mlsanityData to 7 Oct 2026

V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perception

arXiv 2209.13679 ↗First posted 27 Sep 2022cs.CV cs.ROcited by 28

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Abstract (arXiv)

Recent advancements in Vehicle-to-Everything communication technology have enabled autonomous vehicles to share sensory information to obtain better perception performance. With the rapid growth of autonomous vehicles and intelligent infrastructure, the V2X perception systems will soon be deployed at scale, which raises a safety-critical question: textithow can we evaluate and improve its performance under challenging traffic scenarios before the real-world deployment? Collecting diverse large-scale real-world test scenes seems to be the most straightforward solution, but it is expensive and time-consuming, and the collections can only cover limited scenarios. To this end, we propose the first open adversarial scene generator V2XP-ASG that can produce realistic, challenging scenes for modern LiDAR-based multi-agent perception systems. V2XP-ASG learns to construct an adversarial collaboration graph and simultaneously perturb multiple agents' poses in an adversarial and plausible manner. The experiments demonstrate that V2XP-ASG can effectively identify challenging scenes for a large range of V2X perception systems. Meanwhile, by training on the limited number of generated challenging scenes, the accuracy of V2X perception systems can be further improved by 12.3% on challenging and 4% on normal scenes. Our code will be released at https://github.com/XHwind/V2XP-ASG.

Key facts. Cited by 28 papers in the map (data through 7 Oct 2026). Builds on 39 of its 65 references that are in the map. First posted on arXiv 27 Sep 2022.

Builds on

39 of 65 references.

References · 39

  1. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  2. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  3. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  4. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  5. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  6. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  7. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  8. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  9. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  10. 2021TrafficSim: Learning to Simulate Realistic Multi-Agent Behaviorscited by 192
  11. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  12. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
27 more
  1. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  2. 2019Adversarial Sensor Attack on LiDAR-based Perception in Autonomous Drivingcited by 151
  3. 2020Physically Realizable Adversarial Examples for LiDAR Object Detectioncited by 137
  4. 2021Generating Useful Accident-Prone Driving Scenarios via a Learned Traffic Priorcited by 136
  5. 2021AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehiclescited by 132
  6. 2020Who2com: Collaborative Perception via Learnable Handshake Communicationcited by 127
  7. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehiclescited by 95
  8. 2022Latency-Aware Collaborative Perceptioncited by 86
  9. 2021SceneGen: Learning to Generate Realistic Traffic Scenescited by 83
  10. 2018GenAttack: Practical Black-box Attacks with Gradient-Free Optimizationcited by 82
  11. 2018Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulationcited by 76
  12. 2022Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racingcited by 56
  13. 2022Federated Learning via Decentralized Dataset Distillation in Resource-Constrained Edge Environmentscited by 49
  14. 2021Adversarial Attacks On Multi-Agent Communicationcited by 48
  15. 2022Uncertainty Quantification of Collaborative Detection for Self-Drivingcited by 46
  16. 2021Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Drivingcited by 45
  17. 2022Adaptive Feature Fusion for Cooperative Perception using LiDAR Point Cloudscited by 29
  18. 2021Fooling LiDAR Perception via Adversarial Trajectory Perturbationcited by 25
  19. 2019Efficient Black-box Assessment of Autonomous Vehicle Safetycited by 23
  20. 2022Robustness and Adaptability of Reinforcement Learning based Cooperative Autonomous Driving in Mixed-autonomy Trafficcited by 15
  21. 2022Uncertainty estimation of pedestrian future trajectory using Bayesian approximationcited by 12
  22. 2022Leveraging Dynamic Objects for Relative Localization Correction in a Connected Autonomous Vehicle Networkcited by 8
  23. 2022Federated Learning Framework Coping with Hierarchical Heterogeneity in Cooperative ITScited by 7
  24. 2020Auto-calibration Method Using Stop Signs for Urban Autonomous Driving Applicationscited by 5
  25. 2022Edge-Aided Sensor Data Sharing in Vehicular Communication Networkscited by 3
  26. 2020Simulating Autonomous Driving in Massive Mixed Urban Trafficcited by 2
  27. 2020Universally Safe Swerve Manoeuvres for Autonomous Drivingcited by 1

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Citing papers per year: 2023: 10; 2024: 6; 2025: 6; 2026: 6.

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  1. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  2. 2023Diffusion Model as Representation Learnercited by 95
  3. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  4. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  5. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 67
  6. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  7. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  8. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  9. 2023Adaptive Communications in Collaborative Perception with Domain Alignment for Autonomous Drivingcited by 19
  10. 2023Vehicle-to-Everything Cooperative Perception for Autonomous Drivingcited by 15
  11. 2024RoCo:Robust Collaborative Perception By Iterative Object Matching and Pose Adjustmentcited by 12
  12. 2024Collaborative Perception Datasets in Autonomous Driving: A Surveycited by 11
16 more
  1. 2024CooPre: Cooperative Pretraining for V2X Cooperative Perceptioncited by 11
  2. 2023Optimizing the Placement of Roadside LiDARs for Autonomous Drivingcited by 7
  3. 2025Learning to Detect Objects from Multi-Agent LiDAR Scans without Manual Labelscited by 7
  4. 2024RCDN: Towards Robust Camera-Insensitivity Collaborative Perception via Dynamic Feature-based 3D Neural Modelingcited by 6
  5. 2024Multi-V2X: A Large Scale Multi-modal Multi-penetration-rate Dataset for Cooperative Perceptioncited by 4
  6. 2025Adversarial Generation and Collaborative Evolution of Safety-Critical Scenarios for Autonomous Vehiclescited by 4
  7. 2026MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systemscited by 4
  8. 2025Knowledge-Informed Multi-Agent Trajectory Prediction at Signalized Intersections for Infrastructure-to-Everythingcited by 2
  9. 2025Advancing Autonomous Driving System Testing: Demands, Challenges, and Future Directionscited by 1
  10. 2026V2VCrafter: Consistent Street-View Image Generation Across Vehiclescited by 1
  11. 2025Integrated Simulation Framework for Adversarial Attacks on Autonomous Vehiclescited by 0
  12. 2025SemOD: Semantic Enabled Object Detection Network under Various Weather Conditionscited by 0
  13. 2026AgentComm-Bench: Stress-Testing Cooperative Embodied AI Under Latency, Packet Loss, and Bandwidth Collapsecited by 0
  14. 2026Unsupervised Multi-agent and Single-agent Perception from Cooperative Viewscited by 0
  15. 2026SimBEV2X: A Large-Scale Dataset and Data Generation Tool for Multi-Task Vehicle-to-Everything Cooperative Perceptioncited by 0
  16. 2026VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulationcited by 0