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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
RiskFlow: Fast and Faithful Safety-Critical Traffic Scena...
Qi Lan, Yining Tang, Yu Shen, Yi Zhou, Yuhao Wei, Jie Li, Guofa · 2026-06-05 · via cs.RO updates on arXiv.org

Safety-critical traffic scenario generation is essential for evaluating autonomous driving systems under rare but high-risk interactions. Existing diffusion-based methods offer strong controllability in closed-loop generation, but their iterative denoising process is computationally expensive and may accumulate sampling and guidance errors over long rollouts, causing unrealistic motion artifacts such as jitter, abnormal acceleration, and off-road behavior. To address these issues, we propose RiskFlow, a closed-loop safety-critical multi-agent traffic generation framework that formulates future trajectory generation as transport in the action space. Instead of relying on iterative denoising, RiskFlow learns an average velocity field over a finite interval to transform Gaussian action sequences into future acceleration and yaw-rate commands with a single forward pass, using a JVP-based objective for efficient and stable training. At test time, RiskFlow applies output-space guidance to the generated actions, steering selected critical agents toward risky interactions while regularizing off-road behavior, and reconstructs physically feasible trajectories through vehicle dynamics. Experiments on nuScenes with tbsim closed-loop evaluation show that RiskFlow achieves a strong adversariality-realism trade-off across multi-agent and long-horizon settings. Compared with representative baselines, RiskFlow consistently improves realism while maintaining competitive safety-critical generation capability, and substantially reduces inference time for evaluation.