{"paper":{"title":"Realistic Extreme Behavior Generation for Improved AV Testing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"math.OC","authors_text":"Edward Schmerling, Luigi Di Lillo, Marco Pavone, Matthew Foutter, Robert Dyro, Ruolin Li, Xilin Zhou","submitted_at":"2024-09-16T19:08:50Z","abstract_excerpt":"This work introduces a framework to diagnose the strengths and shortcomings of Autonomous Vehicle (AV) collision avoidance technology with synthetic yet realistic potential collision scenarios adapted from real-world, collision-free data. Our framework generates counterfactual collisions with diverse crash properties, e.g., crash angle and velocity, between an adversary and a target vehicle by adding perturbations to the adversary's predicted trajectory from a learned AV behavior model. Our main contribution is to ground these adversarial perturbations in realistic behavior as defined through "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.10669","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/2409.10669/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"}