{"id":"https://openalex.org/W4366723927","doi":"https://doi.org/10.1007/978-3-031-30823-9_31","title":"Verifying Learning-Based Robotic Navigation Systems","display_name":"Verifying Learning-Based Robotic Navigation Systems","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4366723927","doi":"https://doi.org/10.1007/978-3-031-30823-9_31"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-031-30823-9_31","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-031-30823-9_31","pdf_url":"https://link.springer.com/content/pdf/10.1007/978-3-031-30823-9_31.pdf","source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/978-3-031-30823-9_31.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050049437","display_name":"Guy Amir","orcid":"https://orcid.org/0000-0002-7951-7795"},"institutions":[{"id":"https://openalex.org/I197251160","display_name":"Hebrew University of Jerusalem","ror":"https://ror.org/03qxff017","country_code":"IL","type":"education","lineage":["https://openalex.org/I197251160"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Guy Amir","raw_affiliation_strings":["The Hebrew University of Jerusalem, Jerusalem, Israel"],"affiliations":[{"raw_affiliation_string":"The Hebrew University of Jerusalem, Jerusalem, Israel","institution_ids":["https://openalex.org/I197251160"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110796636","display_name":"Davide Corsi","orcid":"https://orcid.org/0000-0002-1908-4449"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Corsi","raw_affiliation_strings":["University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058668708","display_name":"Raz Yerushalmi","orcid":"https://orcid.org/0000-0002-0513-3211"},"institutions":[{"id":"https://openalex.org/I197251160","display_name":"Hebrew University of Jerusalem","ror":"https://ror.org/03qxff017","country_code":"IL","type":"education","lineage":["https://openalex.org/I197251160"]},{"id":"https://openalex.org/I53964585","display_name":"Weizmann Institute of Science","ror":"https://ror.org/0316ej306","country_code":"IL","type":"education","lineage":["https://openalex.org/I53964585"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Raz Yerushalmi","raw_affiliation_strings":["The Hebrew University of Jerusalem, Jerusalem, Israel","The Weizmann Institute of Science, Rehovot, Israel"],"affiliations":[{"raw_affiliation_string":"The Hebrew University of Jerusalem, Jerusalem, Israel","institution_ids":["https://openalex.org/I197251160"]},{"raw_affiliation_string":"The Weizmann Institute of Science, Rehovot, Israel","institution_ids":["https://openalex.org/I53964585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005034849","display_name":"Luca Marzari","orcid":"https://orcid.org/0000-0002-0069-0182"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Marzari","raw_affiliation_strings":["University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088778612","display_name":"David Harel","orcid":"https://orcid.org/0000-0001-7240-3931"},"institutions":[{"id":"https://openalex.org/I53964585","display_name":"Weizmann Institute of Science","ror":"https://ror.org/0316ej306","country_code":"IL","type":"education","lineage":["https://openalex.org/I53964585"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"David Harel","raw_affiliation_strings":["The Weizmann Institute of Science, Rehovot, Israel"],"affiliations":[{"raw_affiliation_string":"The Weizmann Institute of Science, Rehovot, Israel","institution_ids":["https://openalex.org/I53964585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045922629","display_name":"Alessandro Farinelli","orcid":"https://orcid.org/0000-0002-2592-5814"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Farinelli","raw_affiliation_strings":["University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102986148","display_name":"Guy Katz","orcid":"https://orcid.org/0000-0002-7729-8373"},"institutions":[{"id":"https://openalex.org/I197251160","display_name":"Hebrew University of Jerusalem","ror":"https://ror.org/03qxff017","country_code":"IL","type":"education","lineage":["https://openalex.org/I197251160"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Guy Katz","raw_affiliation_strings":["The Hebrew University of Jerusalem, Jerusalem, Israel"],"affiliations":[{"raw_affiliation_string":"The Hebrew University of