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cs.RO2025
Modified-Emergency Index (MEI): A Criticality Metric for Autonomous Driving in Lateral Conflict
Hao Cheng, Yanbo Jiang, Qingyuan Shi +5
Effective, reliable, and efficient evaluation of autonomous driving safety is essential to demonstrate its trustworthiness. Criticality metrics provide an objective means of assess…
cs.CV2025
DriveCamSim: Generalizable Camera Simulation via Explicit Camera Modeling for Autonomous Driving
Wenchao Sun, Xuewu Lin, Keyu Chen +4
Camera sensor simulation serves as a critical role for autonomous driving (AD), e.g. evaluating vision-based AD algorithms. While existing approaches have leveraged generative mode…
cs.RO2025
RIFT: Group-Relative RL Fine-Tuning for Realistic and Controllable Traffic Simulation
Keyu Chen, Wenchao Sun, Hao Cheng +1
Achieving both realism and controllability in closed-loop traffic simulation remains a key challenge in autonomous driving. Dataset-based methods reproduce realistic trajectories b…