ScenePilot uses RSS-derived physical feasibility score and online-learned AV-risk predictor in constrained RL with feasibility-aware shielding to generate boundary-band scenarios, yielding +6.2 pp higher collision rates on SafeBench while preserving validity.
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ScenePilot: Controllable Boundary-Driven Critical Scenario Generation for Autonomous Driving
ScenePilot uses RSS-derived physical feasibility score and online-learned AV-risk predictor in constrained RL with feasibility-aware shielding to generate boundary-band scenarios, yielding +6.2 pp higher collision rates on SafeBench while preserving validity.