mlsanityData to 7 Oct 2026

Dataset Safety in Autonomous Driving: Requirements, Risks, and Assurance

arXiv 2511.08439 ↗First posted 11 Nov 2025cs.AIcited by 0

Not on the map. Why?

Abstract (arXiv)

Dataset integrity is fundamental to the safety and reliability of AI systems, especially in autonomous driving. This paper presents a structured framework for developing safe datasets aligned with ISO/PAS 8800 guidelines. Using AI-based perception systems as the primary use case, it introduces the AI Data Flywheel and the dataset lifecycle, covering data collection, annotation, curation, and maintenance. The framework incorporates rigorous safety analyses to identify hazards and mitigate risks caused by dataset insufficiencies. It also defines processes for establishing dataset safety requirements and proposes verification and validation strategies to ensure compliance with safety standards. In addition to outlining best practices, the paper reviews recent research and emerging trends in dataset safety and autonomous vehicle development, providing insights into current challenges and future directions. By integrating these perspectives, the paper aims to advance robust, safety-assured AI systems for autonomous driving applications.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 58 of its 113 references that are in the map. First posted on arXiv 11 Nov 2025.

Builds on

58 of 113 references.

References · 58

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  3. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  4. 2018BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learningcited by 1,282
  5. 2022Planning-oriented Autonomous Drivingcited by 1,068
  6. 2025Cosmos World Foundation Model Platform for Physical AIcited by 833
  7. 2023GAIA-1: A Generative World Model for Autonomous Drivingcited by 618
  8. 2023VAD: Vectorized Scene Representation for Efficient Autonomous Drivingcited by 613
  9. 2024DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Modelscited by 482
  10. 2024NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarkingcited by 343
  11. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 311
  12. 2023Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Drivingcited by 309
38 more
  1. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  2. 2025AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuningcited by 252
  3. 2017Computer Vision for Autonomous Vehicles: Problems, Datasets and State of the Artcited by 182
  4. 2024An Introduction to Vision-Language Modelingcited by 175
  5. 2025Open-Sora 2.0: Training a Commercial-Level Video Generation Model in 200kcited by 157
  6. 2021Delving into Localization Errors for Monocular 3D Object Detectioncited by 138
  7. 2025Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tailcited by 136
  8. 2020LGSVL Simulator: A High Fidelity Simulator for Autonomous Drivingcited by 119
  9. 2024DriveArena: A Closed-loop Generative Simulation Platform for Autonomous Drivingcited by 98
  10. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  11. 2023A Survey on Uncertainty Quantification Methods for Deep Learningcited by 78
  12. 2024CoVLA: Comprehensive Vision-Language-Action Dataset for Autonomous Drivingcited by 74
  13. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  14. 2023Synthetic Datasets for Autonomous Driving: A Surveycited by 48
  15. 2024Navigation-Guided Sparse Scene Representation for End-to-End Autonomous Drivingcited by 46
  16. 2023Localization Is All You Evaluate: Data Leakage in Online Mapping Datasets and How to Fix Itcited by 44
  17. 2024MAN TruckScenes: A multimodal dataset for autonomous trucking in diverse conditionscited by 41
  18. 2022X-Align: Cross-Modal Cross-View Alignment for Bird's-Eye-View Segmentationcited by 38
  19. 2025DriveLMM-o1: A Step-by-Step Reasoning Dataset and Large Multimodal Model for Driving Scenario Understandingcited by 35
  20. 2023X3KD: Knowledge Distillation Across Modalities, Tasks and Stages for Multi-Camera 3D Object Detectioncited by 28
  21. 2025UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Drivingcited by 27
  22. 2024AIDE: An Automatic Data Engine for Object Detection in Autonomous Drivingcited by 26
  23. 2019Challenges in Designing Datasets and Validation for Autonomous Drivingcited by 23
  24. 2023Open-sourced Data Ecosystem in Autonomous Driving: the Present and Futurecited by 22
  25. 2019AuxNet: Auxiliary tasks enhanced Semantic Segmentation for Automated Drivingcited by 19
  26. 2024Data-Centric Evolution in Autonomous Driving: A Comprehensive Survey of Big Data System, Data Mining, and Closed-Loop Technologiescited by 17
  27. 2023Perception Datasets for Anomaly Detection in Autonomous Driving: A Surveycited by 16
  28. 2024Unsupervised Concept Drift Detection from Deep Learning Representations in Real-timecited by 16
  29. 2019NeurAll: Towards a Unified Visual Perception Model for Automated Drivingcited by 11
  30. 2023ObjectLab: Automated Diagnosis of Mislabeled Images in Object Detection Datacited by 11
  31. 2023Navya3DSeg -- Navya 3D Semantic Segmentation Dataset & split generation for autonomous vehiclescited by 9
  32. 2024Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditionscited by 9
  33. 2025Para-Lane: Multi-Lane Dataset Registering Parallel Scans for Benchmarking Novel View Synthesiscited by 9
  34. 2024RoboSense: Large-scale Dataset and Benchmark for Egocentric Robot Perception and Navigation in Crowded and Unstructured Environmentscited by 8
  35. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  36. 2023STPA for Learning-Enabled Systems: A Survey and A New Practicecited by 7
  37. 2024Run-time Introspection of 2D Object Detection in Automated Driving Systems Using Learning Representationscited by 6
  38. 2024ZOPP: A Framework of Zero-shot Offboard Panoptic Perception for Autonomous Drivingcited by 6

50 most cited of 58 All 58 (JSON)

Built on by

Not cited yet.