arxivcs.RO2026-07-20
Importance Sampling and PCA for Finding Failures in Commercial Autonomous Vehicles
Hailey Warner, Duncan Eddy, Shreya Parjan, Caroline Cahilly, Harrison Delecki, Matthias Kleinstauber, et al.
Methods for discovering rare failures in autonomous systems have so far been demonstrated almost exclusively in simulations with simple, academic driving stacks, leaving open whether they generalize to the more robust planners used in commercial systems. We address this gap by ap…