{"id":"https://openalex.org/W7155161086","doi":"https://doi.org/10.48550/arxiv.2604.18918","title":"From Particles to Perils: SVGD-Based Hazardous Scenario Generation for Autonomous Driving Systems Testing","display_name":"From Particles to Perils: SVGD-Based Hazardous Scenario Generation for Autonomous Driving Systems Testing","publication_year":2026,"publication_date":"2026-04-20","ids":{"openalex":"https://openalex.org/W7155161086","doi":"https://doi.org/10.48550/arxiv.2604.18918"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.18918","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.18918","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.2604.18918","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104121477","display_name":"Linfeng Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Linfeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134321285","display_name":"Xiao Cheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Xiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035107113","display_name":"Tsong Yueh Chen","orcid":"https://orcid.org/0000-0003-3578-0994"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Tsong Yueh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134227649","display_name":"Xi Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Xi","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":0.4991999864578247,"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":0.4991999864578247,"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":0.09989999979734421,"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/T12423","display_name":"Software Reliability and Analysis Research","score":0.05590000003576279,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/gradient-descent","display_name":"Gradient descent","score":0.5659000277519226},{"id":"https://openalex.org/keywords/descent","display_name":"Descent (aeronautics)","score":0.4318000078201294},{"id":"https://openalex.org/keywords/diversity","display_name":"Diversity (politics)","score":0.3734000027179718},{"id":"https://openalex.org/keywords/seeding","display_name":"Seeding","score":0.37070000171661377},{"id":"https://openalex.org/keywords/hazardous-waste","display_name":"Hazardous waste","score":0.35740000009536743},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.3125}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5742999911308289},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.5659000277519226},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.4318000078201294},{"id":"https://openalex.org/C2781316041","wikidata":"https://www.wikidata.org/wiki/Q1230584","display_name":"Diversity (politics)","level":2,"score":0.3734000027179718},{"id":"https://openalex.org/C36248471","wikidata":"https://www.wikidata.org/wiki/Q7445669","display_name":"Seeding","level":2,"score":0.37070000171661377},{"id":"https://openalex.org/C22507642","wikidata":"https://www.wikidata.org/wiki/Q1069369","display_name":"Hazardous waste","level":2,"score":0.35740000009536743},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.3125},{"id":"https://openalex.org/C106159264","wikidata":"https://www.wikidata.org/wiki/Q17146789","display_name":"Random testing","level":4,"score":0.295199990272522},{"id":"https://openalex.org/C66283442","wikidata":"https://www.wikidata.org/wiki/Q1389268","display_name":"Failure mode and effects analysis","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.290800005197525},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27950000762939453},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27730000019073486},{"id":"https://openalex.org/C2778364177","wikidata":"https://www.wikidata.org/wiki/Q2247133","display_name":"Attraction","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2660999894142151}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.18918","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.18918","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.2604.18918","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.18918","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":[{"score":0.5683416724205017,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Simulation-based":[0],"testing":[1,88],"of":[2],"autonomous":[3],"driving":[4],"systems":[5],"(ADS)":[6],"must":[7],"uncover":[8],"realistic":[9],"and":[10,34,68,84,107,125],"diverse":[11],"failures":[12],"in":[13,26,99],"dense,":[14],"heterogeneous":[15],"traffic.":[16],"However,":[17],"existing":[18,86],"search-based":[19],"seeding":[20],"methods":[21,89],"(e.g.,":[22,90],"genetic":[23],"algorithms)":[24],"struggle":[25],"high-dimensional":[27],"spaces,":[28],"often":[29],"collapsing":[30],"to":[31,56,120],"limited":[32],"modes":[33],"missing":[35],"many":[36],"failure":[37,79],"scenarios.":[38],"We":[39],"present":[40],"PtoP,":[41],"a":[42,108],"framework":[43],"that":[44,113],"combines":[45],"adaptive":[46],"random":[47],"seed":[48],"generation":[49],"with":[50],"Stein":[51],"Variational":[52],"Gradient":[53],"Descent":[54],"(SVGD)":[55],"produce":[57],"diverse,":[58],"failure-inducing":[59],"initial":[60],"conditions.":[61],"SVGD":[62],"balances":[63],"attraction":[64],"toward":[65],"high-risk":[66],"regions":[67],"repulsion":[69],"among":[70],"particles,":[71],"yielding":[72],"risk-seeking":[73],"yet":[74],"well-distributed":[75],"seeds":[76],"across":[77],"multiple":[78],"modes.":[80],"PtoP":[81,114],"is":[82],"plug-and-play":[83],"enhances":[85],"online":[87],"reinforcement":[91],"learning--based":[92],"testers)":[93],"by":[94],"providing":[95],"principled":[96],"seeds.":[97],"Evaluation":[98],"CARLA":[100],"on":[101],"two":[102],"industry-grade":[103],"ADS":[104],"(Apollo,":[105],"Autoware)":[106],"native":[109],"end-to-end":[110],"system":[111],"shows":[112],"improves":[115],"safety":[116],"violation":[117],"rate":[118],"(up":[119],"27.68%),":[121],"scenario":[122],"diversity":[123],"(9.6%),":[124],"map":[126],"coverage":[127],"(16.78%)":[128],"over":[129],"baselines.":[130]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-23T00:00:00"}