A VLM picks adversarial vehicles and guidance objectives, and an adaptive guided diffusion model executes them, raising average at-fault collision rates of four tested planners by about 4.2× in nuPlan-based simulation.
Journal of Computer Science and Technology 39, 509–541
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VLM as Strategist: Adaptive Generation of Safety-critical Testing Scenarios via Guided Diffusion
A VLM picks adversarial vehicles and guidance objectives, and an adaptive guided diffusion model executes them, raising average at-fault collision rates of four tested planners by about 4.2× in nuPlan-based simulation.