{"paper":{"title":"ReGentS: Real-World Safety-Critical Driving Scenario Generation Made Stable","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.RO"],"primary_cat":"cs.LG","authors_text":"Alexandre Boulch, \\'Eloi Zablocki, Matthieu Cord, Pegah Khayatan, Yuan Yin","submitted_at":"2024-09-12T08:26:33Z","abstract_excerpt":"Machine learning based autonomous driving systems often face challenges with safety-critical scenarios that are rare in real-world data, hindering their large-scale deployment. While increasing real-world training data coverage could address this issue, it is costly and dangerous. This work explores generating safety-critical driving scenarios by modifying complex real-world regular scenarios through trajectory optimization. We propose ReGentS, which stabilizes generated trajectories and introduces heuristics to avoid obvious collisions and optimization problems. Our approach addresses unreali"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.07830","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2409.07830/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}