# Adversarially Guided Diffusion for LiDAR Range Image Synthesis

arXiv: https://arxiv.org/abs/2607.09787 · HTML: https://mlsanity.com/paper/2607.09787/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in World modeling from LiDAR generation, one of 11 directions in World models.
- Builds on 29 of its 39 references that are in the map.
- First posted on arXiv 8 Jul 2026.

## Placed in

- World models / [World modeling from LiDAR generation](https://mlsanity.com/wm/world-modeling-from-lidar-generation/)
- Diffusion models / [3D, point cloud and scene generation](https://mlsanity.com/diffusion/3d-point-cloud-and-scene-generation/)

## Builds on (most cited first, 29 of 29)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Score-Based Generative Modeling through Stochastic Differential Equations](https://mlsanity.com/paper/2011.13456/) (2020)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Generative Adversarial Networks](https://mlsanity.com/paper/2203.00667/) (2022)
- [Intriguing properties of neural networks](https://mlsanity.com/paper/1312.6199/) (2013)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Towards Evaluating the Robustness of Neural Networks](https://mlsanity.com/paper/1608.04644/) (2016)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [Diffusion Models for Adversarial Purification](https://mlsanity.com/paper/2205.07460/) (2022)
- [Deep Multi-modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges](https://mlsanity.com/paper/1902.07830/) (2019)
- [Adversarial Examples for Semantic Segmentation and Object Detection](https://mlsanity.com/paper/1703.08603/) (2017)
- [Generating Adversarial Examples with Adversarial Networks](https://mlsanity.com/paper/1801.02610/) (2018)
- [A Self-supervised Approach for Adversarial Robustness](https://mlsanity.com/paper/2006.04924/) (2020)
- [SqueezeSegV3: Spatially-Adaptive Convolution for Efficient Point-Cloud Segmentation](https://mlsanity.com/paper/2004.01803/) (2020)
- [Adversarial Sensor Attack on LiDAR-based Perception in Autonomous Driving](https://mlsanity.com/paper/1907.06826/) (2019)
- [Constructing Unrestricted Adversarial Examples with Generative Models](https://mlsanity.com/paper/1805.07894/) (2018)
- [On the Robustness of Semantic Segmentation Models to Adversarial Attacks](https://mlsanity.com/paper/1711.09856/) (2017)
- [TFG: Unified Training-Free Guidance for Diffusion Models](https://mlsanity.com/paper/2409.15761/) (2024)
- [Diffusion Models for Imperceptible and Transferable Adversarial Attack](https://mlsanity.com/paper/2305.08192/) (2023)
- [The Principles of Diffusion Models](https://mlsanity.com/paper/2510.21890/) (2025)
- [SegPGD: An Effective and Efficient Adversarial Attack for Evaluating and Boosting Segmentation Robustness](https://mlsanity.com/paper/2207.12391/) (2022)
- [Towards Realistic Scene Generation with LiDAR Diffusion Models](https://mlsanity.com/paper/2404.00815/) (2024)
- [CENet: Toward Concise and Efficient LiDAR Semantic Segmentation for Autonomous Driving](https://mlsanity.com/paper/2207.12691/) (2022)
- [AdvDiff: Generating Unrestricted Adversarial Examples using Diffusion Models](https://mlsanity.com/paper/2307.12499/) (2023)
- [AdvSPADE: Realistic Unrestricted Attacks for Semantic Segmentation](https://mlsanity.com/paper/1910.02354/) (2019)

## Abstract (arXiv)

LiDAR semantic segmentation is a key perception task in autonomous driving, where false predictions can affect downstream planning and safety-critical decision-making. Although adversarial attacks, and specifically adversarial examples, have been widely studied for image classification and 3D point cloud segmentation, unrestricted adversarial examples remain largely unexplored in the space of 2D range images, which are projections of 3D point clouds. The proposed method is, to the best of our knowledge, the first diffusion-based unrestricted adversarial attack against 2D range-image segmentation, using adversarial guidance from a segmentation loss. By applying guidance directly during sampling, the method produces unrestricted adversarial examples that remain close to the learned LiDAR data manifold while inducing structured segmentation errors. Experiments on the SemanticKITTI dataset using RangeNet++ and CENet segmentation networks demonstrate that the attack provides adjustable degradation across guidance strengths and transfers across segmentation architectures. Compared with norm-bounded FGSM and SegPGD baselines, the proposed attack offers a distinct effectiveness-realism trade-off, achieving controllable white-box and transfer degradation while maintaining competitive distributional and visual realism.