mlsanityData to 7 Oct 2026

"Curse of rarity" for autonomous vehicles

arXiv 2207.02749 ↗First posted 6 Jul 2022cs.ROcited by 62

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Cited by 23 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

In this paper, we reveal that the rarity of safety-critical events in high-dimensional driving environments is the root cause of the safety challenge for autonomous vehicle development. We formulate it as "curse of rarity" (CoR) because it occurs ubiquitously in various safety-critical systems such as medical diagnosis and aerospace systems.

Key facts. Cited by 62 papers in the map (data through 7 Oct 2026). First posted on arXiv 6 Jul 2022.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 11; 2025: 24; 2026: 24.

62 papers.

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  1. 2025ReSim: Reliable World Simulation for Autonomous Drivingcited by 42
  2. 2025Centaur: Robust End-to-End Autonomous Driving with Test-Time Trainingcited by 41
  3. 2023Towards Knowledge-driven Autonomous Drivingcited by 29
  4. 2025Reinforced Refinement with Self-Aware Expansion for End-to-End Autonomous Drivingcited by 19
  5. 2023A Comprehensive Survey on Rare Event Predictioncited by 18
  6. 2024Multimodal Large Language Model Driven Scenario Testing for Autonomous Vehiclescited by 18
  7. 2024The Why, When, and How to Use Active Learning in Large-Data-Driven 3D Object Detection for Safe Autonomous Driving: An Empirical Explorationcited by 17
  8. 2026Unleashing VLA Potentials in Autonomous Driving via Explicit Learning from Failurescited by 17
  9. 2025Simulating the Visual World with Artificial Intelligence: A Roadmapcited by 15
  10. 2024FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversarialitycited by 13
  11. 2025FASIONAD++ : Integrating High-Level Instruction and Information Bottleneck in FAt-Slow fusION Systems for Enhanced Safety in Autonomous Driving with Adaptive Feedbackcited by 12
  12. 2025Evolution and The Knightian Blindspot of Machine Learningcited by 11
38 more
  1. 2024SEAL: Towards Safe Autonomous Driving via Skill-Enabled Adversary Learning for Closed-Loop Scenario Generationcited by 10
  2. 2025Seeking to Collide: Online Safety-Critical Scenario Generation for Autonomous Driving with Retrieval Augmented Large Language Modelscited by 7
  3. 2025LightEMMA: A Longitudinal Evaluation of Vision-Language Models for Autonomous Drivingcited by 6
  4. 2026VILTA: A VLM-in-the-Loop Adversary for Enhancing Driving Policy Robustnesscited by 6
  5. 2026World Engine: Towards the Era of Post-Training for Autonomous Drivingcited by 6
  6. 2025Simulating the Unseen: Crash Prediction Must Learn from What Did Not Happencited by 5
  7. 2025RIFT: Group-Relative RL Fine-Tuning for Realistic and Controllable Traffic Simulationcited by 4
  8. 2026Scaling Self-Play for End-to-End Drivingcited by 4
  9. 2024Accurately Predicting Probabilities of Safety-Critical Rare Events for Intelligent Systemscited by 3
  10. 2024A Unified Probabilistic Approach to Traffic Conflict Detectioncited by 3
  11. 2025HAD-Gen: Human-like and Diverse Driving Behavior Modeling for Controllable Scenario Generationcited by 3
  12. 2025A Data-Driven Novelty Score for Diverse In-Vehicle Data Recordingcited by 3
  13. 2025Controllable Collision Scenario Generation via Collision Pattern Predictioncited by 3
  14. 2026ADV-0: Closed-Loop Min-Max Adversarial Training for Long-Tail Robustness in Autonomous Drivingcited by 3
  15. 2026The Era of End-to-End Autonomy: Transitioning from Rule-Based Driving to Large Driving Modelscited by 3
  16. 2024Few-Shot Scenario Testing for Autonomous Vehicles Based on Neighborhood Coverage and Similaritycited by 2
  17. 2024Adaptive Testing Environment Generation for Connected and Automated Vehicles with Dense Reinforcement Learningcited by 2
  18. 2025AccidentSim: Generating Vehicle Collision Videos with Physically Realistic Collision Trajectories from Real-World Accident Reportscited by 2
  19. 2025Learning collision risk proactively from naturalistic driving data at scalecited by 2
  20. 2025Optimization-Guided Diffusion for Interactive Scene Generationcited by 2
  21. 2026Towards Safe Mobility: A Unified Transportation Foundation Model enabled by Open-Ended Vision-Language Datasetcited by 2
  22. 2023ROCO: A Roundabout Traffic Conflict Datasetcited by 1
  23. 2024Flow to Rare Events: An Application of Normalizing Flow in Temporal Importance Sampling for Automated Vehicle Validationcited by 1
  24. 2024Label-Free Model Failure Detection for Lidar-based Point Cloud Segmentationcited by 1
  25. 2024VCAT: Vulnerability-aware and Curiosity-driven Adversarial Training for Enhancing Autonomous Vehicle Robustnesscited by 1
  26. 2025Siamese Network with Dual Attention for EEG-Driven Social Learning: Bridging the Human-Robot Gap in Long-Tail Autonomous Drivingcited by 1
  27. 2025Point Cloud Recombination: Systematic Real Data Augmentation Using Robotic Targets for LiDAR Perception Validationcited by 1
  28. 2025RADE: Learning Risk-Adjustable Driving Environment via Multi-Agent Conditional Diffusioncited by 1
  29. 2025DiCriTest: Testing Scenario Generation for Decision-Making Agents Considering Diversity and Criticalitycited by 1
  30. 2025A Feedback-Control Framework for Efficient Dataset Collection from In-Vehicle Data Streamscited by 1
  31. 2025Controllable risk scenario generation from human crash data for autonomous vehicle testingcited by 1
  32. 2026The Homogenization Problem in LLMs: Towards Meaningful Diversity in AI Safetycited by 1
  33. 2026Unsupervised Anomaly Detection in Multi-Agent Trajectory Prediction via Transformer-Based Modelscited by 1
  34. 2026Beyond Self-Play: Hierarchical Reasoning for Continuous Motion in Closed-Loop Traffic Simulationcited by 1
  35. 2026CLAP: Contrastive Latent-space Prompt Optimization for End-to-end Autonomous Drivingcited by 1
  36. 2026CARLA-GS: Decoupling Representation, Reasoning, and Physics Simulation for Autonomous Driving Corner-Case Synthesiscited by 1
  37. 2026World Models as Adversaries: Multi-Agent Self-Play Fine-Tuning for Robust Motion Planningcited by 1
  38. 2026Video2Track: From Real-World Interaction Videos to Steerable Adversarial Closed-Track Testing for Automated Driving Systemscited by 1

50 most cited of 62 All 62 (JSON)