Is there any example about Safety-Critical Scenario Generation?

[zhoujiawei3]

I'm curious about the safety-critical scenario generation part in this paper. Could you show how to generate it ?

[zzx9636]

Thanks for your interest! The safety-critical scenarion generation is implemented here:

VBD/vbd/sim_agent/sim_actor.py

Line 282 in 61251ef

def ibr_guidance(