Game-Theoretic Safety Assurance for Human-Centered Robotic Systems

In order for autonomous systems like robots, drones, and self-driving cars to be reliably introduced into our society, they must have the ability to actively account for safety during their operation. While safety analysis has traditionally been conducted offline for controlled environments like cages on factory floors, the much higher complexity of open, human-populated spaces like our homes, cities, and roads makes it unviable to rely on common design-time assumptions, since these may be violated once the system is deployed. Instead, the next generation of robotic technologies will need to reason about safety online, constructing high-confidence assurances informed by ongoing observations of the environment and other agents, in spite of models of them being necessarily fallible.This dissertation aims to lay down the necessary foundations to enable autonomous systems to ensure their own safety in complex, changing, and uncertain environments, by explicitly reasoning about the gap between their models and the real world. It first introduces a suite of novel robust optimal control formulations and algorithmic tools that permit tractable safety analysis in time-varying, multi-agent systems, as well as safe real-time robotic navigation in partially unknown environments; these approaches are demonstrated on large-scale unmanned air traffic simulation and physical quadrotor platforms. After this, it draws on Bayesian machine learning methods to translate model-based guarantees into high-confidence assurances, monitoring the reliability of predictive models in light of changing evidence about the physical system and surrounding agents. This principle is first applied to a general safety framework allowing the use of learning-based control (e.g. reinforcement learning) for safety-critical robotic systems such as drones, and then combined with insights from cognitive science and dynamic game theory to enable safe human-centered navigation and interaction; these techniques are showcased on physical quadrotors—flying in unmodeled wind and among human pedestrians—and simulated highway driving. The dissertation ends with a discussion of challenges and opportunities ahead, including the bridging of safety analysis and reinforcement learning and the need to ``close the loop'' around learning and adaptation in order to deploy increasingly advanced autonomous systems with confidence

Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

Advances in Automated Driving Systems

Electrification, automation of vehicle control, digitalization and new mobility are the mega-trends in automotive engineering, and they are strongly connected. While many demonstrations for highly automated vehicles have been made worldwide, many challenges remain in bringing automated vehicles to the market for private and commercial use. The main challenges are as follows: reliable machine perception; accepted standards for vehicle-type approval and homologation; verification and validation of the functional safety, especially at SAE level 3+ systems; legal and ethical implications; acceptance of vehicle automation by occupants and society; interaction between automated and human-controlled vehicles in mixed traffic; human–machine interaction and usability; manipulation, misuse and cyber-security; the system costs of hard- and software and development efforts. This Special Issue was prepared in the years 2021 and 2022 and includes 15 papers with original research related to recent advances in the aforementioned challenges. The topics of this Special Issue cover: Machine perception for SAE L3+ driving automation; Trajectory planning and decision-making in complex traffic situations; X-by-Wire system components; Verification and validation of SAE L3+ systems; Misuse, manipulation and cybersecurity; Human–machine interactions, driver monitoring and driver-intention recognition; Road infrastructure measures for the introduction of SAE L3+ systems; Solutions for interactions between human- and machine-controlled vehicles in mixed traffic

Artificial general intelligence: Proceedings of the Second Conference on Artificial General Intelligence, AGI 2009, Arlington, Virginia, USA, March 6-9, 2009

Artificial General Intelligence (AGI) research focuses on the original and ultimate goal of AI – to create broad human-like and transhuman intelligence, by exploring all available paths, including theoretical and experimental computer science, cognitive science, neuroscience, and innovative interdisciplinary methodologies. Due to the difficulty of this task, for the last few decades the majority of AI researchers have focused on what has been called narrow AI – the production of AI systems displaying intelligence regarding specific, highly constrained tasks. In recent years, however, more and more researchers have recognized the necessity – and feasibility – of returning to the original goals of the field. Increasingly, there is a call for a transition back to confronting the more difficult issues of human level intelligence and more broadly artificial general intelligence

