Off the Rails: Hijacking the Scoring Head in Generative End-to-End Driving Planners with Safety-Violating Adversarial Perturbations

Halima Bouzidi, Mboutidem Ekemini Mkpong, Haoyu Liu +1

Generative models have recently seen rapid adoption in End-to-End (E2E) autonomous driving (AD), with diffusion-based denoising and vocabulary-based retrieval becoming the dominant…