Video2Track: From Real-World Interaction Videos to Steerable Adversarial Closed-Track Testing for Automated Driving Systems
arXiv:2608.11592v1 Announce Type: new Abstract: Closed-track testing plays a fundamental role in the verification and validation of automated driving systems (ADS), particularly for safety-critical scenarios, by enabling reproducible evaluation under controlled conditions. However, most existing approaches still rely on standardized protocols or predefined trajectories, leading to overly scripted interactions and limited ability to reproduce the natural complexity of public-road traffic. To address this limitation, we propose Video2Track, a framework that transfers real-world interactive driving scenarios from videos into steerable adversarial closed-track testing. The framework consists of two tightly coupled modules. The first is a scenario semantic mapping module, which extracts structured semantics from driving videos using a vision-language model and grounds them onto a closed-track topology library via retrieval-augmented generation, thereby identifying compatible map segments and interaction anchors. The second is a dynamic interactive testing module, which conditions on the grounded topology and anchors to generate diverse multi-agent trajectories through a conditional diffusion model, while regulating interaction intensity via a Stackelberg game with a parameterized adversarial objective. Closed-track experiments demonstrate that the proposed framework can faithfully reproduce representative real-world interaction scenarios and generate executable scenario variants with controllable risk levels and interaction styles, providing a scalable approach for realistic and steerable ADS validation.
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[Submitted on 12 Aug 2026]
Title:Video2Track: From Real-World Interaction Videos to Steerable Adversarial Closed-Track Testing for Automated Driving Systems
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Abstract:Closed-track testing plays a fundamental role in the verification and validation of automated driving systems (ADS), particularly for safety-critical scenarios, by enabling reproducible evaluation under controlled conditions. However, most existing approaches still rely on standardized protocols or predefined trajectories, leading to overly scripted interactions and limited ability to reproduce the natural complexity of public-road traffic. To address this limitation, we propose Video2Track, a framework that transfers real-world interactive driving scenarios from videos into steerable adversarial closed-track testing. The framework consists of two tightly coupled modules. The first is a scenario semantic mapping module, which extracts structured semantics from driving videos using a vision-language model and grounds them onto a closed-track topology library via retrieval-augmented generation, thereby identifying compatible map segments and interaction anchors. The second is a dynamic interactive testing module, which conditions on the grounded topology and anchors to generate diverse multi-agent trajectories through a conditional diffusion model, while regulating interaction intensity via a Stackelberg game with a parameterized adversarial objective. Closed-track experiments demonstrate that the proposed framework can faithfully reproduce representative real-world interaction scenarios and generate executable scenario variants with controllable risk levels and interaction styles, providing a scalable approach for realistic and steerable ADS validation.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2608.11592 [cs.RO]
(or arXiv:2608.11592v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2608.11592
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Mengjie Tian [view email] [v1] Wed, 12 Aug 2026 03:07:00 UTC (17,271 KB)
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