Prediction and control in human neuromusculoskeletal models

Computational neuromusculoskeletal modelling enables the generation and testing of hypotheses about human movement on a large scale, in silico. Humanoid models, which increasingly aim to replicate the full complexity of the human nervous and musculoskeletal systems, are built on extensive prior knowledge, extracted from anatomical imaging, kinematic and kinetic measurement, and codified as model description. Where inverse dynamic analysis is applied, its basis is in Newton's laws of motion, and in solving for muscular redundancy it is necessary to invoke knowledge of central nervous motor strategy. This epistemological approach contrasts strongly with the models of machine learning, which are generally over-parameterised and largely data-driven. Even as spectacular performance has been delivered by the application of these models in a number of discrete domains of artificial intelligence, work towards general human-level intelligence has faltered, leading many to wonder if the data-driven approach is fundamentally limited, and spurring efforts to combine machine learning with knowledge-based modelling. Through a series of five studies, this thesis explores the combination of neuromusculoskeletal modelling with machine learning in order to enhance the core tasks of prediction and control. Several principles for the development of clinically useful artificially intelligent systems emerge: stability, computational efficiency and incorporation of prior knowledge. The first study concerns the use of neural network function approximators for the prediction of internal forces during human movement, an important task with many clinical applications, but one for which the standard tools of modelling are slow and cumbersome. By training on a large dataset of motions and their corresponding forces, state of the art performance is demonstrated, with many-fold increases in inference speed enabling the deployment of trained models for use in a real time biofeedback system. Neural networks trained in this way, to imitate some optimal controller, encode a mapping from high-level movement descriptors to actuator commands, and may thus be deployed in simulation as \textit{policies} to control the actions of humanoid models. Unfortunately, the high complexity of realistic simulation makes stable control a challenging task, beyond the capabilities of such naively trained models. The objective of the second study was to improve performance and stability of policy-based controllers for humanoid models in simulation. A novel technique was developed, borrowing from established unsupervised adversarial methods in computer vision. This technique enabled significant gains in performance relative to a neural network baseline, without the need for additional access to the optimal controller. For the third study, increases in the capabilities of these policy-based controllers were sought. Reinforcement learning is widely considered the most powerful means of optimising such policies, but it is computationally inefficient, and this inefficiency limits its clinical utility. To mitigate this problem, a novel framework, making use of domain-specific knowledge present in motion data, and in an inverse model of the biomechanical system, was developed. Training on simple desktop hardware, this framework enabled rapid initialisation of humanoid models that were able to move naturally through a 3-dimensional simulated environment, with 900-fold improvements in sample efficiency relative to a related technique based on pure reinforcement learning. After training with subject-specific anatomical parameters, and motion data, learned policies represent personalised models of motor control that may be further interrogated to test hypotheses about movement. For the fourth study, subject-specific controllers were taken and used as the substrate for transfer learning, by removing kinematic constraints and optimising with respect to the magnitude of the medial knee joint reaction force, an important biomechanical variable in osteoarthritis of the knee. Models learned new kinematic strategies for the reduction of this biomarker, which were subsequently validated by their use, in the real world, to construct subject-specific routines for real time gait retraining. Six out of eight subjects were able to reduce medial knee joint loading by pursuing the personalised kinematic targets found in simulation. Personalisation of assistive devices, such as limb prostheses, is another area of growing interest, and one for which computational frameworks promise cost-effective solutions. Reinforcement learning provides powerful techniques for this task but the expansion of the scope of optimisation, to include previously static elements of a prosthesis, is problematic for its complexity and resulting sample inefficiency. The fifth and final study demonstrates a new algorithm that leverages the methods described in the previous studies, and additional techniques for variance control, to surmount this problem, improving sample efficiency and simultaneously, through the use of prior knowledge encoded in motion data, providing a rational means of determining optimality in the prosthesis. Trained models were able to jointly optimise motor control and prosthesis design to enable improved performance in a walking task, and optimised designs were robust to both random seed and reward specification. This algorithm could be used to speed the design and production of real personalised prostheses, representing a potent realisation of the potential benefits of combined reinforcement learning and realistic neuromusculoskeletal modelling.Open Acces

