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

The use of data-mining for the automatic formation of tactics

This paper discusses the usse of data-mining for the automatic formation of tactics. It was presented at the Workshop on Computer-Supported Mathematical Theory Development held at IJCAR in 2004. The aim of this project is to evaluate the applicability of data-mining techniques to the automatic formation of tactics from large corpuses of proofs. We data-mine information from large proof corpuses to find commonly occurring patterns. These patterns are then evolved into tactics using genetic programming techniques

Optimizing forecast model complexity using multi-objective evolutionary algorithms

Copyright © 2004 World ScientificWhen inducing a time series forecasting model there has always been the problem of defining a model that is complex enough to describe the process, yet not so complex as to promote data ‘overfitting’ – the so-called bias/variance trade-off. In the sphere of neural network forecast models this is commonly confronted by weight decay regularization, or by combining a complexity penalty term in the optimizing function. The correct degree of regularization, or penalty value, to implement for any particular problem however is difficult, if not impossible, to know a priori. This chapter presents the use of multi-objective optimization techniques, specifically those of an evolutionary nature, as a potential solution to this problem. This is achieved by representing forecast model ‘complexity’ and ‘accuracy’ as two separate objectives to be optimized. In doing this one can obtain problem specific information with regards to the accuracy/complexity trade-off of any particular problem, and, given the shape of the front on a set of validation data, ascertain an appropriate operating point. Examples are provided on a forecasting problem with varying levels of noise

Lazy Model Expansion: Interleaving Grounding with Search

Finding satisfying assignments for the variables involved in a set of constraints can be cast as a (bounded) model generation problem: search for (bounded) models of a theory in some logic. The state-of-the-art approach for bounded model generation for rich knowledge representation languages, like ASP, FO(.) and Zinc, is ground-and-solve: reduce the theory to a ground or propositional one and apply a search algorithm to the resulting theory. An important bottleneck is the blowup of the size of the theory caused by the reduction phase. Lazily grounding the theory during search is a way to overcome this bottleneck. We present a theoretical framework and an implementation in the context of the FO(.) knowledge representation language. Instead of grounding all parts of a theory, justifications are derived for some parts of it. Given a partial assignment for the grounded part of the theory and valid justifications for the formulas of the non-grounded part, the justifications provide a recipe to construct a complete assignment that satisfies the non-grounded part. When a justification for a particular formula becomes invalid during search, a new one is derived; if that fails, the formula is split in a part to be grounded and a part that can be justified. The theoretical framework captures existing approaches for tackling the grounding bottleneck such as lazy clause generation and grounding-on-the-fly, and presents a generalization of the 2-watched literal scheme. We present an algorithm for lazy model expansion and integrate it in a model generator for FO(ID), a language extending first-order logic with inductive definitions. The algorithm is implemented as part of the state-of-the-art FO(ID) Knowledge-Base System IDP. Experimental results illustrate the power and generality of the approach

Hybrid behavioural-based multi-objective space trajectory optimization

In this chapter we present a hybridization of a stochastic based search approach for multi-objective optimization with a deterministic domain decomposition of the solution space. Prior to the presentation of the algorithm we introduce a general formulation of the optimization problem that is suitable to describe both single and multi-objective problems. The stochastic approach, based on behaviorism, combinedwith the decomposition of the solutions pace was tested on a set of standard multi-objective optimization problems and on a simple but representative case of space trajectory design

Context-aware Captions from Context-agnostic Supervision

We introduce an inference technique to produce discriminative context-aware image captions (captions that describe differences between images or visual concepts) using only generic context-agnostic training data (captions that describe a concept or an image in isolation). For example, given images and captions of "siamese cat" and "tiger cat", we generate language that describes the "siamese cat" in a way that distinguishes it from "tiger cat". Our key novelty is that we show how to do joint inference over a language model that is context-agnostic and a listener which distinguishes closely-related concepts. We first apply our technique to a justification task, namely to describe why an image contains a particular fine-grained category as opposed to another closely-related category of the CUB-200-2011 dataset. We then study discriminative image captioning to generate language that uniquely refers to one of two semantically-similar images in the COCO dataset. Evaluations with discriminative ground truth for justification and human studies for discriminative image captioning reveal that our approach outperforms baseline generative and speaker-listener approaches for discrimination.Comment: Accepted to CVPR 2017 (Spotlight