Jerusalem, Jerusalem, Israel","institution_ids":["https://openalex.org/I197251160"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5050049437"],"corresponding_institution_ids":["https://openalex.org/I197251160"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":{"value":5000,"currency":"EUR","value_usd":5392},"fwci":9.3762,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98299578,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"607","last_page":"627"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9699000120162964,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8148258924484253},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7992806434631348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7073565125465393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6245172023773193},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6004123687744141},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5659229755401611},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.47743353247642517},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4270510971546173}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8148258924484253},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7992806434631348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7073565125465393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6245172023773193},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6004123687744141},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5659229755401611},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.47743353247642517},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4270510971546173},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-031-30823-9_31","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-031-30823-9_31","pdf_url":"https://link.springer.com/content/pdf/10.1007/978-3-031-30823-9_31.pdf","source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"}],"best_oa_location":{"id":"doi:10.1007/978-3-031-30823-9_31","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-031-30823-9_31","pdf_url":"https://link.springer.com/content/pdf/10.1007/978-3-031-30823-9_31.pdf","source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1390751753","display_name":null,"funder_award_id":"Dipartimenti di Eccellenza 2018-2022","funder_id":"https://openalex.org/F4320317295","funder_display_name":"Dipartimenti di Eccellenza"},{"id":"https://openalex.org/G1625249237","display_name":null,"funder_award_id":"\"Dipartimenti di Eccellenza 2018-2022\"","funder_id":"https://openalex.org/F4320321873","funder_display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca"},{"id":"https://openalex.org/G3006576871","display_name":null,"funder_award_id":"2018-2022","funder_id":"https://openalex.org/F4320317295","funder_display_name":"Dipartimenti di Eccellenza"},{"id":"https://openalex.org/G3221887446","display_name":null,"funder_award_id":"Dipartimenti di Eccellenza 2018-202","funder_id":"https://openalex.org/F4320321873","funder_display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca"},{"id":"https://openalex.org/G3524703739","display_name":null,"funder_award_id":"18-2022","funder_id":"https://openalex.org/F4320321873","funder_display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca"},{"id":"https://openalex.org/G3977618293","display_name":null,"funder_award_id":"3698/21","funder_id":"https://openalex.org/F4320322252","funder_display_name":"Israel Science Foundation"},{"id":"https://openalex.org/G4956079712","display_name":null,"funder_award_id":"2018-2022","funder_id":"https://openalex.org/F4320321873","funder_display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca"},{"id":"https://openalex.org/G5070798284","display_name":null,"funder_award_id":"683/18","funder_id":"https://openalex.org/F4320322252","funder_display_name":"Israel Science Foundation"},{"id":"https://openalex.org/G8091430692","display_name":null,"funder_award_id":"(MIUR)","funder_id":"https://openalex.org/F4320321873","funder_display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca"}],"funders":[{"id":"https://openalex.org/F4320317295","display_name":"Dipartimenti di Eccellenza","ror":null},{"id":"https://openalex.org/F4320319059","display_name":"Clore Israel Foundation","ror":"https://ror.org/00mmfdg02"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321873","display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","ror":"https://ror.org/0166hxq48"},{"id":"https://openalex.org/F4320322252","display_name":"Israel Science Foundation","ror":"https://ror.org/04sazxf24"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4366723927.pdf"},"referenced_works_count":68,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1686810756","https://openalex.org/W1845972764","https://openalex.org/W2142284218","https://openalex.org/W2155027007","https://openalex.org/W2543296129","https://openalex.org/W2543927648","https://openalex.org/W2580175322","https://openalex.org/W2594877703","https://openalex.org/W2721006554","https://openalex.org/W2746553466","https://openalex.org/W2783991250","https://openalex.org/W2787908307","https://openalex.org/W2791251367","https://openalex.org/W2794609696","https://openalex.org/W2796447411","https://openalex.org/W2798356176","https://openalex.org/W2807040120","https://openalex.org/W2889490035","https://openalex.org/W2892430965","https://openalex.org