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 while preserving their context.

摘自论文摘要，摘要生成中。