Self-driving cars have made impressive progress. They can follow lanes, keep their distance, and navigate familiar routes with ease. However, despite years of development, they still struggle with one critical problem: the rare and dangerous situations that cause the most serious accidents. These “edge cases” include sharp bends on wet roads, sudden changes in slope, or situations where a vehicle approaches its physical limits of grip and stability. In real-world deployments, which often involve some level of shared control between driver and automation, such moments can arise from human misjudgment or from automated systems failing to anticipate rapidly changing conditions. They happen infrequently, but when they occur, the consequences can be severe. A car might handle a thousand gentle curves perfectly, but fail on the one sharp bend taken a little too fast. Current autonomous systems are not trained well enough to handle these moments reliably. From a data perspective, these events form what scientists call a “long tail”: they are statistically rare, but disproportionately important. Collecting more real world data does not fully solve …