用于驾驶场景生成的风险可控多视角扩散模型 / Risk-Controllable Multi-View Diffusion for Driving Scenario Generation
1️⃣ 一句话总结
这篇论文提出了一种名为RiskMV-DPO的新方法,它能够根据指定的风险等级,自动生成用于测试自动驾驶汽车安全性的、真实且多样的危险驾驶场景视频,解决了传统方法难以创造罕见高风险场景的难题。
Generating safety-critical driving scenarios is crucial for evaluating and improving autonomous driving systems, but long-tail risky situations are rarely observed in real-world data and difficult to specify through manual scenario design. Existing generative approaches typically treat risk as an after-the-fact label and struggle to maintain geometric consistency in multi-view driving scenes. We present RiskMV-DPO, a general and systematic pipeline for physically-informed, risk-controllable multi-view scenario generation. By integrating target risk levels with physically-grounded risk modeling, we autonomously synthesize diverse and high-stakes dynamic trajectories that serve as explicit geometric anchors for a diffusion-based video generator. To ensure spatial-temporal coherence and geometric fidelity, we introduce a geometry-appearance alignment module and a region-aware direct preference optimization (RA-DPO) strategy with motion-aware masking to focus learning on localized dynamic this http URL on the nuScenes dataset show that RiskMV-DPO can freely generate a wide spectrum of diverse long-tail scenarios while maintaining state-of-the-art visual quality, improving 3D detection mAP from 18.17 to 30.50 and reducing FID to 15.70. Our work shifts the role of world models from passive environment prediction to proactive, risk-controllable synthesis, providing a scalable toolchain for the safety-oriented development of embodied intelligence.
用于驾驶场景生成的风险可控多视角扩散模型 / Risk-Controllable Multi-View Diffusion for Driving Scenario Generation
这篇论文提出了一种名为RiskMV-DPO的新方法,它能够根据指定的风险等级,自动生成用于测试自动驾驶汽车安全性的、真实且多样的危险驾驶场景视频,解决了传统方法难以创造罕见高风险场景的难题。
源自 arXiv: 2603.11534