自动驾驶

A Convolutional Neural Network Approach Towards Self-Driving Cars

Akhil Agnihotri, Prathamesh Saraf, Kriti Rajesh Bapnad

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

Comments 4 pages, 7 figures

D3VL: Understanding Driving Scenes from 3D Time Series Data and Video with Language Models

D3VL：利用语言模型从3D时间序列数据和视频中理解驾驶场景

Heesang Han, A. Lynn Abbott, Abhijit Sarkar

机构 * Bradley Department of Electrical and Computer Engineering, Virginia Tech（弗吉尼亚理工大学布拉德利电气与计算机工程系） ； Virginia Tech Transportation Institute（弗吉尼亚理工大学交通研究所） ； Sanghani Center for Artificial Intelligence and Data Analytics（桑哈尼人工智能与数据分析中心） 纠错

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

AI总结 本文针对自动驾驶中多模态大语言模型，提出D3VL框架，整合2D和3D时间序列数据，回答交通场景相关问题，在KITTI问答数据集上性能提升11%，并引入Waymo QA数据集扩展以评估模型在多样驾驶条件下处理3D和时间序列数据的能力。

Comments Accepted to IEEE IV 2026

OmniTraffic: A Controllable Generation Pipeline and Benchmark for Spatio-Temporal Traffic Reasoning

OmniTraffic：面向时空交通推理的可控生成流水线与基准

Maonan Wang, Zhengyan Huang, Kemou Jiang, Yuhang Fu, Jiayue Zhu, Yuxin Cai, Xingchen Zou, Qiaosheng Zhang, Yi Yu, Ding Wang, Xi Chen, Ben M. Chen, Yuxuan Liang, Zhiyong Cui, Man On Pun, Yirong Chen

机构 * The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳）） ； Shanghai AI Lab（上海人工智能实验室） ； Beihang University（北京航空航天大学） ； Nanyang Technological University（南洋理工大学） ； The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） ； The Chinese University of Hong Kong（香港中文大学） 纠错

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

AI总结 提出OmniTraffic，一个基于12个真实路口3D重建的可控生成流水线与基准，通过8M VQA样本和3K人工验证测试集评估11个前沿MLLM，揭示拓扑与时空推理中的显著人机差距，并证明仿真数据微调可提升真实场景性能。

Comments 34 pages, 28 figures

DiffAero: A GPU-Accelerated Differentiable Simulation Framework for Efficient Quadrotor Policy Learning

DiffAero: 一种用于高效四旋翼策略学习的GPU加速可微分仿真框架

Xinhong Zhang, Runqing Wang, Yunfan Ren, Jian Sun, Hao Fang, Jie Chen, Gang Wang

机构 * State Key Lab of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology（自主智能无人系统国家重点实验室，北京理工大学） ； Zhongguancun Academy（中关村academy） ； Department of Mechanical Engineering, University of Hong Kong（香港大学机械工程系） ； Harbin Institute of Technology（哈尔滨工业大学） 纠错

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

AI总结 提出DiffAero，一种轻量级、GPU加速且完全可微的仿真框架，通过并行化物理与渲染实现高效四旋翼控制策略学习，并在消费级硬件上数小时内训练出鲁棒策略。

Comments 8 pages, 11 figures, 1 table

ParkingScenes: A Structured Dataset for End-to-End Autonomous Parking in Simulation Scenes

ParkingScenes: 一个用于模拟场景中端到端自动驾驶泊车的结构化数据集

Haonan Chen, Kaiwen Xiao, Bin Tian, Jun Fu

机构 * Institute of Automation（自动化研究所） ； Chinese Academy of Sciences（中国科学院） ； School of Art and Design（艺术与设计学院） 纠错

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

AI总结 本文提出ParkingScenes数据集，通过结构化轨迹生成提升泊车性能，展示结构化监督对自主泊车政策学习的有效性。

Comments Accepted by CAC 2025

Fail2Drive: Benchmarking Closed-Loop Driving Generalization

Fail2Drive: 闭环驾驶泛化性基准测试

Simon Gerstenecker, Andreas Geiger, Katrin Renz

机构 * University of Tübingen（图宾根大学） ； Tübingen AI Center（图宾根人工智能中心） 纠错

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

AI总结 Fail2Drive引入首个闭环驾驶泛化性基准测试，通过200条路线和17种新场景类别，评估模型在分布偏移下的表现，揭示泛化能力退化问题，提供开源工具加速后续研究。

MagicDrive3D: Controllable 3D Generation for Any-View Rendering in Street Scenes

Ruiyuan Gao, Kai Chen, Zhihao Li, Lanqing Hong, Zhenguo Li, Qiang Xu

机构 * CUHK（香港中文大学） ； HKUST（香港理工大学） ； Huawei Noah’s Ark Lab（华为诺亚实验室） 纠错

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

Comments Project Page: https://flymin.github.io/magicdrive3d

Deep Depth Estimation from Thermal Image: Dataset, Benchmark, and Challenges

Ukcheol Shin, Jinsun Park

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

Comments MS^2 dataset: https://sites.google.com/view/multi-spectral-stereo-dataset, Source code: https://github.com/UkcheolShin/SupDepth4Thermal

Industrial-Grade Sensor Simulation via Gaussian Splatting: A Modular Framework for Scalable Editing and Full-Stack Validation

Xianming Zeng, Sicong Du, Qifeng Chen, Lizhe Liu, Haoyu Shu, Jiaxuan Gao, Jiarun Liu, Jiulong Xu, Jianyun Xu, Mingxia Chen, Yiru Zhao, Peng Chen, Yapeng Xue, Chunming Zhao, Sheng Yang, Qiang Li

