Link to the published paper, arXiv:2609.10951

README.md

@@ -6,6 +6,7 @@ tags:
   - autonomous-driving
   - formal-verification
   - carla
+  - arxiv:2609.10951
 size_categories:
   - n<1K
 ---
@@ -13,7 +14,9 @@ size_categories:
 # Steering verification captures
 
 Rendered camera frames along two driving routes, in four weather conditions each. These
-are the input to the formal certificates in
+are the input to the formal certificates in the paper
+[*Testing Between the Test Cases: Proving End-to-End Steering in Conditions You Never
+Drove*](https://arxiv.org/abs/2609.10951) (arXiv:2609.10951), and in
 [formal-verification--steering--code](https://github.com/AD-Assurance-Lab/formal-verification--steering--code),
 and they are published because they are what makes those certificates checkable **without
 a simulator**.
@@ -55,11 +58,29 @@ different.
 
 ## Citation
 
+Cite the paper:
+
+```bibtex
+@misc{ghalan2026testing,
+  author        = {Ghalan, Menuka and Rodgers, Charles and Asher, Zachary D.},
+  title         = {Testing Between the Test Cases: Proving End-to-End Steering
+                   in Conditions You Never Drove},
+  year          = {2026},
+  eprint        = {2609.10951},
+  archivePrefix = {arXiv},
+  primaryClass  = {cs.RO},
+  doi           = {10.48550/arXiv.2609.10951},
+  url           = {https://arxiv.org/abs/2609.10951}
+}
+```
+
+And the software record, if you use the pipeline itself:
+
 ```bibtex
 @software{ad_assurance_lab_steering_verification,
-  author = {{AD Assurance Lab, Western Michigan University}},
-  title  = {Formal verification of end-to-end steering under
-            physically parameterized weather},
+  author = {Ghalan, Menuka and Rodgers, Charles and Asher, Zachary D.},
+  title  = {Testing Between the Test Cases: Proving End-to-End Steering
+            in Conditions You Never Drove},
   year   = {2026},
   doi    = {10.5281/zenodo.22101297},
   url    = {https://github.com/AD-Assurance-Lab/formal-verification--steering--code}