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Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes. Despite its perceived utility, it has not yet been successfully…

While recent developments in autonomous vehicle (AV) technology highlight substantial progress, we lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de facto}$ evaluation environment, places the public in…

Ensuring the safety of autonomous vehicles (AV) requires rigorous testing under both everyday driving and rare, safety-critical conditions. A key challenge lies in simulating environment agents, including background vehicles (BVs) and…

Deep Neural Network-based systems are now the state-of-the-art in many robotics tasks, but their application in safety-critical domains remains dangerous without formal guarantees on network robustness. Small perturbations to sensor inputs…

As an emerging technology, Connected Autonomous Vehicles (CAVs) are believed to have the ability to move through intersections in a faster and safer manner, through effective Vehicle-to-Everything (V2X) communication and global observation.…

For a successful market launch of automated vehicles (AVs), proof of their safety is essential. Due to the open parameter space, an infinite number of traffic situations can occur, which makes the proof of safety an unsolved problem. With…

Applying reinforcement learning to autonomous driving has garnered widespread attention. However, classical reinforcement learning methods optimize policies by maximizing expected rewards but lack sufficient safety considerations, often…

Multi-agent reinforcement learning is difficult to be applied in practice, which is partially due to the gap between the simulated and real-world scenarios. One reason for the gap is that the simulated systems always assume that the agents…

The sim-to-real gap, particularly in the inaccurate modeling of contact-rich dynamics like collisions, remains a primary obstacle to deploying robot policies trained in simulation. Conventional physics engines often trade accuracy for…

Autonomous driving and its widespread adoption have long held tremendous promise. Nevertheless, without a trustworthy and thorough testing procedure, not only does the industry struggle to mass-produce autonomous vehicles (AV), but neither…

Despite recent advances in autonomous driving systems, accidents such as the fatal Uber crash in 2018 show these systems are still susceptible to edge cases. Such systems must be thoroughly tested and validated before being deployed in the…

Conventional trajectory planning approaches for autonomous racing are based on the sequential execution of prediction of the opposing vehicles and subsequent trajectory planning for the ego vehicle. If the opposing vehicles do not react to…

The increasing adoption of Reinforcement Learning in safety-critical systems domains such as autonomous vehicles, health, and aviation raises the need for ensuring their safety. Existing safety mechanisms such as adversarial training,…

Determining possible failure scenarios is a critical step in the evaluation of autonomous vehicle systems. Real-world vehicle testing is commonly employed for autonomous vehicle validation, but the costs and time requirements are high.…

The technological and scientific challenges involved in the development of autonomous vehicles (AVs) are currently of primary interest for many automobile companies and research labs. However, human-controlled vehicles are likely to remain…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…

Evaluating the robustness of automated driving planners is a critical and challenging task. Although methodologies to evaluate vehicles are well established, they do not yet account for a reality in which vehicles with autonomous components…

Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…

Ensuring the safety of autonomous vehicles (AVs) is paramount in their development and deployment. Safety-critical scenarios pose more severe challenges, necessitating efficient testing methods to validate AVs safety. This study focuses on…