{"id":"https://openalex.org/W4394698964","doi":"https://doi.org/10.1109/lra.2024.3387109","title":"A Regret-Informed Evolutionary Approach for Generating Adversarial Scenarios for Black-Box Off-Road Autonomy Systems","display_name":"A Regret-Informed Evolutionary Approach for Generating Adversarial Scenarios for Black-Box Off-Road Autonomy Systems","publication_year":2024,"publication_date":"2024-04-10","ids":{"openalex":"https://openalex.org/W4394698964","doi":"https://doi.org/10.1109/lra.2024.3387109"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3387109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3387109","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10496154.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10496154.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065035822","display_name":"Ted Sender","orcid":"https://orcid.org/0000-0003-4499-5807"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ted Sender","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-4499-5807","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050643993","display_name":"Mark Brudnak","orcid":"https://orcid.org/0000-0003-2282-7933"},"institutions":[{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Brudnak","raw_affiliation_strings":["U.S. Army Combat Capabilities Development Command, Ground Vehicle Systems Center, Warren, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-2282-7933","affiliations":[{"raw_affiliation_string":"U.S. Army Combat Capabilities Development Command, Ground Vehicle Systems Center, Warren, MI, USA","institution_ids":["https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095766551","display_name":"Reid Steiger","orcid":null},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reid Steiger","raw_affiliation_strings":["Ford Motor Company, Dearborn, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053632225","display_name":"Ram Vasudevan","orcid":"https://orcid.org/0000-0003-1978-0572"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ram Vasudevan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-1978-0572","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068549665","display_name":"Bogdan I. Epureanu","orcid":"https://orcid.org/0000-0002-1710-9278"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bogdan Epureanu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-1710-9278","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8876,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.71193714,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"9","issue":"6","first_page":"5354","last_page":"5361"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9800999760627747,"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/computer-science","display_name":"Computer science","score":0.729743242263794},{"id":"https://openalex.org/keywords/black-box","display_name":"Black box","score":0.6757813096046448},{"id":"https://openalex.org/keywords/regret","display_name":"Regret","score":0.6695463061332703},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6225922107696533},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5677105188369751},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5417467355728149},{"id":"https://openalex.org/keywords/strengths-and-weaknesses","display_name":"Strengths and weaknesses","score":0.46837955713272095},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.45244309306144714},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.4270205497741699},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34887170791625977},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.34234732389450073},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3126363754272461},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09797880053520203},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08146476745605469}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.729743242263794},{"id":"https://openalex.org/C94966114","wikidata":"https://www.wikidata.org/wiki/Q29256","display_name":"Black box","level":2,"score":0.6757813096046448},{"id":"https://openalex.org/C50817715","wikidata":"https://www.wikidata.org/wiki/Q79895177","display_name":"Regret","level":2,"score":0.6695463061332703},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6225922107696533},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5677105188369751},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5417467355728149},{"id":"https://openalex.org/C63882131","wikidata":"https://www.wikidata.org/wiki/Q17122954","display_name":"Strengths and weaknesses","level":2,"score":0.46837955713272095},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.45244309306144714},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.4270205497741699},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34887170791625977},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.34234732389450073},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3126363754272461},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09797880053520203},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08146476745605469},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3387109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3387109","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10496154.