A self-improving diffusion model conditions on initial traffic state to generate collision-causing sensor noise sequences, outperforming cross-entropy sampling in failure diversity and fidelity in a simulated intersection.
Simulation- based validation for autonomous driving systems,
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Diffusion Models for Safety Validation of Autonomous Driving Systems
A self-improving diffusion model conditions on initial traffic state to generate collision-causing sensor noise sequences, outperforming cross-entropy sampling in failure diversity and fidelity in a simulated intersection.