{"id":"https://openalex.org/W7162031814","doi":"https://doi.org/10.48550/arxiv.2605.21168","title":"ScenePilot: Controllable Boundary-Driven Critical Scenario Generation for Autonomous Driving","display_name":"ScenePilot: Controllable Boundary-Driven Critical Scenario Generation for Autonomous Driving","publication_year":2026,"publication_date":"2026-05-20","ids":{"openalex":"https://openalex.org/W7162031814","doi":"https://doi.org/10.48550/arxiv.2605.21168"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.21168","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21168","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2605.21168","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075041300","display_name":"Qiyu Ruan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ruan, Qiyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136649804","display_name":"Yuxuan Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yuxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136687288","display_name":"Li, He, 1952-","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, He","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136676256","display_name":"Zhenning Li","orcid":"https://orcid.org/0000-0002-0877-6829"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhenning","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136655985","display_name":"Cheng-zhong Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Cheng-zhong","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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.7207000255584717,"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"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.7207000255584717,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.23770000040531158,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.005200000014156103,"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/boundary","display_name":"Boundary (topology)","score":0.4918000102043152},{"id":"https://openalex.org/keywords/crash","display_name":"Crash","score":0.46799999475479126},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.39250001311302185},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.390500009059906},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.38839998841285706},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.36980000138282776},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.32249999046325684},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.31940001249313354}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5763999819755554},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4918000102043152},{"id":"https://openalex.org/C183469790","wikidata":"https://www.wikidata.org/wiki/Q333501","display_name":"Crash","level":2,"score":0.46799999475479126},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.39250001311302185},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.390500009059906},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.38839998841285706},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.36980000138282776},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3377000093460083},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.32249999046325684},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3151000142097473},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31439998745918274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3075000047683716},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C9395851","wikidata":"https://www.wikidata.org/wiki/Q177929","display_name":"Stack (abstract data type)","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2770000100135803},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C2984019128","wikidata":"https://www.wikidata.org/wiki/Q1637433","display_name":"Physical modelling","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.2563000023365021},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.21168","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21168","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.21168","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21168","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.453315407037735,"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":{"Safety-critical":[0],"scenarios":[1,84,164],"are":[2,86],"central":[3],"to":[4,67,98,125],"evaluating":[5],"autonomous":[6],"driving":[7],"systems,":[8],"yet":[9,44,91],"their":[10],"rarity":[11],"in":[12,56,89],"naturalistic":[13],"logs":[14],"makes":[15],"simulation-based":[16],"stress":[17],"testing":[18],"indispensable.":[19],"Most":[20],"scenario":[21],"generation":[22,102],"methods":[23],"treat":[24],"surrounding":[25],"agents":[26],"as":[27,103],"adversaries,":[28],"but":[29],"they":[30],"either":[31],"(i)":[32],"induce":[33],"failures":[34],"without":[35],"explicitly":[36],"modeling":[37],"vehicle-road":[38],"physical":[39,51,155],"limits,":[40],"yielding":[41],"visually":[42],"extreme":[43],"physically":[45,87],"unsolvable":[46],"crashes,":[47],"or":[48,53,64],"(ii)":[49],"enforce":[50],"feasibility":[52,55,130],"policy":[54],"isolation,":[57],"which":[58],"can":[59],"over-focus":[60],"on":[61,137,161],"aggressive":[62],"maneuvers":[63],"remain":[65],"tied":[66],"a":[68,75],"controller-dependent":[69],"capability":[70],"boundary.":[71],"We":[72,100],"propose":[73],"ScenePilot,":[74],"feasibility-guided,":[76],"boundary-driven":[77],"framework":[78],"that":[79,85,143,158],"targets":[80],"the":[81,94,129],"boundary":[82,131],"band:":[83],"solvable":[88],"principle":[90],"still":[92],"cause":[93],"deployed":[95],"autonomy":[96],"stack":[97],"fail.":[99],"formulate":[101],"constrained":[104],"multi-objective":[105],"reinforcement":[106],"learning,":[107],"combining":[108],"an":[109,115],"RSS-derived":[110],"physical-feasibility":[111],"score":[112],"$\u03c3$":[113],"with":[114,139],"online-learned":[116],"AV-risk":[117],"predictor":[118],"$\u03a6$,":[119],"and":[120,157],"introduce":[121],"step-level":[122],"feasibility-aware":[123],"shielding":[124],"keep":[126],"exploration":[127],"near":[128],"while":[132,153],"avoiding":[133],"infeasible":[134],"artifacts.":[135],"Experiments":[136],"SafeBench":[138],"multiple":[140],"planners":[141],"show":[142],"ScenePilot":[144],"yields":[145],"substantially":[146],"higher":[147],"collision":[148],"rates":[149],"(+6.2":[150],"percentage":[151],"points)":[152],"preserving":[154],"validity,":[156],"adversarial":[159],"fine-tuning":[160],"these":[162],"boundary-band":[163],"consistently":[165],"reduces":[166],"downstream":[167],"crash":[168],"rates.":[169],"The":[170],"code":[171],"is":[172],"available":[173],"at":[174],"https://github.com/QiyuRuan/ScenePilot.":[175]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-22T00:00:00"}
