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We propose HyDICE, Hybrid DIscrete Continuous Exploration, a multilayered approach for hybrid-system falsification that combines motion planning with discrete search and discovers safety violations by computing witness trajectories to unsafe states. The discrete search uses discrete transitions and a state-space decomposition to guide the motion planner during the search for witness trajectories. Experiments on a nonlinear hybrid robotic system with over one million modes and experiments withdoi:10.1007/s10703-008-0058-5 fatcat:fwzwijitsfcifmewf5tm2h6o4a