OmniSCS: Omni Safety-Critical Scenario Synthesis for Autonomous Driving via an Editable Driving World

arXiv Code (coming soon)

1. Editable 4D Driving World Construction

Every agent’s state is editable — try rotating the agents below to see the power of fully editing!

RGB (Appearance Consistency)

Depth (Geometry Consistency)

2. 1-to-N Safety-Critical Scenario Synthesis

Appearance-level SCS — Let's seamlessly composite rare objects from 2D images into a 4D driving environment!

Behavior-level SCS — Let's editing agent trajectories to produce risky behavioral maneuvers!

3. Autonomous Drving Simulation

Zero-Cost, Risk-Free Testing of Perception and Planning Robustness across Diverse SCS. & More Realistic Testing with trajectory updates: UniAD trajectories → OmniSCS viewpoint updates → new sensor data → iterative testing.