safety
Twenty Frames Removed Nearly One-Fifth of Hidden-Vehicle Seeds
History-conditioned minimax search found six avoidable counterexamples across eight Waymo scenarios.
Summary
History-conditioned minimax search found six avoidable counterexamples across eight Waymo scenarios.
The method certifies hidden trajectories against visibility, occupancy, map and kinematic constraints before searching for the legal path that hurts the ego vehicle's best response most. Extending memory from one frame to twenty reduced retained hidden seeds about 18.45% overall; no collision-producing attacker was found in two scenes within the finite budget.
Why it matters
History-conditioned minimax search found six avoidable counterexamples across eight Waymo scenarios.
Limits and context
No additional limitation was separately recorded.
Key claims
History-conditioned minimax search found six avoidable counterexamples across eight Waymo scenarios.
Evidence: source-2026-09-19-021
Sources
- arXiv preprint 2609.20480arXiv · primary research
Corrections
No corrections have been recorded for this story.