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Formal Scenario-Based Testing of Autonomous Vehicles: From Simulation to
  the Real World
v1v2 (latest)

Formal Scenario-Based Testing of Autonomous Vehicles: From Simulation to the Real World

17 March 2020
Daniel J. Fremont
Edward Kim
Yash Vardhan Pant
Sanjit A. Seshia
Atul Acharya
Xantha Bruso
Paul Wells
Steve Lemke
Q. Lu
Shalin Mehta
ArXiv (abs)PDFHTML

Papers citing "Formal Scenario-Based Testing of Autonomous Vehicles: From Simulation to the Real World"

50 / 54 papers shown
Path Diffuser: Diffusion Model for Data-Driven Traffic Simulator
Path Diffuser: Diffusion Model for Data-Driven Traffic Simulator
Da Saem Lee
Akash Karthikeyan
Yash Vardhan Pant
Sebastian Fischmeister
171
0
0
29 Sep 2025
Unsupervised Discovery of Failure Taxonomies from Deployment Logs
Unsupervised Discovery of Failure Taxonomies from Deployment Logs
Aryaman Gupta
Yusuf Umut Ciftci
Somil Bansal
284
1
0
06 Jun 2025
From Failures to Fixes: LLM-Driven Scenario Repair for Self-Evolving Autonomous Driving
From Failures to Fixes: LLM-Driven Scenario Repair for Self-Evolving Autonomous Driving
Xinyu Xia
Xingjun Ma
Yunfeng Hu
Ting Qu
Hong Chen
Xun Gong
231
1
0
28 May 2025
Scenario-based Compositional Verification of Autonomous Systems with Neural Perception
Scenario-based Compositional Verification of Autonomous Systems with Neural Perception
Christopher Watson
Rajeev Alur
Divya Gopinath
Ravi Mangal
C. Păsăreanu
301
3
0
29 Apr 2025
A Schwarz-Christoffel Mapping-based Framework for Sim-to-Real Transfer in Autonomous Robot Operations
A Schwarz-Christoffel Mapping-based Framework for Sim-to-Real Transfer in Autonomous Robot Operations
Shijie Gao
Nicola Bezzo
253
0
0
20 Mar 2025
Unveiling Security Weaknesses in Autonomous Driving Systems: An In-Depth Empirical Study
Unveiling Security Weaknesses in Autonomous Driving Systems: An In-Depth Empirical StudyInformation and Software Technology (IST), 2025
Wenyuan Cheng
Hui Yuan
Peng Liang
Ran Mo
Hui Liu
AAML
334
1
0
27 Feb 2025
Navigating the Edge with the State-of-the-Art Insights into Corner Case Identification and Generation for Enhanced Autonomous Vehicle Safety
Navigating the Edge with the State-of-the-Art Insights into Corner Case Identification and Generation for Enhanced Autonomous Vehicle Safety
Gabriel Kenji Godoy Shimanuki
Alexandre Moreira Nascimento
Lucio Flavio Vismari
Joao Batista Camargo Junior
Jorge Rady de Almeida Junior
Paulo Sergio Cugnasca
280
2
0
27 Feb 2025
Enhancing Safety and Robustness of Vision-Based Controllers via
  Reachability Analysis
Enhancing Safety and Robustness of Vision-Based Controllers via Reachability Analysis
Kaustav Chakraborty
Aryaman Gupta
Somil Bansal
455
6
0
29 Oct 2024
Scenario Execution for Robotics: A generic, backend-agnostic library for
  running reproducible robotics experiments and tests
Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests
Frederik Pasch
Florian Mirus
Yongzhou Zhang
Kay-Ulrich Scholl
261
2
0
11 Sep 2024
Flow to Rare Events: An Application of Normalizing Flow in Temporal
  Importance Sampling for Automated Vehicle Validation
Flow to Rare Events: An Application of Normalizing Flow in Temporal Importance Sampling for Automated Vehicle Validation
Yichun Ye
He Zhang
Ye Tian
Jian Sun
224
1
0
10 Jul 2024
Towards Guaranteed Safe AI: A Framework for Ensuring Robust and Reliable
  AI Systems
Towards Guaranteed Safe AI: A Framework for Ensuring Robust and Reliable AI Systems
David Dalrymple
Joar Skalse
Yoshua Bengio
Stuart J. Russell
Max Tegmark
...
