相关论文: Adaptive Failure Search Using Critical States from…

We present a general framework for optimizing the Conditional Value-at-Risk for dynamical systems using stochastic search. The framework is capable of handling the uncertainty from the initial condition, stochastic dynamics, and uncertain…

An open problem for autonomous driving is how to validate the safety of an autonomous vehicle in simulation. Automated testing procedures can find failures of an autonomous system but these failures may be difficult to interpret due to…

Testing is essential for verifying and validating control designs, especially in safety-critical applications. In particular, the control system governing an automated driving vehicle must be proven reliable enough for its acceptance on the…

The selection of relevant test scenarios for the scenario-based testing and safety validation of automated driving systems (ADSs) remains challenging. An important aspect of the relevance of a scenario is the challenge it poses for an ADS.…

Random testing (RT) is a well-studied testing method that has been widely applied to the testing of many applications, including embedded software systems, SQL database systems, and Android applications. Adaptive random testing (ART) aims…

Autonomous Driving Systems (ADSs) are safety-critical, as real-world safety violations can result in significant losses. Rigorous testing is essential before deployment, with simulation testing playing a key role. However, ADSs are…

The adequate testing of stateful software systems is a hard and costly activity. Failures that result from complex stateful interactions can be of high impact, and it can be hard to replicate failures resulting from erroneous stateful…

Active automata learning (AAL) is a method to infer state machines by interacting with black-box systems. Adaptive AAL aims to reduce the sample complexity of AAL by incorporating domain specific knowledge in the form of (similar) reference…

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…

For additive actuator and sensor faults, we propose a systematic method to design a state-space fault estimation filter directly from Markov parameters identified from fault-free data. We address this problem by parameterizing a…

Ensuring safety in Reinforcement Learning (RL), typically framed as a Constrained Markov Decision Process (CMDP), is crucial for real-world exploration applications. Current approaches in handling CMDP struggle to balance optimality and…

Long-tail and rare event problems become crucial when autonomous driving algorithms are applied in the real world. For the purpose of evaluating systems in challenging settings, we propose a generative framework to create safety-critical…

Adaptive Random Testing (ART) enhances the testing effectiveness (including fault-detection capability) of Random Testing (RT) by increasing the diversity of the random test cases throughout the input domain. Many ART algorithms have been…

Thorough testing of safety-critical autonomous systems, such as self-driving cars, autonomous robots, and drones, is essential for detecting potential failures before deployment. One crucial testing stage is model-in-the-loop testing, where…

Machine learning models have prevalent applications in many real-world problems, which increases the importance of correctness in the behaviour of these trained models. Finding a good test case that can reveal the potential failure in these…

Faults are endemic to all systems. Adaptive fault-tolerant control maintains degraded performance when faults occur as opposed to unsafe conditions or catastrophic events. In systems with abrupt faults and strict time constraints, it is…

Deep Reinforcement Learning (DRL) algorithms have been increasingly employed during the last decade to solve various decision-making problems such as autonomous driving and robotics. However, these algorithms have faced great challenges…

The accelerated failure time (AFT) model is widely used to analyze relationships between variables in the presence of censored observations. However, this model relies on some assumptions such as the error distribution, which can lead to…

Testing and evaluation is an important step before the large-scale application of the autonomous driving systems (ADSs). Based on the three level of scenario abstraction theory, a testing can be performed within a logical scenario, followed…

We study unconstrained smooth convex optimization under stochastic first- and zeroth-order oracles subject only to finite-moment bounds, naturally admitting persistent bias and heavy-tailed noise. In this hostile environment, integrating…