Adv3D: Generating Safety-Critical 3D Objects through Closed-Loop Simulation. (arXiv:2311.01446v1 [cs.RO])

Self-driving vehicles (SDVs) must be rigorously tested on a wide range of
scenarios to ensure safe deployment. The industry typically relies on
closed-loop simulation to evaluate how the SDV interacts on a corpus of
synthetic and real scenarios and verify it performs properly. However, they
primarily only test the system's motion planning module, and only consider
behavior variations. It is key to evaluate the full autonomy system in
closed-loop, and to understand how variations in sensor data based on scene …

3d objects arxiv deployment driving industry loop objects safety safety-critical sdv self-driving self-driving vehicles simulation synthetic test through vehicles verify