Safety-Critical Scenarios Emerge from Initial Scenes

arXiv:2609.20103 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-18

Code: https://github.com/Emerge-Lab/PufferDrive

Terminology

• Diffusion Model — 25× in this paper · explained in 8 episodes
• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Diffusion Models — 7× in this paper · explained in 6 episodes
• Embeddings — 6× in this paper · explained in 2 episodes
• Latent Diffusion Model — 6× in this paper · explained in 2 episodes
• Fine-Tuning — 5× in this paper · explained in 5 episodes
• Generative Model — 3× in this paper · explained in 2 episodes
• International Conference on Learning Representations — 3× in this paper
• International Conference on Robotics and Automation — 3× in this paper
• Latent Space — 3× in this paper · explained in 7 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Ablation Studies — 2× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Distribution Shift — 2× in this paper · explained in 6 episodes
• GRPO — 2× in this paper · explained in 6 episodes
• Generative Models — 2× in this paper · explained in 2 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Waymo Open Motion Dataset — 2× in this paper
• Action Space — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Covariate Shift — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Intelligent Driver Model — 1× in this paper
• Jensen-Shannon Divergence — 1× in this paper
• Predictive Driver Model — 1× in this paper
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Safety-Critical Traffic Simulation with Guided Latent Diffusion Model
• SceneStreamer: Continuous Scenario Generation as Next Token Group Prediction
• Classifier-Free Diffusion Guidance
• Direct Preference Optimization-Enhanced Multi-Guided Diffusion Model for Traffic Scenario Generation
• DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models

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