Abstract: Systems and methods for handling autonomous vehicle faults are provided. A system includes a plurality of function nodes arranged in a directed graph architecture. The function nodes include a plurality of detector nodes and a plurality of fault handler nodes. Each detector node is communicatively connected to at least one function node and an associated fault handler node. The detector node is configured to obtain output from the function node, detect a fault, and provide a fault event to the associated fault handler node. Each fault handler node can be associated with a fault severity and a corresponding vehicle action. The associated fault handler node can receive the fault event from the detector node and initiate a fault response. The fault response can include initiating a respective vehicle action in response to the fault.

Abstract: Systems and methods for implementing deterministic simulation for autonomous vehicle testing can include an autonomy bookkeeper system configured to generate data logs that include inputs and outputs for each of a first plurality of tasks associated with an autonomy stack. The data logs can be generated upon detection of events such as failed implementation of an autonomy stack. A simulation conductor system can be configured to access the data logs as part of implementing offline testing of an autonomy testing scenario including a second plurality of tasks. A task controller within the simulation conductor system can schedule the second plurality of tasks into a task order determined at least in part from the first plurality of tasks (e.g., based on bookmarks stored in the data logs obtained during implementation of the first plurality of tasks). The flow of inputs to and outputs from the second plurality of tasks can be based at least in part on the task order.