{"id":"https://openalex.org/W2968176166","doi":"https://doi.org/10.1109/icra.2019.8793740","title":"Generating Adversarial Driving Scenarios in High-Fidelity Simulators","display_name":"Generating Adversarial Driving Scenarios in High-Fidelity Simulators","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968176166","doi":"https://doi.org/10.1109/icra.2019.8793740","mag":"2968176166"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793740","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793740","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009948664","display_name":"Yasasa Abeysirigoonawardena","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Yasasa Abeysirigoonawardena","raw_affiliation_strings":["Mobile Robotics Lab at the Center for Intelligent Machines (CIM), McGill University, Montreal, Canada, fyasasaa"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Lab at the Center for Intelligent Machines (CIM), McGill University, Montreal, Canada, fyasasaa","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010648258","display_name":"Florian Shkurti","orcid":"https://orcid.org/0000-0002-5672-5831"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Florian Shkurti","raw_affiliation_strings":["Department of Computer Science, University of Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075441381","display_name":"Gregory Dudek","orcid":"https://orcid.org/0000-0001-5040-4925"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Gregory Dudek","raw_affiliation_strings":["Mobile Robotics Lab at the Center for Intelligent Machines (CIM), McGill University, Montreal, Canada, fyasasaa"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Lab at the Center for Intelligent Machines (CIM), McGill University, Montreal, Canada, fyasasaa","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009948664"],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":6.6838,"has_fulltext":false,"cited_by_count":123,"citation_normalized_percentile":{"value":0.96900334,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"8271","last_page":"8277"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.7749701738357544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.689139723777771},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.621363639831543},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5279649496078491},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4809495806694031},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.4796764850616455},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.47517672181129456},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.45944085717201233},{"id":"https://openalex.org/keywords/high-fidelity","display_name":"High fidelity","score":0.41203010082244873},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37832024693489075},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36593562364578247},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.33369511365890503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32136309146881104},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.28979766368865967},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2634439170360565},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.17622995376586914}],"concepts":[{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.7749701738357544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.689139723777771},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.621363639831543},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5279649496078491},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4809495806694031},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.4796764850616455},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.47517672181129456},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.45944085717201233},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.41203010082244873},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37832024693489075},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36593562364578247},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.33369511365890503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32136309146881104},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.28979766368865967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2634439170360565},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.17622995376586914},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793740","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793740","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":69,"referenced_works":["https://openalex.org/W66838807","https://openalex.org/W183071939","https://openalex.org/W1182044309","https://openalex.org/W1502922572","https://openalex.org/W1542941925","https://openalex.org/W1871676304","https://openalex.org/W1931877416","https://openalex.org/W2081538223","https://openalex.org/W2085126194","https://openalex.org/W2099201756","https://openalex.org/W2099471712","https://openalex.org/W2131241448","https://openalex.org/W2158319693","https://openalex.org/W2166566250","https://openalex.org/W2192203593","https://openalex.org/W2225156818","https://openalex.org/W2274565976","https://openalex.org/W2280163991","https://openalex.org/W2296360731","https://openalex.org/W2342840547","https://openalex.org/W2525936901","https://openalex.org/W2586751528","https://openalex.org/W2594103415","https://openalex.org/W2724169821","https://openalex.org/W2769257693","https://openalex.org/W2771275738","https://openalex.org/W2774527530","https://openalex.org/W2899942662","https://openalex.org/W2902812770","https://openalex.org/W2949103145","https://openalex.org/W2949561945","https://openalex.org/W2952996256","https://openalex.org/W2962824535","https://openalex.org/W2962867954","https://openalex.org/W2962894046","https://openalex.org/W2962957031","https://openalex.org/W2963277051","https://openalex.org/W2963327228","https://openalex.org/W2963407617","https://openalex.org/W2963627051","https://openalex.org/W2963797557","https://openalex.org/W2963938771","https://openalex.org/W2964070888","https://openalex.org/W2964174623","https://openalex.org/W2967503332","https://openalex.org/W3101380508","https://openalex.org/W4255064568","https://openalex.org/W4295150809","https://openalex.org/W4295719664","https://openalex.org/W4299802797","https://openalex.org/W4320013936","https://openalex.org/W6639099100","https://openalex.org/W6640174482","https://openalex.org/W6675200109","https://openalex.org/W6678911119","https://openalex.org/W6694611762","https://openalex.org/W6695011786","https://openalex.org/W6696215953","https://openalex.org/W6704559304","https://openalex.org/W6718092244","https://openalex.org/W6733049761","https://openalex.org/W6734517396","https://openalex.org/W6738796088","https://openalex.org/W6740092555","https://openalex.org/W6744562401","https://openalex.org/W6745935785","https://openalex.org/W6746530577","https://openalex.org/W6747311492","https://openalex.org/W6756151087"],"related_works":["https://openalex.org/W2953205341","https://openalex.org/W2092643327","https://openalex.org/W235065745","https://openalex.org/W2029935773","https://openalex.org/W2787754950","https://openalex.org/W3034764119","https://openalex.org/W4389000068","https://openalex.org/W4205888618","https://openalex.org/W4310220423","https://openalex.org/W4226075194"],"abstract_inverted_index":{"In":[0,104],"recent":[1],"years":[2],"self-driving":[3,53,64,95,119,126,153,167],"vehicles":[4,29,47],"have":[5],"become":[6],"more":[7],"commonplace":[8],"on":[9,30,42,100],"public":[10],"roads,":[11],"with":[12,51,134],"the":[13,25,31,52,80,91,94,111,130,144,148,152,158],"promise":[14],"of":[15,27,37,58,72,79,90,93,132,151],"bringing":[16],"safety":[17],"and":[18,48,128,137,155],"efficiency":[19],"to":[20,61,109,116],"modern":[21],"transportation":[22],"systems.":[23],"Increasing":[24],"reliability":[26],"these":[28],"road":[32],"requires":[33],"an":[34],"extensive":[35],"suite":[36],"software":[38,65],"tests,":[39],"ideally":[40],"performed":[41],"high-fidelity":[43],"simulators,":[44],"where":[45],"multiple":[46],"pedestrians":[49,136],"interact":[50],"vehicle.":[54],"It":[55],"is":[56,66],"therefore":[57],"critical":[59],"importance":[60],"ensure":[62],"that":[63,121,141],"assessed":[67],"against":[68],"a":[69],"wide":[70],"range":[71],"challenging":[73],"simulated":[74,135],"driving":[75,83],"scenarios.":[76],"The":[77],"state":[78],"art":[81],"in":[82],"scenario":[84],"generation,":[85],"as":[86],"adopted":[87],"by":[88,142,156],"some":[89],"front-runners":[92],"car":[96],"industry,":[97],"still":[98],"relies":[99],"human":[101],"input":[102],"[1].":[103],"this":[105],"paper":[106],"we":[107,164],"propose":[108],"automate":[110],"process":[112],"using":[113,160],"Bayesian":[114],"optimization":[115],"generate":[117],"adversarial":[118],"scenarios":[120,146],"expose":[122],"poorly-engineered":[123],"or":[124],"poorly-trained":[125],"policies,":[127],"increase":[129],"risk":[131],"collision":[133],"vehicles.":[138],"We":[139],"show":[140],"incorporating":[143],"generated":[145],"into":[147],"training":[149],"set":[150],"policy,":[154],"fine-tuning":[157],"policy":[159],"vision-based":[161],"imitation":[162],"learning":[163],"obtain":[165],"safer":[166],"behavior.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
