Pith Number

pith:OWBQ25XV

pith:2026:OWBQ25XVLBKMRKUIV3EFPAYXGI

not attested not anchored not stored refs resolved

Learning Responsibility-Attributed Adversarial Scenarios for Testing Autonomous Vehicles

Cheng Wang, Haotian Yan, Mustafa Suphi Erden, Xintao Yan, Ying Wang, Yizhuo Xiao, Yuxin Zhang, Zhongpan Zhu

CARS framework generates collision scenarios for autonomous vehicle tests that carry clear responsibility attributions under standard driver models.

arxiv:2605.13751 v1 · 2026-05-13 · cs.RO · cs.SE · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{OWBQ25XVLBKMRKUIV3EFPAYXGI}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Across benchmark datasets spanning heterogeneous national traffic environments, CARS consistently discovers feasible collision scenarios with high attribution rates under multiple regulation-prescribed careful and competent driver models.

C2weakest assumption

That responsibility attribution under the chosen driver models remains diagnostically meaningful and stable when the scenarios are generated adversarially in closed-loop simulation, without the optimization process itself biasing the attribution outcome.

C3one line summary

CARS integrates responsibility attribution into adversarial scenario generation to produce physically feasible collisions with high attribution rates under regulation-prescribed driver models for autonomous vehicle testing.

References

38 extracted · 38 resolved · 2 Pith anchors

[1] Qian, C., Xu, J., Xing, X. & Guo, F. Test case sampling optimization for safety validation of automated driving systems.Nat. Commun.17, 3114 (2026) 2026

[2] Kalra, N. & Paddock, S. M. Driving to safety: How many miles of driving would it take to demonstrate autonomous vehicle reliability?Transp. Res. Part A Policy Pract.94, 182–193 (2016) 2016

[3] Feng, S.et al.Dense reinforcement learning for safety validation of autonomous vehicles.Nature 615, 620–627 (2023). 12 2023

[4] Liu, H. X. & Feng, S. Curse of rarity for autonomous vehicles.Nat. Commun.15, 4808 (2024) 2024

[5] Feng, S., Yan, X., Sun, H., Feng, Y . & Liu, H. X. Intelligent driving intelligence test for autonomous vehicles with naturalistic and adversarial environment.Nat. Commun.12, 748 (2021) 2021

Receipt and verification

First computed	2026-05-18T02:44:16.374176Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

75830d76f55854c8aa88aec8578317320c3ce3bc2b47473936837d10007f01a1

Aliases

arxiv: 2605.13751 · arxiv_version: 2605.13751v1 · doi: 10.48550/arxiv.2605.13751 · pith_short_12: OWBQ25XVLBKM · pith_short_16: OWBQ25XVLBKMRKUI · pith_short_8: OWBQ25XV

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/OWBQ25XVLBKMRKUIV3EFPAYXGI \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 75830d76f55854c8aa88aec8578317320c3ce3bc2b47473936837d10007f01a1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "efd81b6aa4d60de71c7e2c6ee0228d05bb4205395ba82504f1daea8603f37a35",
    "cross_cats_sorted": [
      "cs.SE",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T16:33:07Z",
    "title_canon_sha256": "d1c3ea195b967f53710d854698b1b367cd99129be38d70700dd46b793b7fb0a4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13751",
    "kind": "arxiv",
    "version": 1
  }
}