Related papers: Adaptive Stress Testing for Autonomous Vehicles

Ensuring the safety of autonomous vehicles (AVs) requires identifying rare but critical failure cases that on-road testing alone cannot discover. High-fidelity simulations provide a scalable alternative, but automatically generating…

The maximum reachability probabilities in a Markov decision process can be computed using value iteration (VI). Recently, simulation-based heuristic extensions of VI have been introduced, such as bounded real-time dynamic programming…

Currently, the most prevalent way to evaluate an autonomous vehicle is to directly test it on the public road. However, because of recent accidents caused by autonomous vehicles, it becomes controversial about whether on-road tests should…

Deep reinforcement learning (DRL) has been used to learn effective heuristics for solving complex combinatorial optimisation problem via policy networks and have demonstrated promising performance. Existing works have focused on solving…

Autonomous Ground Vehicles (AGVs) are essential tools for a wide range of applications stemming from their ability to operate in hazardous environments with minimal human operator input. Effective motion planning is paramount for successful…

The AutoML task consists of selecting the proper algorithm in a machine learning portfolio, and its hyperparameter values, in order to deliver the best performance on the dataset at hand. Mosaic, a Monte-Carlo tree search (MCTS) based…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

In mixed autonomy traffic environment, every decision made by an autonomous-driving car may have a great impact on the transportation system. Because of the complex interaction between vehicles, it is challenging to make decisions that can…

With the advent of universal function approximators in the domain of reinforcement learning, the number of practical applications leveraging deep reinforcement learning (DRL) has exploded. Decision-making in autonomous vehicles (AVs) has…

Offline reinforcement learning (RL) is a powerful approach for data-driven decision-making and control. Compared to model-free methods, offline model-based reinforcement learning (MBRL) explicitly learns world models from a static dataset…

Deep reinforcement learning has gradually shown its latent decision-making ability in urban rail transit autonomous operation. However, since reinforcement learning can not neither guarantee safety during learning nor execution, this is…

Testing autonomous driving systems for safety and reliability is extremely complex. A primary challenge is identifying the relevant test scenarios, especially the critical ones that may expose hazards or risks of harm to autonomous vehicles…

Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…

Validating the safety of autonomous systems generally requires the use of high-fidelity simulators that adequately capture the variability of real-world scenarios. However, it is generally not feasible to exhaustively search the space of…

Simulation-based testing is crucial for validating autonomous vehicles (AVs), yet existing scenario generation methods either overfit to common driving patterns or operate in an offline, non-interactive manner that fails to expose rare,…

Reinforcement learning (RL) methods learn optimal decisions in the presence of a stationary environment. However, the stationary assumption on the environment is very restrictive. In many real world problems like traffic signal control,…

Autonomous Vehicles (AVs) are required to operate safely and efficiently in dynamic environments. For this, the AVs equipped with Joint Radar-Communications (JRC) functions can enhance the driving safety by utilizing both radar detection…

Traffic scenarios in roundabouts pose substantial complexity for automated driving. Manually mapping all possible scenarios into a state space is labor-intensive and challenging. Deep reinforcement learning (DRL) with its ability to learn…

Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…

In a typical traffic scenario, autonomous vehicles are required to share the road with other road participants, e.g., human driven vehicles, pedestrians, etc. To successfully navigate the traffic, a cognitive hierarchy theory such as…