相关论文: Towards Unified Probabilistic Verification and Val…

Recent advances in deep learning have enabled the development of autonomous systems that use deep neural networks for perception. Formal verification of these systems is challenging due to the size and complexity of the perception DNNs as…

The increasing use of autonomous and semi-autonomous agents in society has made it crucial to validate their safety. However, the complex scenarios in which they are used may make formal verification impossible. To address this challenge,…

As industrial autonomous ground vehicles are increasingly deployed in safety-critical environments, ensuring their safe operation under diverse conditions is paramount. This paper presents a novel approach for their safety verification…

Perception-based neural network controllers are increasingly used in autonomous systems that rely on visual inputs to operate in the real world. Ensuring the safety of such systems under uncertainty is challenging. Existing verification…

The deployment of autonomous systems that operate in unstructured environments necessitates algorithms to verify their safety. This can be challenging due to, e.g., black-box components in the control software, or undermodelled dynamics…

When autonomous vehicles encounter untrained scenarios, ensuring safety hinges on effective safety verification to prevent accidents stemming from unexpected model decisions. Reachability analysis, a method of safety verification, offers…

It remains a challenge to provide safety guarantees for autonomous systems with neural perception and control. A typical approach obtains symbolic bounds on perception error (e.g., using conformal prediction) and performs verification under…

Providing safety guarantees for autonomous systems is difficult as these systems operate in complex environments that require the use of learning-enabled components, such as deep neural networks (DNNs) for visual perception. DNNs are hard…

While the most visible part of the safety verification process of automated vehicles concerns the planning and control system, it is often overlooked that safety of the latter crucially depends on the fault-tolerance of the preceding…

In this paper, we propose a data-driven robust safety verification framework for stochastic dynamical systems modeled as Markov decision processes with time-varying and uncertain transition probabilities. Rather than assuming access to the…

Neural networks serve as effective controllers in a variety of complex settings due to their ability to represent expressive policies. The complex nature of neural networks, however, makes their output difficult to verify and predict, which…

Ensuring safety in autonomous systems with vision-based control remains a critical challenge due to the high dimensionality of image inputs and the fact that the relationship between true system state and its visual manifestation is…

Runtime monitors assess whether a system is in an unsafe state based on a stream of observations. We study the problem where the system is subject to probabilistic uncertainty and described by a hidden Markov model. A stream of observations…

We present a general framework for applying learning algorithms and heuristical guidance to the verification of Markov decision processes (MDPs). The primary goal of our techniques is to improve performance by avoiding an exhaustive…

Virtual scenario-based testing methods to validate autonomous driving systems are predominantly centred around collision avoidance, and lack a comprehensive approach to evaluate optimal driving behaviour holistically. Furthermore, current…

This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…

Deep neural networks can be trained to be efficient and effective controllers for dynamical systems; however, the mechanics of deep neural networks are complex and difficult to guarantee. This work presents a general approach for providing…

Validating safety-critical autonomous systems in high-dimensional domains such as robotics presents a significant challenge. Existing black-box approaches based on Markov chain Monte Carlo may require an enormous number of samples, while…

We consider the problem of approximating the reachability probabilities in Markov decision processes (MDP) with uncountable (continuous) state and action spaces. While there are algorithms that, for special classes of such MDP, provide a…

We study the problem of safety verification of direct perception neural networks, where camera images are used as inputs to produce high-level features for autonomous vehicles to make control decisions. Formal verification of direct…