| --- |
| license: apache-2.0 |
| task_categories: |
| - image-feature-extraction |
| tags: |
| - autonomous-driving |
| - formal-verification |
| - carla |
| - arxiv:2609.10951 |
| size_categories: |
| - 1K<n<10K |
| --- |
| |
| # Steering verification captures |
|
|
| Rendered camera frames along two driving routes, in four weather conditions each. These |
| are the input to the formal certificates in |
| [formal-verification--steering--code](https://github.com/AD-Assurance-Lab/formal-verification--steering--code), |
| and they are published because they are what makes those certificates checkable **without |
| a simulator**. |
|
|
| The paper is [*Testing Between the Test Cases: Proving End-to-End Steering in Conditions |
| You Never Drove*](https://huggingface.co/papers/2609.10951) (arXiv:2609.10951). |
|
|
| | | route | conditions | poses | frames | |
| |---|---|---|---|---| |
| | `captures/arterial/` | one 2,289 m lap, Town06 | clear, fog, night, low sun | 1,060 | 168×56 | |
| | `captures/highway/` | 2,988 m both directions, Town04 | clear, fog, night, low sun | 1,492 each | 84×28 | |
|
|
| Each `.npz` holds one condition along one route with the pose track it was captured at. |
|
|
| `teachers/` holds the four networks the shipped students were distilled from. They are |
| needed only to re-distil a student without re-running data aggregation, so they live here |
| rather than in every clone of the code: `python3 scripts/fetch_captures.py --teachers`. |
|
|
| 645 MB in total. |
|
|
| ## Using it |
|
|
| From a clone of the code repository, one command puts every file where the certifier |
| looks and checks each against a recorded digest: |
|
|
| ```bash |
| python3 scripts/fetch_captures.py |
| STUDY_MAP=Town06 python3 scripts/verify/certify_town06.py --out /tmp/cert.json |
| ``` |
|
|
| **Check the digests.** A capture is the certifier's entire input, so a bound computed from |
| the wrong frames is a statement about a different experiment, and it still prints a |
| verdict and a margin and looks finished. `SHA256SUMS` lists all fifteen. |
|
|
| ## What reproduces |
|
|
| Every verdict. The bounds reproduce to about 4 parts in 1,000, not exactly: branch-and- |
| bound makes different splitting choices when tiny floating-point differences reorder them, |
| and that grows with network size. Every verdict has at least 309× more headroom than that, |
| so the drift cannot change a conclusion, but a changed *verdict* means something real is |
| different. |
|
|
| ## Citation |
|
|
| ```bibtex |
| @software{ad_assurance_lab_steering_verification, |
| author = {{AD Assurance Lab, Western Michigan University}}, |
| title = {Formal verification of end-to-end steering under |
| physically parameterized weather}, |
| year = {2026}, |
| doi = {10.5281/zenodo.22101297}, |
| url = {https://github.com/AD-Assurance-Lab/formal-verification--steering--code} |
| } |
| ``` |
|
|
| Apache 2.0, the same as the code. |
|
|
