相关论文: Efficient statistical validation with edge cases t…

To validate the safety of automated vehicles (AV), scenario-based testing aims to systematically describe driving scenarios an AV might encounter. In this process, continuous inputs such as velocities result in an infinite number of…

Automated driving functions (ADFs) have become increasingly popular in recent years. However, their safety must be assured. Thus, the verification and validation of these functions is still an important open issue in research and…

Generating safety-critical scenarios in high-fidelity simulations offers a promising and cost-effective approach for efficient testing of autonomous vehicles. Existing methods typically rely on manipulating a single vehicle's trajectory…

Context: Simulation-based testing is a cost-efficient alternative to field testing for Autonomous Vehicles (AVs), but generating safety-critical test cases is challenging due to the vast search space. Prior work has studied static (road…

Machine learning is vital in high-stakes domains, yet conventional validation methods rely on averaging metrics like mean squared error (MSE) or mean absolute error (MAE), which fail to quantify extreme errors. Worst-case prediction…

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…

Automated Driving Systems (ADSs) have seen rapid progress in recent years. To ensure the safety and reliability of these systems, extensive testings are being conducted before their future mass deployment. Testing the system on the road is…

Autonomous vehicles hold great promise for reducing traffic fatalities and improving transportation efficiency, yet their widespread adoption hinges on embedding credible and transparent ethical reasoning into routine and emergency…

Discovering hazardous scenarios is crucial in testing and further improving driving policies. However, conducting efficient driving policy testing faces two key challenges. On the one hand, the probability of naturally encountering…

Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…

Finding the most likely path to a set of failure states is important to the analysis of safety-critical systems that operate over a sequence of time steps, such as aircraft collision avoidance systems and autonomous cars. In many…

Autonomous racing presents unique challenges due to its non-linear dynamics, the high speed involved, and the critical need for real-time decision-making under dynamic and unpredictable conditions. Most traditional Reinforcement Learning…

In this paper, we study a novel episodic risk-sensitive Reinforcement Learning (RL) problem, named Iterated CVaR RL, which aims to maximize the tail of the reward-to-go at each step, and focuses on tightly controlling the risk of getting…

Optimizing traffic dynamics in an evolving transportation landscape is crucial, particularly in scenarios where autonomous vehicles (AVs) with varying levels of autonomy coexist with human-driven cars. While optimizing Reinforcement…

Safety validation is a crucial component in the development and deployment of autonomous systems, such as self-driving vehicles and robotic systems. Ensuring safe operation necessitates extensive testing and verification of control…

Simulation is an indispensable tool in the development and testing of autonomous vehicles (AVs), offering an efficient and safe alternative to road testing. An outstanding challenge with simulation-based testing is the generation of…

In safe offline reinforcement learning (RL), the objective is to develop a policy that maximizes cumulative rewards while strictly adhering to safety constraints, utilizing only offline data. Traditional methods often face difficulties in…

To ensure their safe use, autonomous vehicles (AVs) must meet rigorous certification criteria that involve executing maneuvers safely within (arbitrary) scenarios where other actors perform their intended maneuvers. For that purpose,…

Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…

This paper introduces CRITICAL, a novel closed-loop framework for autonomous vehicle (AV) training and testing. CRITICAL stands out for its ability to generate diverse scenarios, focusing on critical driving situations that target specific…