{"id":"https://openalex.org/W7140237975","doi":"https://doi.org/10.48550/arxiv.2603.21104","title":"CounterScene: Counterfactual Causal Reasoning in Generative World Models for Safety-Critical Closed-Loop Evaluation","display_name":"CounterScene: Counterfactual Causal Reasoning in Generative World Models for Safety-Critical Closed-Loop Evaluation","publication_year":2026,"publication_date":"2026-03-22","ids":{"openalex":"https://openalex.org/W7140237975","doi":"https://doi.org/10.48550/arxiv.2603.21104"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.21104","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.21104","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.21104","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jing, Bowen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jing, Bowen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Hao, Ruiyang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hao, Ruiyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhou, Weitao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Weitao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Yu, Haibao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Haibao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.51419997215271,"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":0.51419997215271,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.33329999446868896,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.019999999552965164,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/counterfactual-thinking","display_name":"Counterfactual thinking","score":0.8996000289916992},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.7595999836921692},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.6237000226974487},{"id":"https://openalex.org/keywords/forcing","display_name":"Forcing (mathematics)","score":0.5497000217437744},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.45719999074935913},{"id":"https://openalex.org/keywords/causal-model","display_name":"Causal model","score":0.44929999113082886},{"id":"https://openalex.org/keywords/counterfactual-conditional","display_name":"Counterfactual conditional","score":0.446399986743927},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.398499995470047}],"concepts":[{"id":"https://openalex.org/C108650721","wikidata":"https://www.wikidata.org/wiki/Q1783253","display_name":"Counterfactual thinking","level":2,"score":0.8996000289916992},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.7595999836921692},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.6237000226974487},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6079000234603882},{"id":"https://openalex.org/C197115733","wikidata":"https://www.wikidata.org/wiki/Q1003136","display_name":"Forcing (mathematics)","level":2,"score":0.5497000217437744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.539900004863739},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.45719999074935913},{"id":"https://openalex.org/C11671645","wikidata":"https://www.wikidata.org/wiki/Q5054567","display_name":"Causal model","level":2,"score":0.44929999113082886},{"id":"https://openalex.org/C71889745","wikidata":"https://www.wikidata.org/wiki/Q1783264","display_name":"Counterfactual conditional","level":3,"score":0.446399986743927},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4415000081062317},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.398499995470047},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3824000060558319},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.38119998574256897},{"id":"https://openalex.org/C148220186","wikidata":"https://www.wikidata.org/wiki/Q7111912","display_name":"Outcome (game theory)","level":2,"score":0.3652999997138977},{"id":"https://openalex.org/C115086926","wikidata":"https://www.wikidata.org/wiki/Q17004651","display_name":"Causal reasoning","level":3,"score":0.3610000014305115},{"id":"https://openalex.org/C168773769","wikidata":"https://www.wikidata.org/wiki/Q1350299","display_name":"Satisfiability","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.29989999532699585},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.2777999937534332}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.21104","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.21104","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.21104","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.21104","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Generating":[0],"safety-critical":[1,56],"driving":[2],"scenarios":[3],"requires":[4],"understanding":[5],"why":[6],"dangerous":[7],"interactions":[8],"arise,":[9],"rather":[10],"than":[11],"merely":[12],"forcing":[13],"collisions.":[14],"However,":[15],"existing":[16],"methods":[17],"rely":[18],"on":[19,114,123,145],"heuristic":[20],"adversarial":[21,80,153],"agent":[22,70,81,87],"selection":[23],"and":[24,33,88,92,130,189],"unstructured":[25],"perturbations,":[26],"lacking":[27],"explicit":[28],"modeling":[29],"of":[30],"interaction":[31,103,141],"dependencies":[32],"thus":[34],"exhibiting":[35],"a":[36,42,60,94,101],"realism--adversarial":[37],"trade-off.":[38],"We":[39],"present":[40],"CounterScene,":[41],"framework":[43],"that":[44,148],"endows":[45],"closed-loop":[46],"generative":[47],"BEV":[48],"world":[49,97],"models":[50],"with":[51,175,195],"structured":[52],"counterfactual":[53,118],"reasoning":[54],"for":[55],"scenario":[57],"generation.":[58],"Given":[59],"safe":[61],"scene,":[62],"CounterScene":[63,149,190],"asks:":[64],"what":[65],"if":[66],"the":[67,85,124,151,172],"causally":[68],"critical":[69,86],"had":[71],"behaved":[72],"differently?":[73],"To":[74],"answer":[75],"this,":[76],"we":[77],"introduce":[78],"causal":[79,102],"identification":[82],"to":[83,107,137,169,193],"identify":[84],"classify":[89],"conflict":[90],"types,":[91],"develop":[93],"conflict-aware":[95],"interactive":[96],"model":[98,109],"in":[99],"which":[100],"graph":[104],"is":[105],"used":[106],"explicitly":[108],"dynamic":[110],"inter-agent":[111],"dependencies.":[112],"Building":[113],"this":[115,182],"structure,":[116],"stage-adaptive":[117],"guidance":[119],"performs":[120],"minimal":[121],"interventions":[122],"identified":[125],"agent,":[126],"removing":[127],"its":[128],"spatial":[129],"temporal":[131],"safety":[132],"margins":[133],"while":[134,155],"allowing":[135],"risk":[136],"emerge":[138],"through":[139],"natural":[140],"propagation.":[142],"Extensive":[143],"experiments":[144],"nuScenes":[146],"demonstrate":[147],"achieves":[150],"strongest":[152,173],"effectiveness":[154],"maintaining":[156],"superior":[157],"trajectory":[158],"realism":[159,177],"across":[160],"all":[161],"horizons,":[162],"improving":[163],"long-horizon":[164],"collision":[165],"rate":[166],"from":[167],"12.3%":[168],"22.7%":[170],"over":[171,186],"baseline":[174],"better":[176],"(ADE":[178],"1.88":[179],"vs.2.09).":[180],"Notably,":[181],"advantage":[183],"further":[184],"widens":[185],"longer":[187],"rollouts,":[188],"generalizes":[191],"zero-shot":[192],"nuPlan":[194],"state-of-the-art":[196],"realism.":[197]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-25T00:00:00"}