Clark Barrett
Ding Zhao
Zhi-Xuan Tan
Jeannette Wing
Joshua Tenenbaum
405
106
0
10 May 2024
Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making
  Systems with Temporal Logic Specifications
Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications
Josefine B. Graebener
Apurva Badithela
Denizalp Goktas
Wyatt Ubellacker
Eric V. Mazumdar
Aaron D. Ames
Richard M. Murray
177
3
0
15 Apr 2024
CBFKIT: A Control Barrier Function Toolbox for Robotics Applications
CBFKIT: A Control Barrier Function Toolbox for Robotics ApplicationsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Mitchell Black
Georgios Fainekos
Bardh Hoxha
Hideki Okamoto
Danil Prokhorov
248
4
0
10 Apr 2024
Representation Alignment Contrastive Regularization for Multi-Object
  Tracking
Representation Alignment Contrastive Regularization for Multi-Object TrackingIET Computer Vision (ICV), 2024
Zhonglin Liu
Shujie Chen
Jianfeng Dong
Xun Wang
Di Zhou
VOT
330
2
0
03 Apr 2024
CARLOS: An Open, Modular, and Scalable Simulation Framework for the
  Development and Testing of Software for C-ITS
CARLOS: An Open, Modular, and Scalable Simulation Framework for the Development and Testing of Software for C-ITS
Christian Geller
Benedikt Haas
Amarin Kloeker
Jona Hermens
Bastian Lampe
Till Beemelmanns
Lutz Eckstein
400
9
0
02 Apr 2024
Exploratory Driving Performance and Car-Following Modeling for
  Autonomous Shuttles Based on Field Data
Exploratory Driving Performance and Car-Following Modeling for Autonomous Shuttles Based on Field Data
Renan Favero
Lily Elefteriadou
181
5
0
15 Dec 2023
Pedestrian and Passenger Interaction with Autonomous Vehicles: Field
  Study in a Crosswalk Scenario
Pedestrian and Passenger Interaction with Autonomous Vehicles: Field Study in a Crosswalk Scenario
R. Izquierdo
Javier Alonso
Ola Benderius
Miguel Ángel Sotelo
David Fernández Llorca
237
13
0
11 Dec 2023
Testing Language Model Agents Safely in the Wild
Testing Language Model Agents Safely in the Wild
Silen Naihin
David Atkinson
Marc Green
Merwane Hamadi
Craig Swift
Douglas Schonholtz
Adam Tauman Kalai
David Bau
LLMAG
314
46
0
17 Nov 2023
Continual Driving Policy Optimization with Closed-Loop Individualized
  Curricula
Continual Driving Policy Optimization with Closed-Loop Individualized CurriculaIEEE International Conference on Robotics and Automation (ICRA), 2023
Haoyi Niu
Yi Tian Xu
Xingjian Jiang
Jianming Hu
434
4
0
25 Sep 2023
ScenarioNet: Open-Source Platform for Large-Scale Traffic Scenario
  Simulation and Modeling
ScenarioNet: Open-Source Platform for Large-Scale Traffic Scenario Simulation and ModelingNeural Information Processing Systems (NeurIPS), 2023
Quanyi Li
Zhenghao Peng
Lan Feng
Zhizheng Liu
Chenda Duan
Wen-An Mo
Bolei Zhou
657
80
0
21 Jun 2023
COLA: Characterizing and Optimizing the Tail Latency for Safe Level-4
  Autonomous Vehicle Systems
COLA: Characterizing and Optimizing the Tail Latency for Safe Level-4 Autonomous Vehicle SystemsIEEE International Conference on Robotics and Automation (ICRA), 2023
Haolan Liu
Zixuan Wang
Jishen Zhao
181
4
0
11 May 2023
Realistic Safety-critical Scenarios Search for Autonomous Driving System
  via Behavior Tree
Realistic Safety-critical Scenarios Search for Autonomous Driving System via Behavior Tree
Ping Zhang
Lingfeng Ming
Ting Yuan
Cong Qiu
Yang Li
Xinhua Hui
Zhi-qin Zhang
Chao Huang
158
3
0
11 May 2023
How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital
  Twins, and Parallel Intelligence
How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel IntelligenceIEEE Transactions on Intelligent Vehicles (TIV), 2023
Xuemin Hu
Shen Li
Ting Huang
Bo Tang
Rouxing Huai
Long Chen
383
127
0
02 May 2023
Editing Driver Character: Socially-Controllable Behavior Generation for
  Interactive Traffic Simulation
