Simulate Any Radar: Attribute-Controllable Radar Simulation via Waveform Parameter Embedding
This work addresses the need for efficient and flexible radar simulation in autonomous driving, offering a novel hybrid method that is incremental over prior generative or physics-based approaches.
The paper tackles the problem of generating realistic radar data for autonomous driving by introducing SA-Radar, a simulation approach that produces controllable radar cubes based on customizable attributes, resulting in improved model performance in tasks like object detection and segmentation when used with or without real data.
We present SA-Radar (Simulate Any Radar), a radar simulation approach that enables controllable and efficient generation of radar cubes conditioned on customizable radar attributes. Unlike prior generative or physics-based simulators, SA-Radar integrates both paradigms through a waveform-parameterized attribute embedding. We design ICFAR-Net, a 3D U-Net conditioned on radar attributes encoded via waveform parameters, which captures signal variations induced by different radar configurations. This formulation bypasses the need for detailed radar hardware specifications and allows efficient simulation of range-azimuth-Doppler (RAD) tensors across diverse sensor settings. We further construct a mixed real-simulated dataset with attribute annotations to robustly train the network. Extensive evaluations on multiple downstream tasks-including 2D/3D object detection and radar semantic segmentation-demonstrate that SA-Radar's simulated data is both realistic and effective, consistently improving model performance when used standalone or in combination with real data. Our framework also supports simulation in novel sensor viewpoints and edited scenes, showcasing its potential as a general-purpose radar data engine for autonomous driving applications. Code and additional materials are available at https://zhuxing0.github.io/projects/SA-Radar.