Derail adversarial perturbations hijack the scoring head in generative E2E driving planners, flipping safe to unsafe trajectory selection with 39-80% score drops and up to 50% collision rates.
Reflexd- iffusion: Reflection-enhanced trajectory planning for high- lateral-acceleration scenarios in autonomous driving.arXiv preprint arXiv:2601.09377, 2026
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Off the Rails: Hijacking the Scoring Head in Generative End-to-End Driving Planners with Safety-Violating Adversarial Perturbations
Derail adversarial perturbations hijack the scoring head in generative E2E driving planners, flipping safe to unsafe trajectory selection with 39-80% score drops and up to 50% collision rates.