{"id":"https://openalex.org/W4389337793","doi":"https://doi.org/10.1145/3635709","title":"Causality-driven Testing of Autonomous Driving Systems","display_name":"Causality-driven Testing of Autonomous Driving Systems","publication_year":2023,"publication_date":"2023-12-05","ids":{"openalex":"https://openalex.org/W4389337793","doi":"https://doi.org/10.1145/3635709"},"language":"en","primary_location":{"id":"doi:10.1145/3635709","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3635709","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3635709","source":{"id":"https://openalex.org/S142627899","display_name":"ACM Transactions on Software Engineering and Methodology","issn_l":"1049-331X","issn":["1049-331X","1557-7392"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Software Engineering and Methodology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3635709","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085590355","display_name":"Luca Giamattei","orcid":"https://orcid.org/0000-0003-3767-4036"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Giamattei","raw_affiliation_strings":["DIETI, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3767-4036","affiliations":[{"raw_affiliation_string":"DIETI, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054616046","display_name":"Antonio Guerriero","orcid":"https://orcid.org/0000-0002-8104-3832"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Guerriero","raw_affiliation_strings":["DIETI, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8104-3832","affiliations":[{"raw_affiliation_string":"DIETI, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072680843","display_name":"Roberto Pietrantuono","orcid":"https://orcid.org/0000-0003-2449-1724"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roberto Pietrantuono","raw_affiliation_strings":["DIETI, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2449-1724","affiliations":[{"raw_affiliation_string":"DIETI, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002197803","display_name":"Stefano Russo","orcid":"https://orcid.org/0000-0002-8747-3446"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Russo","raw_affiliation_strings":["DIETI, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8747-3446","affiliations":[{"raw_affiliation_string":"DIETI, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I71267560"],"apc_list":null,"apc_paid":null,"fwci":2.7421,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.9215393,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"33","issue":"3","first_page":"1","last_page":"35"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11303","display_name":"Bayesian Modeling and Causal Inference","score":0.9983000159263611,"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/T11303","display_name":"Bayesian Modeling and Causal Inference","score":0.9983000159263611,"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":0.9911999702453613,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9898999929428101,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8215047121047974},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6430710554122925},{"id":"https://openalex.org/keywords/causality","display_name":"Causality (physics)","score":0.5672135949134827},{"id":"https://openalex.org/keywords/causation","display_name":"Causation","score":0.5467133522033691},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5181075930595398},{"id":"https://openalex.org/keywords/causal-model","display_name":"Causal model","score":0.47228389978408813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4609736502170563},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4440152049064636},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12544193863868713},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09632650017738342}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8215047121047974},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6430710554122925},{"id":"https://openalex.org/C64357122","wikidata":"https://www.wikidata.org/wiki/Q1149766","display_name":"Causality (physics)","level":2,"score":0.5672135949134827},{"id":"https://openalex.org/C166151441","wikidata":"https://www.wikidata.org/wiki/Q4923601","display_name":"Causation","level":2,"score":0.5467133522033691},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5181075930595398},{"id":"https://openalex.org/C11671645","wikidata":"https://www.wikidata.org/wiki/Q5054567","display_name":"Causal model","level":2,"score":0.47228389978408813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4609736502170563},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4440152049064636},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12544193863868713},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09632650017738342},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3635709","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3635709","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3635709","source":{"id":"https://openalex.org/S142627899","display_name":"ACM Transactions on Software Engineering and Methodology","issn_l":"1049-331X","issn":["1049-331X","1557-7392"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Software Engineering and Methodology","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3635709","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3635709","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3635709","source":{"id":"https://openalex.org/S142627899","display_name":"ACM Transactions on Software Engineering and Methodology","issn_l":"1049-331X","issn":["1049-331X","1557-7392"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Software Engineering and Methodology","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G434337789","display_name":null,"funder_award_id":"HORIZON2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7231650214","display_name":"Software Quality Assurance for Microservice Development Operations