Explainable and Advisable Learning for Self-driving Vehicles

Deep neural perception and control networks are likely to be a key component of self-driving vehicles. These models need to be explainable - they should provide easy-to-interpret rationales for their behavior - so that passengers, insurance companies, law enforcement, developers, etc., can understand what triggered a particular behavior. Explanations may be triggered by the neural controller, namely introspective explanations, or informed by the neural controller's output, namely rationalizations. Our work has focused on the challenge of generating introspective explanations of deep models for self-driving vehicles. In Chapter 3, we begin by exploring the use of visual explanations. These explanations take the form of real-time highlighted regions of an image that causally influence the network's output (steering control). In the first stage, we use a visual attention model to train a convolution network end-to-end from images to steering angle. The attention model highlights image regions that potentially influence the network's output. Some of these are true influences, but some are spurious. We then apply a causal filtering step to determine which input regions actually influence the output. This produces more succinct visual explanations and more accurately exposes the network's behavior. In Chapter 4, we add an attention-based video-to-text model to produce textual explanations of model actions, e.g. "the car slows down because the road is wet". The attention maps of controller and explanation model are aligned so that explanations are grounded in the parts of the scene that mattered to the controller. We explore two approaches to attention alignment, strong- and weak-alignment. These explainable systems represent an externalization of tacit knowledge. The network's opaque reasoning is simplified to a situation-specific dependence on a visible object in the image. This makes them brittle and potentially unsafe in situations that do not match training data. In Chapter 5, we propose to address this issue by augmenting training data with natural language advice from a human. Advice includes guidance about what to do and where to attend. We present the first step toward advice-giving, where we train an end-to-end vehicle controller that accepts advice. The controller adapts the way it attends to the scene (visual attention) and the control (steering and speed). Further, in Chapter 6, we propose a new approach that learns vehicle control with the help of long-term (global) human advice. Specifically, our system learns to summarize its visual observations in natural language, predict an appropriate action response (e.g. "I see a pedestrian crossing, so I stop"), and predict the controls, accordingly

A dynamic adaptive framework for improving case-based reasoning system performance

