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SIREN-Bench: Behavior-Driven Generation and Evaluation of Emergency-Vehicle Interactions

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Emergency vehicles (EMVs) can reorganize surrounding traffic as civilian vehicles brake, change lanes, or form rescue corridors in response to their passage. Evaluating these safety-critical interactions requires behavior-level control over both EMV privileges and civilian responses, together with consistent sensing and ground truth. Existing datasets and simulation benchmarks do not directly provide this combination. We present \textbf{SIREN}, a behavior-driven SUMO--CARLA co-simulation platform for generating EMV--civilian interactions. SIREN couples SUMO's network-level traffic evolution an

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