ExceptionDrive: A Planning-Oriented Counterfactual Corner-Case Benchmark for Autonomous Driving

arXiv:2609.37871 · cs.RO, cs.AI · Submitted 2026-09-29 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-29

Updated: 2026-09-29

Comments: 13 pages, 5 figures, 3 tables; supplementary material included

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 30× in this paper · explained in 2 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Core — 5× in this paper · explained in 2 episodes
• Hazard Clearance Compliance — 4× in this paper
• Hazard Proximity Response — 4× in this paper
• Unsafe Rate — 4× in this paper
• Benchmarking — 3× in this paper · explained in 3 episodes
• Counterfactual Trajectory Shift — 3× in this paper
• Consistency — 2× in this paper · explained in 3 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Generative Models — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Adaptive Reasoning — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Latent Diffusion Model — 1× in this paper · explained in 2 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Qwen Technical Report
• SegmentMeIfYouCan: A Benchmark for Anomaly Segmentation
• An Application-Driven Conceptualization of Corner Cases for Perception in Highly Automated Driving
• Driving on Registers
• BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers
• LightEMMA: A Longitudinal Evaluation of Vision-Language Models for Autonomous Driving
• Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting

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