An optimal performance of a Case-Based Reasoning (CBR) system means, the CBR system must be efficient both in time and in size, and must be optimally competent. The efficiency in time is closely related to an efficient and optimal retrieval process over the Case Base of the CBR system. Efficiency in size means that the Case Library (CL) size should be minimal. Therefore, the efficiency in size is closely related to optimal case learning policies, optimal meta-case learning policies, optimal case forgetting policies, etc. On the other hand, the optimal competence of a CBR system means that the number of problems that the CBR system can satisfactorily solve must be maximum. To improve or optimize all three dimensions in a CBR system at the same time is a difficult challenge because they are interrelated, and it becomes even more difficult when the CBR system is applied to a dynamic or continuous domain (data stream). In this thesis, a Dynamic Adaptive Case Library framework (DACL) is proposed to improve the CBR system performance coping especially with reducing the retrieval time, increasing the CBR system competence, and maintaining and adapting the CL to be efficient in size, especially in continuous domains. DACL learns cases and organizes them into dynamic cluster structures. The DACL is able to adapt itself to a dynamic environment, where new clusters, meta-cases or prototype of cases, and associated indexing structures (discriminant trees, k-d trees, etc.) can be formed, updated, or even removed. DACL offers a possible solution to the management of the large amount of data generated in an unsupervised continuous domain (data stream). In addition, we propose the use of a Multiple Case Library (MCL), which is a static version of a DACL, with the same structure but being defined statically to be used in supervised domains. The thesis work proposes some techniques for improving the indexation and the retrieval task. The most important indexing method is the NIAR k-d tree algorithm, which improves the retrieval time and competence, compared against the baseline approach (a flat CL) and against the well-known techniques based on using standard k-d tree strategies. The proposed Partial Matching Exploration (PME) technique explores a hierarchical case library with a tree indexing-structure aiming at not losing the most similar cases to a query case. This technique allows not only exploring the best matching path, but also several alternative partial matching paths to be explored. The results show an improvement in competence and time of retrieving of similar cases. Through the experimentation tests done, with a set of well-known benchmark supervised databases. The dynamic building of prototypes in DACL has been tested in an unsupervised domain (environmental domain) where the air pollution is evaluated. The core task of building prototypes in a DACL is the implementation of a stochastic method for the learning of new cases and management of prototypes. Finally, the whole dynamic framework, integrating all the main proposed approaches of the research work, has been tested in simulated unsupervised domains with several well-known databases in an incremental way, as data streams are processed in real life. The conclusions outlined that from the experimental results, it can be stated that the dynamic adaptive framework proposed (DACL/MCL), jointly with the contributed indexing strategies and exploration techniques, and with the proposed stochastic case learning policies, and meta-case learning policies, improves the performance of standard CBR systems both in supervised domains (MCL) and in unsupervised continuous domains (DACL).El rendimiento óptimo de un sistema de razonamiento basado en casos (CBR) significa que el sistema CBR debe ser eficiente tanto en tiempo como en tamaño, y debe ser competente de manera óptima. La eficiencia temporal está estrechamente relacionada con que el proceso de recuperación sobre la Base de Casos del sistema CBR sea eficiente y óptimo. La eficiencia en tamaño significa que el tamaño de la Base de Casos (CL) debe ser mínimo. Por lo tanto, la eficiencia en tamaño está estrechamente relacionada con las políticas óptimas de aprendizaje de casos y meta-casos, y las políticas óptimas de olvido de casos, etc. Por otro lado, la competencia óptima de un sistema CBR significa que el número de problemas que el sistema puede resolver de forma satisfactoria debe ser máximo. Mejorar u optimizar las tres dimensiones de un sistema CBR al mismo tiempo es un reto difícil, ya que están relacionadas entre sí, y se vuelve aún más difícil cuando se aplica el sistema de CBR a un dominio dinámico o continuo (flujo de datos). En esta tesis se propone el Dynamic Adaptive Case Library framework (DACL) para mejorar el rendimiento del sistema CBR especialmente con la reducción del tiempo de recuperación, aumentando la competencia del sistema CBR, manteniendo y adaptando la CL para ser eficiente en tamaño, especialmente en dominios continuos. DACL aprende casos y los organiza en estructuras dinámicas de clusters. DACL es capaz de adaptarse a entornos dinámicos, donde los nuevos clusters, meta-casos o prototipos de los casos, y las estructuras asociadas de indexación (árboles discriminantes, árboles k-d, etc.) se pueden formar, actualizarse, o incluso ser eliminados. DACL ofrece una posible solución para la gestión de la gran cantidad de datos generados en un dominio continuo no supervisado (flujo de datos). Además, se propone el uso de la Multiple Case Library (MCL), que es una versión estática de una DACL, con la misma estructura pero siendo definida estáticamente para ser utilizada en dominios supervisados. El trabajo de tesis propone algunas técnicas para mejorar los procesos de indexación y de recuperación. El método de indexación más importante es el algoritmo NIAR k-d tree, que mejora el tiempo de recuperación y la competencia, comparado con una CL plana y con las técnicas basadas en el uso de estrategias de árboles k-d estándar. Partial Matching Exploration (PME) technique, la técnica propuesta, explora una base de casos jerárquica con una indexación de estructura de árbol con el objetivo de no perder los casos más similares a un caso de consulta. Esta técnica no sólo permite explorar el mejor camino coincidente, sino también varios caminos parciales alternativos coincidentes. Los resultados, a través de la experimentación realizada con bases de datos supervisadas conocidas, muestran una mejora de la competencia y del tiempo de recuperación de casos similares. Además la construcción dinámica de prototipos en DACL ha sido probada en un dominio no supervisado (dominio ambiental), donde se evalúa la contaminación del aire. La tarea central de la construcción de prototipos en DACL es la implementación de un método estocástico para el aprendizaje de nuevos casos y la gestión de prototipos. Por último, todo el sistema, integrando todos los métodos propuestos en este trabajo de investigación, se ha evaluado en dominios no supervisados simulados con varias bases de datos de una manera gradual, como se procesan los flujos de datos en la vida real. Las conclusiones, a partir de los resultados experimentales, muestran que el sistema de adaptación dinámica propuesto (DACL / MCL), junto con las estrategias de indexación y de exploración, y con las políticas de aprendizaje de casos estocásticos y de meta-casos propuestas, mejora el rendimiento de los sistemas estándar de CBR tanto en dominios supervisados (MCL) como en dominios continuos no supervisados (DACL).Postprint (published version

