Reinforcement Learning for Online Testing of Autonomous Driving Systems: a Replication and Extension Study

In a recent study, Reinforcement Learning (RL) used in combination with many-objective search, has been shown to outperform alternative techniques (random search and many-objective search) for online testing of Deep Neural Network-enabled systems. The empirical evaluation of these techniques was conducted on a state-of-the-art Autonomous Driving System (ADS). This work is a replication and extension of that empirical study. Our replication shows that RL does not outperform pure random test generation in a comparison conducted under the same settings of the original study, but with no confounding factor coming from the way collisions are measured. Our extension aims at eliminating some of the possible reasons for the poor performance of RL observed in our replication: (1) the presence of reward components providing contrasting or useless feedback to the RL agent; (2) the usage of an RL algorithm (Q-learning) which requires discretization of an intrinsically continuous state space. Results show that our new RL agent is able to converge to an effective policy that outperforms random testing. Results also highlight other possible improvements, which open to further investigations on how to best leverage RL for online ADS testing.

Reasoning-Based Software Testing

With software systems becoming increasingly pervasive and autonomous, our ability to test for their quality is severely challenged. Many systems are called to operate in uncertain and highly-changing environment, not rarely required to make intelligent decisions by themselves. This easily results in an intractable state space to explore at testing time. The state-of-the-art techniques try to keep the pace, e.g., by augmenting the tester's intuition with some form of (explicit or implicit) learning from observations to search this space efficiently. For instance, they exploit historical data to drive the search (e.g., ML-driven testing) or the tests execution data itself (e.g., adaptive or search-based testing). Despite the indubitable advances, the need for smartening the search in such a huge space keeps to be pressing. We introduce Reasoning-Based Software Testing (RBST), a new way of thinking at the testing problem as a causal reasoning task. Compared to mere intuition-based or state-of-the-art learning-based strategies, we claim that causal reasoning more naturally emulates the process that a human would do to ''smartly" search the space. RBST aims to mimic and amplify, with the power of computation, this ability. The conceptual leap can pave the ground to a new trend of techniques, which can be variously instantiated from the proposed framework, by exploiting the numerous tools for causal discovery and inference. Preliminary results reported in this paper are promising.