Editing Driver Character: Socially-Controllable Behavior Generation for Interactive Traffic SimulationIEEE Robotics and Automation Letters (RA-L), 2023
Wei-Jer Chang
Chen Tang
Chenran Li
Yeping Hu
Masayoshi Tomizuka
Wei Zhan
244
19
0
24 Mar 2023
Drive Right: Promoting Autonomous Vehicle Education Through an
  Integrated Simulation Platform
Drive Right: Promoting Autonomous Vehicle Education Through an Integrated Simulation PlatformSAE International Journal of Connected and Automated Vehicles (JSCAV), 2022
Zhijie Qiao
Helen Loeb
Venkata Gurrla
Matt Lebermann
Johannes Betz
Rahul Mangharam
206
3
0
16 Feb 2023
Barrier-Based Test Synthesis for Safety-Critical Systems Subject to
  Timed Reach-Avoid Specifications
Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid SpecificationsIEEE Transactions on Automatic Control (TAC), 2023
Prithvi Akella
M. Ahmadi
R. Murray
Aaron D. Ames
TTA
407
2
0
23 Jan 2023
Finding Needles in Haystack: Formal Generative Models for Efficient
  Massive Parallel Simulations
Finding Needles in Haystack: Formal Generative Models for Efficient Massive Parallel SimulationsIEEE Vehicular Technology Conference (VTC), 2023
Osama Maqbool
J. Roßmann
AI4CE
217
0
0
03 Jan 2023
Effects of Sim2Real Image Translation on Lane Keeping Assist System in
  CARLA Simulator
Effects of Sim2Real Image Translation on Lane Keeping Assist System in CARLA Simulator
Jinu Pahk
Jungseok Shim
MinHyeok Baek
Yongseob Lim
Gyeungho Choi
181
0
0
23 Nov 2022
RaLiBEV: Radar and LiDAR BEV Fusion Learning for Anchor Box Free Object
  Detection Systems
RaLiBEV: Radar and LiDAR BEV Fusion Learning for Anchor Box Free Object Detection Systems
Yanlong Yang
Tao Huang
Wei Chen
Qinghua Han
Gang Ma
Bing Zhu
499
46
0
11 Nov 2022
Discovering Closed-Loop Failures of Vision-Based Controllers via
  Reachability Analysis
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability AnalysisIEEE Robotics and Automation Letters (RA-L), 2022
Kaustav Chakraborty
Somil Bansal
398
19
0
04 Nov 2022
DriveFuzz: Discovering Autonomous Driving Bugs through Driving
  Quality-Guided Fuzzing
DriveFuzz: Discovering Autonomous Driving Bugs through Driving Quality-Guided FuzzingConference on Computer and Communications Security (CCS), 2022
Seulbae Kim
Major Liu
J. Rhee
Yuseok Jeon
Yonghwi Kwon
C. Kim
223
98
0
25 Oct 2022
Formalizing and Evaluating Requirements of Perception Systems for
  Automated Vehicles using Spatio-Temporal Perception Logic
Formalizing and Evaluating Requirements of Perception Systems for Automated Vehicles using Spatio-Temporal Perception Logic
Mohammad Hekmatnejad
Bardh Hoxha
Jyotirmoy V. Deshmukh
Yezhou Yang
Georgios Fainekos
276
10
0
29 Jun 2022
Towards Better Test Coverage: Merging Unit Tests for Autonomous Systems
Towards Better Test Coverage: Merging Unit Tests for Autonomous SystemsNASA Formal Methods (NFM), 2022
Josefine B. Graebener
Apurva Badithela
R. Murray
131
5
0
06 Apr 2022
A Survey on Safety-Critical Driving Scenario Generation -- A
  Methodological Perspective
A Survey on Safety-Critical Driving Scenario Generation -- A Methodological Perspective
Wenhao Ding
Chejian Xu
Mansur Arief
Hao-ming Lin
Yue Liu
Ding Zhao
767
252
0
04 Feb 2022
Too Afraid to Drive: Systematic Discovery of Semantic DoS Vulnerability
  in Autonomous Driving Planning under Physical-World Attacks
Too Afraid to Drive: Systematic Discovery of Semantic DoS Vulnerability in Autonomous Driving Planning under Physical-World AttacksNetwork and Distributed System Security Symposium (NDSS), 2022
Ziwen Wan
Junjie Shen
Jalen Chuang
Xin Xia
Joshua Garcia
Jiaqi Ma
Qi Alfred Chen
AAML
155
55
0
12 Jan 2022
Querying Labelled Data with Scenario Programs for Sim-to-Real Validation
Querying Labelled Data with Scenario Programs for Sim-to-Real Validation
Edward Kim
Jay Shenoy
Sebastian Junges
Daniel J. Fremont
Alberto L. Sangiovanni-Vincentelli