/W2899116309","https://openalex.org/W2900153411","https://openalex.org/W2912063360","https://openalex.org/W2912640545","https://openalex.org/W2938701611","https://openalex.org/W2957311447","https://openalex.org/W2962295100","https://openalex.org/W2963019567","https://openalex.org/W2963054787","https://openalex.org/W2963129648","https://openalex.org/W2963428623","https://openalex.org/W2963575966","https://openalex.org/W2966782227","https://openalex.org/W2967595108","https://openalex.org/W2989358546","https://openalex.org/W2998619042","https://openalex.org/W2998709064","https://openalex.org/W3004375689","https://openalex.org/W3034840734","https://openalex.org/W3041244724","https://openalex.org/W3089695338","https://openalex.org/W3091350347","https://openalex.org/W3093055384","https://openalex.org/W3093528669","https://openalex.org/W3113369941","https://openalex.org/W3159754263","https://openalex.org/W3165816975","https://openalex.org/W3182751084","https://openalex.org/W3185656037","https://openalex.org/W3188209232","https://openalex.org/W3190946860","https://openalex.org/W3195968524","https://openalex.org/W3196050394","https://openalex.org/W4200294561","https://openalex.org/W4210448406","https://openalex.org/W4220696590","https://openalex.org/W4225929414","https://openalex.org/W4226065182","https://openalex.org/W4283793632","https://openalex.org/W4290087551","https://openalex.org/W4366723927","https://openalex.org/W6637162671","https://openalex.org/W6637967152","https://openalex.org/W6704559304","https://openalex.org/W6730267373","https://openalex.org/W6737893269","https://openalex.org/W6741002519","https://openalex.org/W6931430520"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W3213722473","https://openalex.org/W2110944602"],"abstract_inverted_index":{"Abstract":[0],"Deep":[1],"reinforcement":[2],"learning":[3],"(DRL)":[4],"has":[5,38],"become":[6],"a":[7,75,81,86,100,128,181,255],"dominant":[8],"deep-learning":[9],"paradigm":[10],"for":[11,111,122],"tasks":[12],"where":[13],"complex":[14],"policies":[15,23,142,200,240],"are":[16,24,252],"learned":[17],"within":[18],"reactive":[19],"systems.":[20,52],"Unfortunately,":[21],"these":[22],"known":[25],"to":[26,29,59,90,137,158,168,180,226,254],"be":[27,109,174],"susceptible":[28],"bugs.":[30],"Despite":[31],"significant":[32],"progress":[33],"in":[34,79,125,233,241],"DNN":[35,231],"verification,":[36],"there":[37],"been":[39],"little":[40],"work":[41,222],"demonstrating":[42],"the":[43,67,118,123,198,211,224,228,248],"use":[44,135],"of":[45,70,130,213,230,258],"modern":[46,105],"verification":[47,106,136,157,232],"tools":[48],"on":[49,66,191],"real-world,":[50],"DRL-controlled":[51],"In":[53],"this":[54,62],"case":[55],"study,":[56],"we":[57,134,187,245],"attempt":[58],"begin":[60],"bridging":[61],"gap,":[63],"and":[64,92,139,151,195,235,244],"focus":[65],"important":[68],"task":[69],"mapless":[71],"robotic":[72],"navigation":[73],"\u2014":[74],"classic":[76],"robotics":[77],"problem,":[78],"which":[80,172],"robot,":[82,194],"usually":[83],"controlled":[84],"by":[85,202],"DRL":[87,239],"agent,":[88],"needs":[89],"efficiently":[91],"safely":[93],"navigate":[94],"through":[95],"an":[96,192],"unknown":[97],"arena":[98],"towards":[99],"target.":[101,182],"We":[102,154,208],"demonstrate":[103,145,210],"how":[104],"engines":[107],"can":[108],"used":[110],"effective":[112],"model":[113],"selection":[114],",":[115],"i.e.,":[116],"selecting":[117],"best":[119],"available":[120],"policy":[121],"robot":[124],"question":[126],"from":[127],"pool":[129],"candidate":[131],"policies.":[132],"Specifically,":[133],"detect":[138],"rule":[140],"out":[141,237],"that":[143,197,247,260],"may":[144],"suboptimal":[146,199,238],"behavior,":[147,164],"such":[148],"as":[149],"collisions":[150],"infinite":[152],"loops.":[153],"also":[155,209],"apply":[156],"identify":[159],"models":[160],"with":[161],"overly":[162],"conservative":[163],"thus":[165],"allowing":[166],"users":[167],"choose":[169],"superior":[170],"policies,":[171],"might":[173],"better":[175],"at":[176],"finding":[177],"shorter":[178],"paths":[179],"To":[183],"validate":[184],"our":[185,203,214],"work,":[186],"conducted":[188],"extensive":[189],"experiments":[190],"actual":[193],"confirmed":[196],"detected":[201],"method":[204],"were":[205],"indeed":[206],"flawed.":[207],"superiority":[212],"verification-driven":[215],"approach":[216],"over":[217],"state-of-the-art,":[218],"gradient":[219],"attacks.":[220],"Our":[221],"is":[223],"first":[225],"establish":[227],"usefulness":[229],"identifying":[234],"filtering":[236],"real-world":[242],"robots,":[243],"believe":[246],"methods":[249],"presented":[250],"here":[251],"applicable":[253],"wide":[256],"range":[257],"systems":[259],"incorporate":[261],"deep-learning-based":[262],"agents.":[263]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
