon Steiner, Gleb Stepanov, Dominik Strutz, Ömer Şahin Taş, Julian Truetsch, Kaiwen Wang, Royden Wagner, Jan-Hendrik Pauls, Christoph Stiller

机构 * Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院） ； FZI Research Center for Information Technology（FZI信息技术研究中心） 纠错

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

AI总结 提出一种诊断研究问题类型并选择最小数据操作符填补空白的战略框架，通过KITScenes案例验证，指导中小实验室和初创公司高效创建有影响力的自动驾驶数据集。

Comments Keywords: Autonomous Driving, Dataset Design, Benchmarks, Research Gap Identification. 14 pages, 3 figures

Cam2Sim: Neural Scenario Reconstruction for Closed-Loop Autonomous Driving Simulation

Cam2Sim：用于闭环自动驾驶模拟的神经场景重建

Davide Jannussi, Stefano Carlo Lambertenghi, Constantin Carste, Andrea Stocco

专题命中 仿真评测 ：autonomous driving(title,abstract)；end-to-end driving(abstract)

AI总结 为解决合成模拟器输出与真实相机观测差距问题，提出Cam2Sim工具，从相机图像和姿态重建多种元素，用高斯溅射增强环境，支持多环节，验证表明其缩小视觉差距并提升行为相似度。

Comments In proceedings of the 41st IEEE/ACM International Conference on Automated Software Engineering (ASE '26) - Tools and Datasets track

Sim2Real-AD: A Modular Sim-to-Real Framework for Deploying VLM-Guided Reinforcement Learning in Real-World Autonomous Driving

Sim2Real-AD：一种模块化的仿真到现实框架，用于在现实世界自动驾驶中部署基于VLM的强化学习

Zilin Huang, Zhengyang Wan, Zihao Sheng, Boyue Wang, Junwei You, Sikai Chen

机构 * Department of Civil and Environmental Engineering, University of Wisconsin-Madison（威斯康星大学麦迪逊分校土木与环境工程系） ； Google（谷歌） 纠错

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

AI总结 本文提出Sim2Real-AD框架，实现无需真实世界强化学习数据将CARLA训练的VLM引导强化学习策略零样本迁移到全尺寸车辆。框架包含几何观察桥、物理感知动作映射、两阶段渐进训练和实时部署流水线。

Comments 33 pages, 16 figures

DriveVLM-RL: Neuroscience-Inspired Reinforcement Learning with Vision-Language Models for Safe and Deployable Autonomous Driving

DriveVLM-RL：受神经科学启发的强化学习与视觉语言模型用于安全可部署的自动驾驶

Zilin Huang, Zihao Sheng, Zhengyang Wan, Yansong Qu, Junwei You, Sicong Jiang, Sikai Chen

机构 * Department of Civil and Environmental Engineering, University of Wisconsin-Madison（威斯康星大学麦迪逊分校土木与环境工程系） ； Lyles School of Civil and Construction Engineering, Purdue University（普渡大学莱尔斯土木与建设工程学院） ； Department of Civil Engineering, McGill University（麦吉尔大学土木工程系） 纠错

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

AI总结 提出DriveVLM-RL框架，通过双通路架构将VLM集成到RL中，实现安全可部署的自动驾驶，在CARLA中显著优于基线。

Comments 33 pages, 16 figures

Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking

潜在高斯泼溅用于4D全景占据跟踪

Maximilian Luz, Rohit Mohan, Thomas Nürnberg, Yakov Miron, Daniele Cattaneo, Abhinav Valada

机构 * University of Freiburg（弗赖堡大学） ； Bosch Research（博世研究院） ； University of Haifa（海法大学） 纠错

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

AI总结 提出潜在高斯泼溅（LaGS）方法，通过特征高斯体作为动态关键点实现多视图特征聚合，用于4D全景占据跟踪，在Occ3D nuScenes和Waymo上达到最优性能。

Comments Accepted to IEEE Robotics and Automation Letters (RA-L), 2026

DriveJudge: Rethinking Autonomous Driving Evaluation with Vision-Language Models

DriveJudge: 用视觉-语言模型重新思考自动驾驶评估

Xinglong Sun, Kevin Xie, Jenny Schmalfuss, Despoina Paschalidou, Xiuming Zhang, Sanja Fidler, Kashyap Chitta, Jose M. Alvarez

机构 * NVIDIA（英伟达） 纠错

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

AI总结 提出DriveJudge，结合规则评估与VLM推理，通过选择性调用物理规则函数实现可解释且上下文感知的驾驶评估，在驾驶质量分类和轨迹偏好选择任务上超越现有方法。

Comments Under Review

Reason--Imagine--Act: Closed-Loop LLM Decision Making with World Models for Autonomous Driving

推理--想象--行动：基于世界模型的闭环LLM自动驾驶决策

Zhengqi Sun, Yiwen Sun, Boxuan Liu, Tailai Chen, Tianxu Guo, Jiabin Liu

机构 * 1Department of Information Management, Peking University, Beijing 100871, China ； 2School of Intelligence Science ； Technology, Peking University, Beijing 100871, China ； 3State Key Laboratory of General Artificial Intelligence, BIGAI, Beijing 100080, China ； 4Yuanpei College, Peking University, Beijing 100871, China ； 5China Agricultural University, Beijing, China ； 6CRSC Research \& Design Institute Group Co., Ltd., Beijing, China 纠错