Engineering","funder_award_id":"871342","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389337793.pdf","grobid_xml":"https://content.openalex.org/works/W4389337793.grobid-xml"},"referenced_works_count":102,"referenced_works":["https://openalex.org/W1586003574","https://openalex.org/W1599808047","https://openalex.org/W1673419196","https://openalex.org/W1878724292","https://openalex.org/W1909085655","https://openalex.org/W2011174137","https://openalex.org/W2014538668","https://openalex.org/W2021581601","https://openalex.org/W2081951886","https://openalex.org/W2115984935","https://openalex.org/W2128088446","https://openalex.org/W2131612655","https://openalex.org/W2141019942","https://openalex.org/W2143891888","https://openalex.org/W2151226328","https://openalex.org/W2152849583","https://openalex.org/W2159805452","https://openalex.org/W2163687466","https://openalex.org/W2198098822","https://openalex.org/W2242274110","https://openalex.org/W2275430110","https://openalex.org/W2292289085","https://openalex.org/W2297288734","https://openalex.org/W2490616766","https://openalex.org/W2495601248","https://openalex.org/W2557632452","https://openalex.org/W2567545459","https://openalex.org/W2679717297","https://openalex.org/W2769569256","https://openalex.org/W2770263637","https://openalex.org/W2775678306","https://openalex.org/W2791842758","https://openalex.org/W2795003837","https://openalex.org/W2797213222","https://openalex.org/W2804337238","https://openalex.org/W2807436399","https://openalex.org/W2809182766","https://openalex.org/W2888307014","https://openalex.org/W2888483609","https://openalex.org/W2913362569","https://openalex.org/W2948254043","https://openalex.org/W2948579453","https://openalex.org/W2954629067","https://openalex.org/W2956978206","https://openalex.org/W2957066083","https://openalex.org/W2962702177","https://openalex.org/W2963208512","https://openalex.org/W2963327228","https://openalex.org/W2964718997","https://openalex.org/W2969772318","https://openalex.org/W2979465605","https://openalex.org/W2982138961","https://openalex.org/W2991005916","https://openalex.org/W3034264193","https://openalex.org/W3041012898","https://openalex.org/W3045260497","https://openalex.org/W3047641937","https://openalex.org/W3047745496","https://openalex.org/W3087720408","https://openalex.org/W3089756992","https://openalex.org/W3090608524","https://openalex.org/W3091855095","https://openalex.org/W3103158293","https://openalex.org/W3103539622","https://openalex.org/W3105347387","https://openalex.org/W3122049309","https://openalex.org/W3140054544","https://openalex.org/W3162747997","https://openalex.org/W3163752990","https://openalex.org/W3168119999","https://openalex.org/W3180119292","https://openalex.org/W3206225415","https://openalex.org/W3206349396","https://openalex.org/W3206566919","https://openalex.org/W3209923110","https://openalex.org/W3213694496","https://openalex.org/W4205365706","https://openalex.org/W4206092892","https://openalex.org/W4206742615","https://openalex.org/W4212774754","https://openalex.org/W4220691208","https://openalex.org/W4225627334","https://openalex.org/W4232064490","https://openalex.org/W4239728164","https://openalex.org/W4241263224","https://openalex.org/W4241727697","https://openalex.org/W4282978140","https://openalex.org/W4284682233","https://openalex.org/W4286664370","https://openalex.org/W4287864462","https://openalex.org/W4288079704","https://openalex.org/W4300580367","https://openalex.org/W4300931711","https://openalex.org/W4302423442","https://openalex.org/W4353055393","https://openalex.org/W4378373590","https://openalex.org/W4399524688","https://openalex.org/W4399549581","https://openalex.org/W4399587853","https://openalex.org/W6752716229","https://openalex.org/W6774054988","https://openalex.org/W6868892770"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W2018580387","https://openalex.org/W173644421","https://openalex.org/W1966534959","https://openalex.org/W4312269093","https://openalex.org/W4221142933","https://openalex.org/W3170261037","https://openalex.org/W3135588948","https://openalex.org/W2987568073","https://openalex.org/W2574301230"],"abstract_inverted_index":{"Testing":[0,81],"Autonomous":[1],"Driving":[2],"Systems":[3],"(ADS)":[4],"is":[5],"essential":[6],"for":[7,68,128,201],"safe":[8],"development":[9],"of":[10,102,111,192],"self-driving":[11],"cars.":[12],"For":[13],"thorough":[14],"and":[15,25,37,45,53,124,155,178],"realistic":[16],"testing,":[17],"ADS":[18,154],"are":[19,142],"usually":[20],"embedded":[21],"in":[22,27,173],"a":[23,83,90,170,189],"simulator":[24],"tested":[26],"interaction":[28],"with":[29,161],"the":[30,38,58,63,66,70,100,108,118,133,140,145,185],"simulated":[31],"environment.":[32],"However,":[33],"their":[34],"high":[35],"complexity":[36],"multiple":[39],"safety":[40,176],"requirements":[41],"lead":[42],"to":[43,55,188],"costly":[44],"ineffective":[46],"testing.":[47],"Recent":[48],"techniques":[49],"exploit":[50],"many-objective":[51],"strategies":[52],"ML":[54,200],"efficiently":[56],"search":[57,71],"huge":[59],"input":[60,106],"space.":[61],"Despite":[62],"indubitable":[64],"advances,":[65],"need":[67],"smartening":[69],"keep":[72],"being":[73],"pressing.":[74],"This":[75],"article":[76],"presents":[77],"CART":[78,115,160,168],"(":[79],"CAusal-Reasoning-driven":[80],"),":[82],"new":[84],"technique":[85],"that":[86],"formulates":[87],"testing":[88],"as":[89,153,157],"causal":[91,119,193],"reasoning":[92],"task.":[93],"Learning":[94],"causation,":[95],"unlike":[96],"correlation,":[97],"allows":[98],"assessing":[99],"effect":[101],"actively":[103],"changing":[104],"an":[105],"on":[107,144,166,197],"output,":[109],"net":[110],"possible":[112],"confounding":[113],"variables.":[114],"first":[116],"infers":[117],"relations":[120],"between":[121],"test":[122],"inputs":[123],"outputs,":[125],"then":[126],"looks":[127],"promising":[129],"tests":[130,137],"by":[131,139],"querying":[132],"learnt":[134],"model.":[135],"Only":[136],"suggested":[138],"model":[141],"run":[143],"simulator.":[146],"An":[147],"extensive":[148],"empirical":[149],"evaluation,":[150],"using":[151],"Pylot":[152],"CARLA":[156],"simulator,":[158],"compares":[159],"state-of-the-art":[162],"algorithms":[163],"used":[164],"recently":[165],"ADS.":[167],"shows":[169],"significant":[171],"gain":[172],"exposing":[174],"more":[175,181],"violations":[177],"does":[179],"so":[180],"efficiently.":[182],"More":[183],"broadly,":[184],"work":[186],"opens":[187],"wider":[190],"exploitation":[191],"learning":[194],"beside":[195],"(or":[196],"top":[198],"of)":[199],"testing-related":[202],"tasks.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}