Humanoid As Human Assessment for the Safety of Vulnerable Road Users

Li, Miao; Lai, Chengkai; Zhao, Ding

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Humanoid As Human Assessment for the Safety of Vulnerable Road Users

2026-08-31
By Li, Miao ; Lai, Chengkai ; Zhao, Ding

File Language:

English

Details

Creators:

Li, Miao ; Lai, Chengkai ; Zhao, Ding
Corporate Creators:

Carnegie Mellon University
Corporate Contributors:

Carnegie Mellon University. Traffic21 Institute. Safety21 University Transportation Center (UTC) ; United States. Department of Transportation. University Transportation Centers (UTC) Program ; United States. Department of Transportation. Office of the Assistant Secretary for Research and Technology ; United States. Department of Transportation. Federal Highway Administration
Subject/TRT Terms:
Resource Type:

Tech Report
Geographical Coverage:

United States
Edition:

Final Report (July 1, 2025 - July 31, 2026)
Corporate Publisher:

Carnegie Mellon University. Traffic21 Institute. Safety21 University Transportation Center (UTC)
Abstract:

This project builds a pipeline that bridges virtual and physical safety evaluation of autonomous driving under critical scenarios involving vulnerable road users (VRUs). We extend an esmini-based simulator to replay scenarios and control every road user, develop Crash Agent v2 to generate diverse, executable VRU-centric scenarios from NHTSA crash reports and road maps using fine-tuned vision-language and code-generating language models, introduce VRU behavior inpainting to turn trajectory-level scenarios into executable humanoid motions, and align the simulator with humanoid platforms so the same scenarios can be reproduced on a test ground. The result is a foundation for evaluating identical VRU-critical scenarios consistently in both virtual and physical settings.
Format:

PDF
Funding:

69A3552344811
Download URL:

https://rosap.ntl.bts.gov/view/dot/93524/dot_93524_DS1.pdf
File Type:

[PDF - 435.06 KB]
Collection(s):

Autonomous Vehicles ; University Transportation Centers
Main Document Checksum:

urn:sha-512:7a3b65a946f9451d0a3cc7f906a7981c6990278e10e2698fa856ed5ca28660d9046d0fb2b69734ad37a96bf71808511f28a0372dcca57604fd6528b924292328

File Language:

English

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