GENESIS-RL: A Reinforcement Learning Framework for Generating Naturalistic Edge Cases to Systematically Test Autonomous Systems

핵심 개념

GENESIS-RL leverages reinforcement learning to systematically manipulate the simulated environment and generate challenging yet naturalistic edge cases that can reveal potential safety vulnerabilities in autonomous systems.

초록

The paper presents GENESIS-RL, a reinforcement learning (RL) framework for generating natural edge cases to test the safety and reliability of autonomous systems. The key aspects are:

1. Formulation as a RL problem:

   • State space: Parametric knobs controlling the simulated environment (e.g., weather conditions), system behavior, and other actors.
   • Action space: Adjustments to the parametric knobs within realistic limits.
   • Reward: Combination of learning module loss and violation score from a rulebook evaluating the system's adherence to safety rules.

2. Framework components:

   • DRL agent: Learns a policy to manipulate the environment and generate challenging scenarios.
   • Initial scene generator: Creates a distribution of initial scenes with randomized vehicle positions, colors, and behaviors.
   • Simulator: Provides a high-fidelity simulated environment (CARLA) for the system to operate in.
   • System: An autonomous vehicle with perception and control modules.
   • Reward calculator: Computes the reward based on the learning module loss and safety rule violations.

3. Experimental validation:

   • Training in CARLA's Town10 with randomized initial scenes and stochastic vehicle behaviors.
   • Testing in CARLA's Town05 with deterministic initial scenes and vehicle behaviors to ensure repeatability.
   • Evaluation metrics: Violation score and minimum following distance deficit.

The results demonstrate that GENESIS-RL can effectively generate challenging yet naturalistic edge cases that expose vulnerabilities in the autonomous system's perception, tracking, and control capabilities, highlighting the need for comprehensive testing of such safety-critical systems.

통계

The ego vehicle maintains a brakes much later under the GENESIS-RL policy compared to the sunny and random weather scenarios.
The ego vehicle crashes into the lead vehicle at full/high speed due to non-detection, at lower speeds due to intermittent detection, and at reduced speeds due to delayed detection under the GENESIS-RL policy.

인용구

"GENESIS-RL leverages system-level safety considerations and reinforcement learning techniques to systematically generate naturalistic edge cases."
"By exposing the learning modules to these pessimistic samples, systems gain the opportunity to learn from challenging data and better generalize across a spectrum of real-world conditions."
"Our experimental validation, conducted on high-fidelity simulator underscores the overall effectiveness of this framework."

핵심 통찰 요약

GENESIS-RL

by Hsin-Jung Ya... 게시일 arxiv.org 03-29-2024

https://arxiv.org/pdf/2403.19062.pdf

더 깊은 질문

How can the GENESIS-RL framework be extended to generate edge cases for other types of autonomous systems beyond autonomous vehicles

To extend the GENESIS-RL framework for generating edge cases for other types of autonomous systems beyond autonomous vehicles, several adaptations and modifications can be implemented. Firstly, the parametric knobs used to manipulate the environment in the context of autonomous vehicles can be adjusted to suit the specific requirements of different autonomous systems. For example, in the case of autonomous drones, parameters related to altitude, wind speed, and obstacle density could be incorporated.
Furthermore, the rulebook formalism can be tailored to encompass the safety considerations and operational constraints unique to various autonomous systems. By defining system-level safety objectives specific to each type of autonomous system, the framework can effectively generate naturalistic edge cases that challenge the system's capabilities comprehensively.
Additionally, the DRL agent's training process can be customized to account for the distinct behaviors and responses expected from different autonomous systems. By training the agent on scenarios relevant to the particular system under consideration, the framework can be fine-tuned to generate edge cases that are relevant and impactful for that specific system.

What are the potential limitations of the rulebook-based approach in capturing all possible safety-critical scenarios, and how can this be addressed

The rulebook-based approach, while effective in capturing and evaluating safety-critical scenarios, may have limitations in comprehensively covering all possible edge cases. One potential limitation is the scalability of the rulebook to accommodate a vast array of scenarios that autonomous systems may encounter. As the complexity and diversity of scenarios increase, manually defining rules for each scenario becomes challenging and may lead to oversight of certain critical scenarios.
To address this limitation, a data-driven approach can be integrated into the rulebook-based framework. By leveraging historical data, real-world incident reports, and simulation results, the rulebook can be augmented with insights from actual system behavior and performance. This data-driven approach can help identify and prioritize critical scenarios that may not have been explicitly defined in the rulebook.
Moreover, continuous learning and adaptation of the rulebook based on feedback from system testing and real-world deployment can enhance its effectiveness in capturing evolving safety-critical scenarios. By incorporating a feedback loop mechanism that updates the rulebook based on new insights and experiences, the framework can stay relevant and robust in addressing emerging challenges.

How can the insights gained from the edge cases generated by GENESIS-RL be effectively incorporated into the training and development of autonomous systems to improve their overall safety and reliability

The insights gained from the edge cases generated by GENESIS-RL can be instrumental in enhancing the training and development of autonomous systems to improve their overall safety and reliability. These insights can be effectively incorporated into the system development process through the following strategies:

Adaptive Training: Utilize the identified edge cases as part of the training dataset for the autonomous system. By exposing the system to challenging scenarios during training, it can learn to adapt and respond effectively to similar situations in real-world environments.

Scenario-Based Testing: Integrate the generated edge cases into the system's testing protocols to evaluate its performance under diverse and complex conditions. By systematically testing the system against these scenarios, developers can identify weaknesses, refine algorithms, and enhance the system's robustness.

Continuous Improvement: Implement a feedback loop mechanism that captures the system's performance in response to the generated edge cases. Analyzing the system's behavior and decision-making in these scenarios can provide valuable insights for iterative improvements and refinements.

Safety Validation: Use the insights from the edge cases to validate the safety measures and protocols implemented in the autonomous system. By assessing how the system handles critical scenarios, developers can ensure that safety-critical functionalities are robust and reliable in real-world applications.