Predictive cognition in dementia: the case of music

The clinical complexity and pathological diversity of neurodegenerative diseases impose immense challenges for diagnosis and the design of rational interventions. To address these challenges, there is a need to identify new paradigms and biomarkers that capture shared pathophysiological processes and can be applied across a range of diseases. One core paradigm of brain function is predictive coding: the processes by which the brain establishes predictions and uses them to minimise prediction errors represented as the difference between predictions and actual sensory inputs. The processes involved in processing unexpected events and responding appropriately are vulnerable in common dementias but difficult to characterise. In my PhD work, I have exploited key properties of music – its universality, ecological relevance and structural regularity – to model and assess predictive cognition in patients representing major syndromes of frontotemporal dementia – non-fluent variant PPA (nfvPPA), semantic-variant PPA (svPPA) and behavioural-variant FTD (bvFTD) - and Alzheimer’s disease relative to healthy older individuals. In my first experiment, I presented patients with well-known melodies containing no deviants or one of three types of deviant - acoustic (white-noise burst), syntactic (key-violating pitch change) or semantic (key-preserving pitch change). I assessed accuracy detecting melodic deviants and simultaneously-recorded pupillary responses to these deviants. I used voxel-based morphometry to define neuroanatomical substrates for the behavioural and autonomic processing of these different types of deviants, and identified a posterior temporo-parietal network for detection of basic acoustic deviants and a more anterior fronto-temporo-striatal network for detection of syntactic pitch deviants. In my second chapter, I investigated the ability of patients to track the statistical structure of the same musical stimuli, using a computational model of the information dynamics of music to calculate the information-content of deviants (unexpectedness) and entropy of melodies (uncertainty). I related these information-theoretic metrics to performance for detection of deviants and to ‘evoked’ and ‘integrative’ pupil reactivity to deviants and melodies respectively and found neuroanatomical correlates in bilateral dorsal and ventral striatum, hippocampus, superior temporal gyri, right temporal pole and left inferior frontal gyrus. Together, chapters 3 and 4 revealed new hypotheses about the way FTD and AD pathologies disrupt the integration of predictive errors with predictions: a retained ability of AD patients to detect deviants at all levels of the hierarchy with a preserved autonomic sensitivity to information-theoretic properties of musical stimuli; a generalized impairment of surprise detection and statistical tracking of musical information at both a cognitive and autonomic levels for svPPA patients underlying a diminished precision of predictions; the exact mirror profile of svPPA patients in nfvPPA patients with an abnormally high rate of false-alarms with up-regulated pupillary reactivity to deviants, interpreted as over-precise or inflexible predictions accompanied with normal cognitive and autonomic probabilistic tracking of information; an impaired behavioural and autonomic reactivity to unexpected events with a retained reactivity to environmental uncertainty in bvFTD patients. Chapters 5 and 6 assessed the status of reward prediction error processing and updating via actions in bvFTD. I created pleasant and aversive musical stimuli by manipulating chord progressions and used a classic reinforcement-learning paradigm which asked participants to choose the visual cue with the highest probability of obtaining a musical ‘reward’. bvFTD patients showed reduced sensitivity to the consequence of an action and lower learning rate in response to aversive stimuli compared to reward. These results correlated with neuroanatomical substrates in ventral and dorsal attention networks, dorsal striatum, parahippocampal gyrus and temporo-parietal junction. Deficits were governed by the level of environmental uncertainty with normal learning dynamics in a structured and binarized environment but exacerbated deficits in noisier environments. Impaired choice accuracy in noisy environments correlated with measures of ritualistic and compulsive behavioural changes and abnormally reduced learning dynamics correlated with behavioural changes related to empathy and theory-of-mind. Together, these experiments represent the most comprehensive attempt to date to define the way neurodegenerative pathologies disrupts the perceptual, behavioural and physiological encoding of unexpected events in predictive coding terms