arXiv:2511.14755v1 Announce Type: cross 
Abstract: As perception-based controllers for autonomous systems become increasingly popular in the real world, it is important that we can formally verify their safety and performance despite perceptual uncertainty. Unfortunately, the verification of such systems remains challenging, largely due to the complexity of the controllers, which are often nonlinear, nonconvex, learning-based, and/or black-box. Prior works propose verification algorithms that are based on approximate reachability methods, but they often restrict the class of controllers and systems that can be handled or result in overly conservative analyses. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification tool for general nonlinear systems that can compute optimal reachable sets under worst-case system uncertainties; however, its application to perception-based systems is currently underexplored. In this work, we propose RoVer-CoRe, a framework for the Robust Verification of Controllers via HJ Reachability. To the best of our knowledge, RoVer-CoRe is the first HJ reachability-based framework for the verification of perception-based systems under perceptual uncertainty. Our key insight is to concatenate the system controller, observation function, and the state estimation modules to obtain an equivalent closed-loop system that is readily compatible with existing reachability frameworks. Within RoVer-CoRe, we propose novel methods for formal safety verification and robust controller design. We demonstrate the efficacy of the framework in case studies involving aircraft taxiing and NN-based rover navigation. Code is available at the link in the footnote.

يتناول المقال تطوير RoVer-CoRe، وهو إطار مصمم لتحسين التحقق من وحدات التحكم المعتمدة على الإدراك لأنظمة مستقلة في ظل عدم اليقين في الحالة. مع تزايد شعبية هذه الوحدات في التطبيقات الواقعية، يصبح ضمان سلامتها وأدائها وسط عدم اليقين الإدراكي أمرًا بالغ الأهمية. غالبًا ما تكون طرق التحقق التقليدية غير كافية بسبب قيودها في التعامل مع الأنظمة المعقدة وغير الخطية. يوفر تحليل الوصولية لهاملتون-جاكوب نهجًا واعدًا لمعالجة هذه التحديات.

El artículo aborda el desarrollo de RoVer-CoRe, un marco diseñado para mejorar la verificación de controladores basados en la percepción para sistemas autónomos bajo incertidumbre de estado. A medida que estos controladores ganan popularidad en aplicaciones del mundo real, garantizar su seguridad y rendimiento ante la incertidumbre perceptual se vuelve crucial. Los métodos de verificación tradicionales a menudo son insuficientes debido a sus limitaciones para manejar sistemas complejos y no lineales. El análisis de alcanzabilidad de Hamilton-Jacobi ofrece un enfoque prometedor para abordar est…

L'article traite du développement de RoVer-CoRe, un cadre conçu pour améliorer la vérification des contrôleurs basés sur la perception pour les systèmes autonomes en cas d'incertitude d'état. Alors que ces contrôleurs gagnent en popularité dans les applications réelles, garantir leur sécurité et leur performance face à l'incertitude perceptuelle devient crucial. Les méthodes de vérification traditionnelles sont souvent insuffisantes en raison de leurs limitations à traiter des systèmes complexes et non linéaires. L'analyse de portée de Hamilton-Jacobi offre une approche prometteuse pour releve…

The article discusses the development of RoVer-CoRe, a framework designed to enhance the verification of perception-based controllers for autonomous systems under state uncertainty. As these controllers gain traction in real-world applications, ensuring their safety and performance amidst perceptual uncertainty becomes crucial. Traditional verification methods often fall short due to their limitations in handling complex, nonlinear systems. The Hamilton-Jacobi reachability analysis offers a promising approach to address these challenges.

Robust Verification of Controllers under State Uncertainty via Hamilton-Jacobi Reachability Analysis

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