ExceptionDrive: A Planning-Oriented Counterfactual Corner-Case Benchmark for Autonomous Driving
Average performance on routine driving benchmarks does not establish planner reliability under rare, safety-critical hazards. We proposed ExceptionDrive, a counterfactual planning benchmark that uses VLM-assisted screening, localized multi-view editing, and quality auditing to insert hazards into real nuScenes scenes w...
Zi-Yin Luo, Zhe Sun, Ye-Hao Lu et al.
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