The paper proposes a unified risk map modeling and learning framework integrated with diffusion-based adversarial scenario generation for risk-aware planning in partially observable autonomous driving, demonstrating improved time-to-collision metrics on the Waymo Open Motion Dataset.
Occlusion-aware risk assessment and driving strategy for autonomous vehicles using simplified reachability quantification,
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Learning A Unified Risk Map for Autonomous Driving in Partially Observable Environments
The paper proposes a unified risk map modeling and learning framework integrated with diffusion-based adversarial scenario generation for risk-aware planning in partially observable autonomous driving, demonstrating improved time-to-collision metrics on the Waymo Open Motion Dataset.