Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis

Project Page | Paper

Kaustav Chakraborty, Somil Bansal
University of Southern California.

This is the main branch of the code accompanying the paper: "Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis".

Get started

Cloning the repository

git clone --recurse-submodules -j8 https://github.com/sia-lab-git/visual-controller-failure.git

This repository has 2 independent branches for each of the case studies:

• TaxiNet
• WayptNav

Running the TaxiNet Case Study

git checkout TaxiNet
git submodule init && git submodule update

This will take you to the TaxiNet branch.

Running the Learning Based Waypoint Navigation Case Study

git checkout WayptNav
git submodule init && git submodule update

This will take you to the WayptNav branch.

Each branch has their independent Readme for setting up the code. Please follow the respective instructions to proceed further.

Citation

If you find our work useful in your research, please cite:

@article{chakraborty2023discovering,
  title={Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis},
  author={Chakraborty, Kaustav and Bansal, Somil},
  journal={IEEE Robotics and Automation Letters},
  volume={8},
  number={5},
  pages={2692--2699},
  year={2023},
  publisher={IEEE}
}

Contact

If you have any questions, please feel free to email the authors.