Case-based maintenance : Structuring and incrementing the Case.

International audienceTo avoid performance degradation and maintain the quality of results obtained by the case-based reasoning (CBR) systems, maintenance becomes necessary, especially for those systems designed to operate over long periods and which must handle large numbers of cases. CBR systems cannot be preserved without scanning the case base. For this reason, the latter must undergo maintenance operations.The techniques of case base’s dimension optimization is the analog of instance reduction size methodology (in the machine learning community). This study links these techniques by presenting case-based maintenance in the framework of instance based reduction, and provides: first an overview of CBM studies, second, a novel method of structuring and updating the case base and finally an application of industrial case is presented.The structuring combines a categorization algorithm with a measure of competence CM based on competence and performance criteria. Since the case base must progress over time through the addition of new cases, an auto-increment algorithm is installed in order to dynamically ensure the structuring and the quality of a case base. The proposed method was evaluated through a case base from an industrial plant. In addition, an experimental study of the competence and the performance was undertaken on reference benchmarks. This study showed that the proposed method gives better results than the best methods currently found in the literature

Transforming visitor experience with museum technologies: The development and impact evaluation of a recommender system in a physical museum

Over the past few decades, many attempts have been made to develop recommender systems (RSs) that could improve visitor experience (VX) in physical museums. Nevertheless, to determine the effectiveness of a museum RS, studies often encompass system performance evaluations, e.g., user experience (UX) and accuracy level tests, and rarely extend to the VX realm that museum RSs aim to support. The reported challenges with defining and evaluating VX might explain why the evidence that the interaction with an RS during the visit can enhance the quality of VX remains limited. Without this evidence, however, the purpose of developing museum RSs and the benefits of using RSs during a museum visit are in question. This thesis interrogates whether and how museum RSs can impact VX. It first consolidates the literature about VX-related constructs into one coherent analytical framework of museum experience which delineates the scope of VX. Following this analysis, this research develops and validates a VX instrument with cognitive, introspective, restorative, and affective variables which could be used to evaluate VX with or without museum technologies. Then, through a series of UX- and VX-related studies in the physical museum, this research implements a fully working content-based RS and establishes how the interaction with the developed RS transforms VX. The findings in this thesis demonstrate that the impact of an RS on the quality of VX can depend on the level of engagement with the system during a museum visit. Additionally, the impact can be insufficient on some mental processes within VX, and it can vary following the changes in contextual variables. The findings also reinforce that system performance tests cannot replace a VX-focused analysis, because a positive UX and additional information about museum objects in an RS do not imply an improved VX. Therefore, this thesis underscores that more VX-related evaluations of museum RSs are required to identify how to strengthen and extend their influence on the quality of VX

Intuitive, Interactive Beard and Hair Synthesis with Generative Models

We present an interactive approach to synthesizing realistic variations in facial hair in images, ranging from subtle edits to existing hair to the addition of complex and challenging hair in images of clean-shaven subjects. To circumvent the tedious and computationally expensive tasks of modeling, rendering and compositing the 3D geometry of the target hairstyle using the traditional graphics pipeline, we employ a neural network pipeline that synthesizes realistic and detailed images of facial hair directly in the target image in under one second. The synthesis is controlled by simple and sparse guide strokes from the user defining the general structural and color properties of the target hairstyle. We qualitatively and quantitatively evaluate our chosen method compared to several alternative approaches. We show compelling interactive editing results with a prototype user interface that allows novice users to progressively refine the generated image to match their desired hairstyle, and demonstrate that our approach also allows for flexible and high-fidelity scalp hair synthesis.Comment: To be presented in the 2020 Conference on Computer Vision and Pattern Recognition (CVPR 2020, Oral Presentation). Supplementary video can be seen at: https://www.youtube.com/watch?v=v4qOtBATrv

