We study automated test generation for verifying discrete decision-making modules in autonomous systems. We utilize linear temporal logic to encode the requirements on the system under test in the system specification and the behavior that we want to observe during the test is given as the test specification which is unknown to the system. First, we use the specifications and their corresponding non-deterministic B\"uchi automata to generate the specification product automaton. Second, a virtual product graph representing the high-level interaction between the system and the test environment is constructed modeling the product automaton encoding the system, the test environment, and specifications. The main result of this paper is an optimization problem, framed as a multi-commodity network flow problem, that solves for constraints on the virtual product graph which can then be projected to the test environment. Therefore, the result of the optimization problem is reactive test synthesis that ensures that the system meets the test specifications along with satisfying the system specifications. This framework is illustrated in simulation on grid world examples, and demonstrated on hardware with the Unitree A1 quadruped, wherein dynamic locomotion behaviors are verified in the context of reactive test environments.

To construct effective teaming strategies between humans and AI systems in complex, risky situations requires an understanding of individual preferences and behaviors of humans. Previously this problem has been treated in case-specific or data-agnostic ways. In this paper, we build a framework capable of capturing a compact latent representation of the human in terms of their behavior and preferences based on data from a simulated population of drivers. Our framework leverages, to the extent available, knowledge of individual preferences and types from samples within the population to deploy interaction policies appropriate for specific drivers. We then build a lightweight simulation environment, HMIway-env, for modelling one form of distracted driving behavior, and use it to generate data for different driver types and train intervention policies. We finally use this environment to quantify both the ability to discriminate drivers and the effectiveness of intervention policies.

Reinforcement Learning (RL) is a promising approach for solving various control, optimization, and sequential decision making tasks. However, designing reward functions for complex tasks (e.g., with multiple objectives and safety constraints) can be challenging for most users and usually requires multiple expensive trials (reward function hacking). In this paper we propose a specification language (Inkling Goal Specification) for complex control and optimization tasks, which is very close to natural language and allows a practitioner to focus on problem specification instead of reward function hacking. The core elements of our framework are: (i) mapping the high level language to a predicate temporal logic tailored to control and optimization tasks, (ii) a novel automaton-guided dense reward generation that can be used to drive RL algorithms, and (iii) a set of performance metrics to assess the behavior of the system. We include a set of experiments showing that the proposed method provides great ease of use to specify a wide range of real world tasks; and that the reward generated is able to drive the policy training to achieve the specified goal.