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

AI总结 提出Reason--Imagine--Act (RIA)闭环框架，结合LLM推理器与动作条件世界模型进行在线安全验证，在CARLA点目标协议下实现80.05%路线完成率、51.10%到达率和0.20%碰撞率。

Comments Accepted by the 2026 IEEE International Conference on Intelligent Transportation Systems (ITSC 2026). 8 pages, 2 figures

V2X-QA: A Comprehensive Reasoning Dataset and Benchmark for Multimodal Large Language Models in Autonomous Driving Across Ego, Infrastructure, and Cooperative Views

V2X-QA：面向自动驾驶多视角的多模态大语言模型综合数据集与基准测试

Junwei You, Pei Li, Zhuoyu Jiang, Weizhe Tang, Zilin Huang, Rui Gan, Jiaxi Liu, Yan Zhao, Sikai Chen, Bin Ran

机构 * Department of Civil and Environmental Engineering, University of Wisconsin–Madison（威斯康星大学麦迪逊分校土木与环境工程系） ； Department of Civil and Architectural Engineering and Construction Management, University of Wyoming（怀俄明大学土木与建筑工程及施工管理系） ； School of Transportation, Southeast University（东南大学交通学院） 纠错

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

AI总结 本文提出V2X-QA数据集和基准测试，用于评估多模态大语言模型在自动驾驶中的多视角推理能力，揭示视角对性能的影响，并提出V2X-MoE模型以提升多视角推理性能。

DriveCritic: Towards Context-Aware, Human-Aligned Evaluation for Autonomous Driving with Vision-Language Models

DriveCritic: 向基于情境的、与人类对齐的自动驾驶评估迈进：基于视觉-语言模型

Jingyu Song, Zhenxin Li, Shiyi Lan, Xinglong Sun, Nadine Chang, Maying Shen, Joshua Chen, Katherine A. Skinner, Jose M. Alvarez

机构 * University of Michigan（密歇根大学） ； NVIDIA（英伟达） ； Fudan University（复旦大学） 纠错

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

AI总结 DriveCritic通过结合视觉-语言模型和情境意识，提升自动驾驶系统评估的准确性与人类对齐性。

Comments Accepted at ICRA 2026; 8 pages, 3 figures

DrivingGen: A Comprehensive Benchmark for Generative Video World Models in Autonomous Driving

DrivingGen：自主驾驶中生成视频世界模型的综合性基准

Yang Zhou, Hao Shao, Letian Wang, Zhuofan Zong, Hongsheng Li, Steven L. Waslander

机构 * University of Toronto（多伦多大学） ； CUHK MMLab（香港中文大学MMLab） 纠错

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

AI总结 DrivingGen提出首个综合性基准，用于评估生成驾驶世界模型的视觉真实性、轨迹合理性、时间一致性和可控性，揭示通用与专用模型间的权衡。

Comments ICLR 2026 Poster; Project Website: https://drivinggen-bench.github.io/

A Low-Rank Method for Vision Language Model Hallucination Mitigation in Autonomous Driving

Keke Long, Jiacheng Guo, Tianyun Zhang, Hongkai Yu, Xiaopeng Li

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

Self-driving cars: Are we there yet?

Merve Atasever, Zhuochen Liu, Qingpei Li, Akshay Hitendra Shah, Hans Walker, Jyotirmoy V. Deshmukh, Rahul Jain

机构 * University of Southern California（南加州大学） 纠错

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

DeFIX: Detecting and Fixing Failure Scenarios with Reinforcement Learning in Imitation Learning Based Autonomous Driving

Resul Dagdanov, Feyza Eksen, Halil Durmus, Ferhat Yurdakul, Nazim Kemal Ure

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

Comments 6 pages, 4 figures, 2 tables, published in IEEE International Conference on Intelligent Transportation Systems (ITSC), October 12, 2022, Macau, China

Journal ref IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 2022, pp. 4215-4220

From Failures to Fixes: LLM-Driven Scenario Repair for Self-Evolving Autonomous Driving

Xinyu Xia, Xingjun Ma, Yunfeng Hu, Ting Qu, Hong Chen, Xun Gong

机构 * Jilin University（吉林大学） ； Fudan University（复旦大学） ； Tongji University（同济大学） 纠错

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

CoT-Drive: Efficient Motion Forecasting for Autonomous Driving with LLMs and Chain-of-Thought Prompting

Haicheng Liao, Hanlin Kong, Bonan Wang, Chengyue Wang, Wang Ye, Zhengbing He, Chengzhong Xu, Zhenning Li

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

CurricuVLM: Towards Safe Autonomous Driving via Personalized Safety-Critical Curriculum Learning with Vision-Language Models

Zihao Sheng, Zilin Huang, Yansong Qu, Yue Leng, Sruthi Bhavanam, Sikai Chen

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

Toward Physics-Aware Deep Learning Architectures for LiDAR Intensity Simulation

Vivek Anand, Bharat Lohani, Gaurav Pandey, Rakesh Mishra

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

Comments 7 pages, 7 figures

Journal ref Proceedings of the 14th International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH 2024), ISBN 978-989-758-708-5, ISSN 2184-2841, SciTePress, 2024

VLM-RL: A Unified Vision Language Models and Reinforcement Learning Framework for Safe Autonomous Driving

Zilin Huang, Zihao Sheng, Yansong Qu, Junwei You, Sikai Chen

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

Comments 28 pages, 16 figures