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摘要 / Abstract
This paper presents CounterScene, a novel framework that enables structured counterfactual reasoning in generative Bird's Eye View (BEV) world models for safety-critical driving scenario generation. The approach addresses the challenge of creating realistic yet adversarially effective safety scenarios by introducing causal adversarial agent identification to determine critical agents and conflict types. CounterScene develops a conflict-aware interactive world model using causal interaction graphs to explicitly model dynamic inter-agent dependencies. The framework performs minimal interventions through stage-adaptive counterfactual guidance, effectively bridging the gap between realism and adversarial robustness in autonomous driving safety evaluation.
本文提出CounterScene框架,能够在生成式鸟瞰图(BEV)世界模型中进行结构化反事实推理,用于安全关键驾驶场景生成。该方法通过因果对抗智能体识别确定关键智能体与冲突类型,并利用因果交互图构建冲突感知的交互式世界模型以显式建模动态智能体间依赖关系。框架通过阶段自适应反事实引导进行最小干预,有效弥合自动驾驶安全评估中场景逼真性与对抗鲁棒性之间的差距。
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