Waymo Open Dataset

CARLA-GS: Modular pipeline for photorealistic autonomous driving corner-case synthesis using LLMs and Gaussian splatting

CARLA-GS is a new modular framework for synthesizing safety-critical corner cases for autonomous driving evaluation, decoupling visual representation (editable Gaussian scenes), semantic reasoning (multi-agent LLM for waypoint generation), and physics simulation (CARLA with PID control). The pipeline reconstructs real driving scenes from the Waymo Open Dataset, uses LLMs to identify risky interactions and generate intent-level trajectories, then re-projects simulated states into Gaussian scenes for photorealistic ego-centric rendering. The approach addresses a key gap in AV safety evaluation: generating spatiotemporally consistent, physically feasible, and semantically meaningful rare scenarios at scale.