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However, existing studies have shown that repeated test execution in the same as well as in distinct simulators can yield different outcomes, which can be attributed to sources of flakiness or different implementations of the physics. In this paper, we present MultiSim, a novel approach to multi-simulation ADAS testing based on a search-based testing approach that leverages an ensemble of simulators to identify failure-inducing, simulator-agnostic test scenarios. During the search, each scenario is evaluated jointly on multiple simulators. Scenarios that produce consistent results across simulators are prioritized for further exploration, while those that fail on only a subset of simulators are given less priority, as they may reflect simulator-specific issues rather than generalizabl","title":"Simulator Ensembles for Trustworthy Autonomous Driving Systems Testing","url":"https://arxiv.org/abs/2503.08936","vendor":"arxiv_cs_ai"},"summary":"arXiv:2503.08936v3 Announce Type: replace-cross \nAbstract: Scenario-based testing with driving simulators is extensively used to identify failing conditions of automated driving assistance systems (ADAS). However, existing studies have shown that repeated test execution in the same as well as in distinct simulators can yield different outcomes, which can be attributed to sources of flakiness or different implementations of the physics. In this paper, we present MultiSim, a novel approach to multi-simulation ADAS testing based on a search-based testing approach that leverages an ensemble of simulators to identify failure-inducing, simulator-agnostic test scenarios. During the search, each scenario is evaluated jointly on multiple simulators. 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