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

Edge AI-Powered Real-Time Decision-Making for Autonomous Vehicles in Adverse Weather Conditions

Milad Rahmati

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

DrivingSphere: Building a High-fidelity 4D World for Closed-loop Simulation

Tianyi Yan, Dongming Wu, Wencheng Han, Junpeng Jiang, Xia Zhou, Kun Zhan, Cheng-zhong Xu, Jianbing Shen

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

Comments https://yanty123.github.io/DrivingSphere/

SCube: Instant Large-Scale Scene Reconstruction using VoxSplats

Xuanchi Ren, Yifan Lu, Hanxue Liang, Zhangjie Wu, Huan Ling, Mike Chen, Sanja Fidler, Francis Williams, Jiahui Huang

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

Comments NeurIPS 2024. Project page: https://research.nvidia.com/labs/toronto-ai/scube/

Evaluation of Pedestrian Safety in a High-Fidelity Simulation Environment Framework

Lin Ma, Longrui Chen, Yan Zhang, Mengdi Chu, Wenjie Jiang, Jiahao Shen, Chuxuan Li, Yifeng Shi, Nairui Luo, Jirui Yuan, Guyue Zhou, Jiangtao Gong

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

Comments Resubmit to ITSC 2024; Accept by ITSC 2024

PRIBOOT: A New Data-Driven Expert for Improved Driving Simulations

Daniel Coelho, Miguel Oliveira, Vitor Santos, Antonio M. Lopez

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

LLM-Assist: Enhancing Closed-Loop Planning with Language-Based Reasoning

S P Sharan, Francesco Pittaluga, Vijay Kumar B G, Manmohan Chandraker

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

Comments 15 pages, 8 figures, 7 tables

Refining the ONCE Benchmark with Hyperparameter Tuning

Maksim Golyadkin, Alexander Gambashidze, Ildar Nurgaliev, Ilya Makarov

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

Privileged to Predicted: Towards Sensorimotor Reinforcement Learning for Urban Driving

Ege Onat Özsüer, Barış Akgün, Fatma Güney

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

Comments 7 pages

UniSim: A Neural Closed-Loop Sensor Simulator

Ze Yang, Yun Chen, Jingkang Wang, Sivabalan Manivasagam, Wei-Chiu Ma, Anqi Joyce Yang, Raquel Urtasun

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

Comments CVPR 2023 Highlight. Project page: https://waabi.ai/research/unisim/

Towards Live 3D Reconstruction from Wearable Video: An Evaluation of V-SLAM, NeRF, and Videogrammetry Techniques

David Ramirez, Suren Jayasuriya, Andreas Spanias

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

Comments Accepted to 2022 Interservice/Industry Training, Simulation, and Education Conference (I/ITSEC), 13 pages

Intersection focused Situation Coverage-based Verification and Validation Framework for Autonomous Vehicles Implemented in CARLA

Zaid Tahir, Rob Alexander

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

Comments International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2021

Journal ref MESAS 2021: Modelling and Simulation for Autonomous Systems

Indy Autonomous Challenge -- Autonomous Race Cars at the Handling Limits

Alexander Wischnewski, Maximilian Geisslinger, Johannes Betz, Tobias Betz, Felix Fent, Alexander Heilmeier, Leonhard Hermansdorfer, Thomas Herrmann, Sebastian Huch, Phillip Karle, Felix Nobis, Levent Ögretmen, Matthias Rowold, Florian Sauerbeck, Tim Stahl, Rainer Trauth, Markus Lienkamp, Boris Lohmann

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

A Benchmark for Spray from Nearby Cutting Vehicles

Stefanie Walz, Mario Bijelic, Florian Kraus, Werner Ritter, Martin Simon, Igor Doric

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

Image Classification with CondenseNeXt for ARM-Based Computing Platforms

Priyank Kalgaonkar, Mohamed El-Sharkawy

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

Comments 6 pages, 7 figures, conference, published IEEE Conference paper

Learning to falsify automated driving vehicles with prior knowledge

Andrea Favrin, Vladislav Nenchev, Angelo Cenedese

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

Comments Preprint accepted at IFAC World Congress 2020, Germany

Understanding Local Robustness of Deep Neural Networks under Natural Variations

Ziyuan Zhong, Yuchi Tian, Baishakhi Ray

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

3D Packing for Self-Supervised Monocular Depth Estimation

Vitor Guizilini, Rares Ambrus, Sudeep Pillai, Allan Raventos, Adrien Gaidon

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

VEHRON: A Configuration-Driven BEV Simulation Framework for Subsystem-Level Studies

VEHRON：一种基于配置的电池电动车辆仿真框架用于子系统级研究

Subramanyam Natarajan

专题命中 仿真评测 ：BEV(title)

AI总结 VEHRON是一个开源Python框架，用于构建确定性和可追溯的电池电动车辆纵向仿真工作流程，通过验证的YAML配置、打包的驱动循环资源和可替换的子系统模型实现高效仿真。

Comments 12 pages, 3 figures, 5 tables; software paper

Unveiling Uniform Shifted Power Law in Stochastic Human and Autonomous Driving Behavior

Wang Chen, Heye Huang, Ke Ma, Hangyu Li, Shixiao Liang, Hang Zhou, Xiaopeng Li

专题命中 仿真评测 ：autonomous driving(title)

Correlation of Software-in-the-Loop Simulation with Physical Testing for Autonomous Driving

Zhennan Fei, Mikael Andersson, Andreas Tingberg

专题命中 仿真评测 ：autonomous driving(title)

Modeling Stochastic Data Using Copulas For Application in Validation of Autonomous Driving

Katrin Lotto, Thomas Nagler, Mladjan Radic

专题命中 仿真评测 ：autonomous driving(title)