Sanjit A. Seshia
231
3
0
01 Dec 2021
Statistical Perspectives on Reliability of Artificial Intelligence
  Systems
Statistical Perspectives on Reliability of Artificial Intelligence Systems
Yili Hong
J. Lian
Li Xu
Jie Min
Yueyao Wang
Laura J. Freeman
Xinwei Deng
247
47
0
09 Nov 2021
A Scenario-Based Platform for Testing Autonomous Vehicle Behavior
  Prediction Models in Simulation
A Scenario-Based Platform for Testing Autonomous Vehicle Behavior Prediction Models in Simulation
Francis Indaheng
Edward Kim
Kesav Viswanadha
Jay Shenoy
Jinkyu Kim
Daniel J. Fremont
Sanjit A. Seshia
212
12
0
28 Oct 2021
A Conformal Mapping-based Framework for Robot-to-Robot and Sim-to-Real
  Transfer Learning
A Conformal Mapping-based Framework for Robot-to-Robot and Sim-to-Real Transfer Learning
Shijie Gao
Nicola Bezzo
146
5
0
19 Sep 2021
Specification and Validation of Autonomous Driving Systems: A Multilevel
  Semantic Framework
Specification and Validation of Autonomous Driving Systems: A Multilevel Semantic Framework
M. Bozga
J. Sifakis
184
7
0
14 Sep 2021
Parallel and Multi-Objective Falsification with Scenic and VerifAI
Parallel and Multi-Objective Falsification with Scenic and VerifAIRuntime Verification (RV), 2021
Kesav Viswanadha
Edward J. Kim
Francis Indaheng
Daniel J. Fremont
Sanjit A. Seshia
172
14
0
09 Jul 2021
SilGAN: Generating driving maneuvers for scenario-based
  software-in-the-loop testing
SilGAN: Generating driving maneuvers for scenario-based software-in-the-loop testing
Dhasarathy Parthasarathy
Anton Johansson
152
11
0
05 Jul 2021
Taxonomy of Machine Learning Safety: A Survey and Primer
Taxonomy of Machine Learning Safety: A Survey and PrimerACM Computing Surveys (CSUR), 2021
Sina Mohseni
Haotao Wang
Zhiding Yu
Chaowei Xiao
Zinan Lin
J. Yadawa
374
50
0
09 Jun 2021
Coverage-based Scene Fuzzing for Virtual Autonomous Driving Testing
Coverage-based Scene Fuzzing for Virtual Autonomous Driving Testing
Zhisheng Hu
Shengjian Guo
Zhenyu Zhong
Kang Li
178
30
0
02 Jun 2021
Software Engineering for AI-Based Systems: A Survey
Software Engineering for AI-Based Systems: A SurveyACM Transactions on Software Engineering and Methodology (TOSEM), 2021
Luís Cruz
Justus Bogner
Xavier Franch
Marc Oriol
Julien Siebert
Adam Trendowicz
Anna Maria Vollmer
Stefan Wagner
341
298
0
05 May 2021
Scenic: A Language for Scenario Specification and Data Generation
Scenic: A Language for Scenario Specification and Data Generation
Daniel J. Fremont
Edward J. Kim
T. Dreossi
Shromona Ghosh
Xiangyu Yue
Alberto L. Sangiovanni-Vincentelli
Sanjit A. Seshia
378
132
0
13 Oct 2020
Formal Analysis and Redesign of a Neural Network-Based Aircraft Taxiing
  System with VerifAI
Formal Analysis and Redesign of a Neural Network-Based Aircraft Taxiing System with VerifAI
Daniel J. Fremont
Johnathan Chiu
D. Margineantu
Denis Osipychev
Sanjit A. Seshia
233
58
0
14 May 2020
LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving
LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving
Guodong Rong
B. Shin
Hadi Tabatabaee
Q. Lu
Steve Lemke
...
Eric Sterner
Keunhae Ushiroda
Michael Reyes
Dmitry Zelenkovsky
Seonman Kim
372
510
0
07 May 2020
An Unsupervised Random Forest Clustering Technique for Automatic Traffic
  Scenario Categorization
An Unsupervised Random Forest Clustering Technique for Automatic Traffic Scenario CategorizationInternational Conference on Intelligent Transportation Systems (ITSC), 2018
Friedrich Kruber
Jonas Wurst
M. Botsch
206
60
0
05 Apr 2020
Counterexample-Guided Synthesis of Perception Models and Control
Counterexample-Guided Synthesis of Perception Models and ControlAmerican Control Conference (ACC), 2019
Shromona Ghosh
Yash Vardhan Pant
H. Ravanbakhsh
Sanjit A. Seshia
401
20
0
04 Nov 2019
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