Case base maintenance: terms and directions

Since last years Case Base Reasoning (CBR) field has been growing, and Case Base Maintenance (CBM) is getting more important. Recent research has focused on case-base maintenance, addressing such issues as maintaining consistency, preserving competence, and controlling case-base grow. A set of dimensions for case-base maintenance proposed by Leake and Wilson, provides a framework for understanding and expanding CBM research. Taking this contribution into account, the aims of our work is to do a framework where the basics concepts of CBM are explained, and even more, as second objective we do a brief resume of some relevant contributions made by the scientific CBR community. Starting where Wilson and Leake research work ends.Postprint (published version

The Mechanics of Embodiment: A Dialogue on Embodiment and Computational Modeling

Embodied theories are increasingly challenging traditional views of cognition by arguing that conceptual representations that constitute our knowledge are grounded in sensory and motor experiences, and processed at this sensorimotor level, rather than being represented and processed abstractly in an amodal conceptual system. Given the established empirical foundation, and the relatively underspecified theories to date, many researchers are extremely interested in embodied cognition but are clamouring for more mechanistic implementations. What is needed at this stage is a push toward explicit computational models that implement sensory-motor grounding as intrinsic to cognitive processes. In this article, six authors from varying backgrounds and approaches address issues concerning the construction of embodied computational models, and illustrate what they view as the critical current and next steps toward mechanistic theories of embodiment. The first part has the form of a dialogue between two fictional characters: Ernest, the �experimenter�, and Mary, the �computational modeller�. The dialogue consists of an interactive sequence of questions, requests for clarification, challenges, and (tentative) answers, and touches the most important aspects of grounded theories that should inform computational modeling and, conversely, the impact that computational modeling could have on embodied theories. The second part of the article discusses the most important open challenges for embodied computational modelling

HOME: A histogram based machine learning approach for effective identification of differentially methylated regions

Background The development of whole genome bisulfite sequencing has made it possible to identify methylation differences at single base resolution throughout an entire genome. However, a persistent challenge in DNA methylome analysis is the accurate identification of differentially methylated regions (DMRs) between samples. Sensitive and specific identification of DMRs among different conditions requires accurate and efficient algorithms, and while various tools have been developed to tackle this problem, they frequently suffer from inaccurate DMR boundary identification and high false positive rate. Results We present a novel Histogram Of MEthylation (HOME) based method that takes into account the inherent difference in the distribution of methylation levels between DMRs and non-DMRs to discriminate between the two using a Support Vector Machine. We show that generated features used by HOME are dataset-independent such that a classifier trained on, for example, a mouse methylome training set of regions of differentially accessible chromatin, can be applied to any other organism’s dataset and identify accurate DMRs. We demonstrate that DMRs identified by HOME exhibit higher association with biologically relevant genes, processes, and regulatory events compared to the existing methods. Moreover, HOME provides additional functionalities lacking in most of the current DMR finders such as DMR identification in non-CG context and time series analysis. HOME is freely available at https://github.com/ListerLab/HOME . Conclusion HOME produces more accurate DMRs than the current state-of-the-art methods on both simulated and biological datasets. The broad applicability of HOME to identify accurate DMRs in genomic data from any organism will have a significant impact upon expanding our knowledge of how DNA methylation dynamics affect cell development and differentiation.This work was supported by the Australian Research Council (ARC) Centre of Excellence program in Plant Energy Biology (CE140100008). RL was supported by a Sylvia and Charles Viertel Senior Medical Research Fellowship, ARC Future Fellowship (FT120100862), and Howard Hughes Medical Institute International Research Scholarship (RL