SAFE-SIM: Safety-Critical Closed-Loop Traffic Simulation with Controllable Adversaries

arXiv:2401.00391v2 Announce Type: replace-cross
Abstract: Evaluating the performance of autonomous vehicle planning algorithms necessitates simulating long-tail safety-critical traffic scenarios. However, traditional methods for generating such scenarios often fall short in terms of controllability and realism and neglect the dynamics of agent interactions. To mitigate these limitations, we introduce SAFE-SIM, a novel diffusion-based controllable closed-loop safety-critical simulation framework. Our approach yields two distinct advantages: 1) the generation of realistic long-tail safety-critical scenarios that closely emulate real-world conditions, and 2) enhanced controllability, …

arxiv cs.ai cs.cv cs.lg cs.ro loop replace safe safety safety-critical sim simulation traffic type