System and method for full-stack verification of autonomous agents

A non-transitory computer-readable medium having program code recorded thereon for full-stack verification of autonomous agents, the program code being executed by a processor and comprising:

• program code to train a neural network to learn a noise model associated with an object detection module of an autonomous agent system;
• program code to replacing the object detection module of the autonomous agent system with the neural network and a sensory input of the object detection module with ground truth information to apply a surrogate function to the ground truth information;
• program code to verifying the autonomous agent system including the trained neural network to apply the surrogate function in response to the ground truth information to simulate sensor information data to at least a planner module of the autonomous agent system;
• and
• program code to controlling a behavior of an autonomous vehicle using the verified autonomous agent system including the object detection module.