Off the Rails: Hijacking the Scoring Head in Generative End-to-End Driving Planners with Safety-Violating Adversarial Perturbations

Engineering notes

Key topics: autonomous driving, bev, end-to-end driving, end-to-end, perception. See the paper for implementation details and experimental results.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Generative models have recently seen rapid adoption in End-to-End (E2E) autonomous driving (AD), with diffusion-based denoising and vocabulary-based retrieval becoming the dominant trajectory-decoding paradigms. Despite their architectural diversity, current generative AD planners share a common inference pattern: a fixed set of candidate trajectories (anchors, vocabulary entries, or proposal queries) is scored by one or more learned heads conditioned on the Bird's-Eye-View (BEV) features, and the highest-scored candidate is returned as the final trajectory. Under this design, the scoring head is the only barrier between perception and the motion command, and its decision margins between competing candidates are often small. We introduce \textsc{Derail}, an adversarial framework that exploits this scoring-head attack surface. Evaluated on various generative planners, \textsc{Derail} flips the trajectory selection from a safe to an unsafe candidate, with score drops of $39$--$80\%$ and collision rates of up to $50\%$, consistently outperforming generic loss-maximization and feature-divergence attacks. Our analysis suggests that safety-violating objectives govern attack effectiveness against generative AD planners, and that the scoring-head inference pattern itself is a recurring attack surface worth explicit defensive consideration.

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