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2024.3387109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3387109","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10496154.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5590149757","display_name":null,"funder_award_id":"W56HZV-19-2-0001","funder_id":"https://openalex.org/F4320337807","funder_display_name":"U.S. Army Combat Capabilities Development Command"}],"funders":[{"id":"https://openalex.org/F4320337807","display_name":"U.S. Army Combat Capabilities Development Command","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394698964.pdf","grobid_xml":"https://content.openalex.org/works/W4394698964.grobid-xml"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1544329015","https://openalex.org/W1901129140","https://openalex.org/W2068384771","https://openalex.org/W2115579991","https://openalex.org/W2725489675","https://openalex.org/W2892614179","https://openalex.org/W2897535010","https://openalex.org/W2908460759","https://openalex.org/W2955858119","https://openalex.org/W2962702177","https://openalex.org/W2965888130","https://openalex.org/W2968176166","https://openalex.org/W2970679500","https://openalex.org/W2989981704","https://openalex.org/W2990972766","https://openalex.org/W2992742966","https://openalex.org/W2999862950","https://openalex.org/W3003922739","https://openalex.org/W3035564946","https://openalex.org/W3096208114","https://openalex.org/W3129827477","https://openalex.org/W3130718496","https://openalex.org/W3179442871","https://openalex.org/W3203555017","https://openalex.org/W3206164009","https://openalex.org/W4280571816","https://openalex.org/W4300479382","https://openalex.org/W6745935785","https://openalex.org/W6754098010","https://openalex.org/W6757645525","https://openalex.org/W6771352390","https://openalex.org/W6783290480","https://openalex.org/W6784049536","https://openalex.org/W6786026496","https://openalex.org/W6791195149","https://openalex.org/W6802191724","https://openalex.org/W6803981998","https://openalex.org/W6810861559","https://openalex.org/W6810927380","https://openalex.org/W6873560415","https://openalex.org/W6874276121","https://openalex.org/W6997500564"],"related_works":["https://openalex.org/W2971351794","https://openalex.org/W4376155396","https://openalex.org/W1947085858","https://openalex.org/W2174986909","https://openalex.org/W2527791220","https://openalex.org/W2101991911","https://openalex.org/W2155070487","https://openalex.org/W4311589891","https://openalex.org/W3009622996","https://openalex.org/W3037859390"],"abstract_inverted_index":{"Developing":[0],"autonomous":[1],"vehicles":[2],"(AVs)":[3],"that":[4,18,135,152],"operate":[5],"in":[6,27,128],"diverse":[7,28],"and":[8,31,107,149],"demanding":[9],"environments":[10,30],"is":[11,71,94,111,117],"a":[12,83],"difficult":[13],"challenge.":[14],"Two":[15],"fundamental":[16],"tools":[17,43,55],"can":[19,100,159],"accelerate":[20],"this":[21,47],"process":[22,138,151],"are":[23],"testing":[24,110,125],"an":[25,51,78],"AV":[26,161],"simulated":[29],"identifying":[32,74],"core":[33],"system":[34,98],"weaknesses.":[35],"While":[36],"most":[37],"efforts":[38],"focus":[39],"on":[40,50],"improving":[41],"these":[42],"for":[44,56,73,87],"on-road":[45],"AVs,":[46,106],"paper":[48],"focuses":[49],"analogous":[52],"set":[53],"of":[54,126],"off-road":[57,105],"AVs.":[58],"A":[59,91,113],"method":[60],"called":[61],"<italic":[62],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[63],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Black-Box":[64],"Adversarially":[65],"Compounding":[66],"Regret":[67],"Through":[68],"Evolution</i>":[69],"(BACRE)":[70],"proposed":[72],"adversarial":[75],"scenarios":[76],"using":[77],"evolutionary":[79,137],"algorithm":[80],"guided":[81],"by":[82,163],"novel":[84],"regret-based":[85],"metric":[86],"general":[88],"navigation":[89],"tasks.":[90],"black-box":[92],"approach":[93],"often":[95],"preferable":[96],"when":[97,108],"complexity":[99,142],"be":[101],"diverse,":[102,129],"like":[103],"with":[104,122],"whole-system":[109],"required.":[112],"custom":[114],"simulation":[115],"platform":[116],"also":[118],"provided":[119],"to":[120,143],"assist":[121],"the":[123],"automated":[124],"AVs":[127],"unstructured":[130],"environments.":[131],"Numerical":[132],"experiments":[133],"demonstrate":[134],"BACRE's":[136],"gradually":[139],"increases":[140],"scenario":[141],"degrade":[144],"vehicle":[145],"performance":[146],"(an":[147],"effective":[148],"explainable":[150],"comparable":[153],"methods":[154],"cannot":[155],"achieve).":[156],"Consequently,":[157],"BACRE":[158],"streamline":[160],"development":[162,168],"finding":[164],"weaknesses":[165],"at":[166],"any":[167],"stage.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
