# Driving scenario generation and evaluation using a structured layer representation and foundational models

arXiv: https://arxiv.org/abs/2511.01541 · HTML: https://mlsanity.com/paper/2511.01541/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 24 of its 29 references that are in the map.
- First posted on arXiv 3 Nov 2025.

## Builds on (most cited first, 24 of 24)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Video Diffusion Models](https://mlsanity.com/paper/2204.03458/) (2022)
- [Align your Latents: High-Resolution Video Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2304.08818/) (2023)
- [Continual Lifelong Learning with Neural Networks: A Review](https://mlsanity.com/paper/1802.07569/) (2018)
- [Towards Accurate Generative Models of Video: A New Metric & Challenges](https://mlsanity.com/paper/1812.01717/) (2018)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability](https://mlsanity.com/paper/2405.17398/) (2024)
- [StoryDiffusion: Consistent Self-Attention for Long-Range Image and Video Generation](https://mlsanity.com/paper/2405.01434/) (2024)
- [GAIA-2: A Controllable Multi-View Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2503.20523/) (2025)
- [Conditional Image-to-Video Generation with Latent Flow Diffusion Models](https://mlsanity.com/paper/2303.13744/) (2023)
- [Gemini Embedding: Generalizable Embeddings from Gemini](https://mlsanity.com/paper/2503.07891/) (2025)
- [Make It Move: Controllable Image-to-Video Generation with Text Descriptions](https://mlsanity.com/paper/2112.02815/) (2021)
- [FlowVid: Taming Imperfect Optical Flows for Consistent Video-to-Video Synthesis](https://mlsanity.com/paper/2312.17681/) (2023)
- [GEM: A Generalizable Ego-Vision Multimodal World Model for Fine-Grained Ego-Motion, Object Dynamics, and Scene Composition Control](https://mlsanity.com/paper/2412.11198/) (2024)
- [Semantic Anomaly Detection with Large Language Models](https://mlsanity.com/paper/2305.11307/) (2023)
- [Fairy: Fast Parallelized Instruction-Guided Video-to-Video Synthesis](https://mlsanity.com/paper/2312.13834/) (2023)
- [Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis](https://mlsanity.com/paper/2506.11526/) (2025)
- [6-Layer Model for a Structured Description and Categorization of Urban Traffic and Environment](https://mlsanity.com/paper/2012.06319/) (2020)
- [Generating Out-Of-Distribution Scenarios Using Language Models](https://mlsanity.com/paper/2411.16554/) (2024)
- [Seeing Clearly, Forgetting Deeply: Revisiting Fine-Tuned Video Generators for Driving Simulation](https://mlsanity.com/paper/2508.16512/) (2025)
- [LLM-based Realistic Safety-Critical Driving Video Generation](https://mlsanity.com/paper/2507.01264/) (2025)

## Abstract (arXiv)

Rare and challenging driving scenarios are critical for autonomous vehicle development. Since they are difficult to encounter, simulating or generating them using generative models is a popular approach. Following previous efforts to structure driving scenario representations in a layer model, we propose a structured five-layer model to improve the evaluation and generation of rare scenarios. We use this model alongside large foundational models to generate new driving scenarios using a data augmentation strategy. Unlike previous representations, our structure introduces subclasses and characteristics for every agent of the scenario, allowing us to compare them using an embedding specific to our layer-model. We study and adapt two metrics to evaluate the relevance of a synthetic dataset in the context of a structured representation: the diversity score estimates how different the scenarios of a dataset are from one another, while the originality score calculates how similar a synthetic dataset is from a real reference set. This paper showcases both metrics in different generation setup, as well as a qualitative evaluation of synthetic videos generated from structured scenario descriptions. The code and extended results can be found at https://github.com/Valgiz/5LMSG.