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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 Comprehensive Survey of Deep Learning in Remote Sensing: Theories, Tools and Challenges for the Community
In recent years, deep learning (DL), a re-branding of neural networks (NNs),
has risen to the top in numerous areas, namely computer vision (CV), speech
recognition, natural language processing, etc. Whereas remote sensing (RS)
possesses a number of unique challenges, primarily related to sensors and
applications, inevitably RS draws from many of the same theories as CV; e.g.,
statistics, fusion, and machine learning, to name a few. This means that the RS
community should be aware of, if not at the leading edge of, of advancements
like DL. Herein, we provide the most comprehensive survey of state-of-the-art
RS DL research. We also review recent new developments in the DL field that can
be used in DL for RS. Namely, we focus on theories, tools and challenges for
the RS community. Specifically, we focus on unsolved challenges and
opportunities as it relates to (i) inadequate data sets, (ii)
human-understandable solutions for modelling physical phenomena, (iii) Big
Data, (iv) non-traditional heterogeneous data sources, (v) DL architectures and
learning algorithms for spectral, spatial and temporal data, (vi) transfer
learning, (vii) an improved theoretical understanding of DL systems, (viii)
high barriers to entry, and (ix) training and optimizing the DL.Comment: 64 pages, 411 references. To appear in Journal of Applied Remote
Sensin
End-to-end Learning of Driving Models from Large-scale Video Datasets
Robust perception-action models should be learned from training data with
diverse visual appearances and realistic behaviors, yet current approaches to
deep visuomotor policy learning have been generally limited to in-situ models
learned from a single vehicle or a simulation environment. We advocate learning
a generic vehicle motion model from large scale crowd-sourced video data, and
develop an end-to-end trainable architecture for learning to predict a
distribution over future vehicle egomotion from instantaneous monocular camera
observations and previous vehicle state. Our model incorporates a novel
FCN-LSTM architecture, which can be learned from large-scale crowd-sourced
vehicle action data, and leverages available scene segmentation side tasks to
improve performance under a privileged learning paradigm.Comment: camera ready for CVPR201
Temporal Segmentation of Surgical Sub-tasks through Deep Learning with Multiple Data Sources
Many tasks in robot-assisted surgeries (RAS) can be represented by finite-state machines (FSMs), where each state represents either an action (such as picking up a needle) or an observation (such as bleeding). A crucial step towards the automation of such surgical tasks is the temporal perception of the current surgical scene, which requires a real-time estimation of the states in the FSMs. The objective of this work is to estimate the current state of the surgical task based on the actions performed or events occurred as the task progresses. We propose Fusion-KVE, a unified surgical state estimation model that incorporates multiple data sources including the Kinematics, Vision, and system Events. Additionally, we examine the strengths and weaknesses of different state estimation models in segmenting states with different representative features or levels of granularity. We evaluate our model on the JHU-ISI Gesture and Skill Assessment Working Set (JIGSAWS), as well as a more complex dataset involving robotic intra-operative ultrasound (RIOUS) imaging, created using the da Vinci® Xi surgical system. Our model achieves a superior frame-wise state estimation accuracy up to 89.4%, which improves the state-of-the-art surgical state estimation models in both JIGSAWS suturing dataset and our RIOUS dataset
VIENA2: A Driving Anticipation Dataset
Action anticipation is critical in scenarios where one needs to react before
the action is finalized. This is, for instance, the case in automated driving,
where a car needs to, e.g., avoid hitting pedestrians and respect traffic
lights. While solutions have been proposed to tackle subsets of the driving
anticipation tasks, by making use of diverse, task-specific sensors, there is
no single dataset or framework that addresses them all in a consistent manner.
In this paper, we therefore introduce a new, large-scale dataset, called
VIENA2, covering 5 generic driving scenarios, with a total of 25 distinct
action classes. It contains more than 15K full HD, 5s long videos acquired in
various driving conditions, weathers, daytimes and environments, complemented
with a common and realistic set of sensor measurements. This amounts to more
than 2.25M frames, each annotated with an action label, corresponding to 600
samples per action class. We discuss our data acquisition strategy and the
statistics of our dataset, and benchmark state-of-the-art action anticipation
techniques, including a new multi-modal LSTM architecture with an effective
loss function for action anticipation in driving scenarios.Comment: Accepted in ACCV 201
Controlling Steering Angle for Cooperative Self-driving Vehicles utilizing CNN and LSTM-based Deep Networks
A fundamental challenge in autonomous vehicles is adjusting the steering
angle at different road conditions. Recent state-of-the-art solutions
addressing this challenge include deep learning techniques as they provide
end-to-end solution to predict steering angles directly from the raw input
images with higher accuracy. Most of these works ignore the temporal
dependencies between the image frames. In this paper, we tackle the problem of
utilizing multiple sets of images shared between two autonomous vehicles to
improve the accuracy of controlling the steering angle by considering the
temporal dependencies between the image frames. This problem has not been
studied in the literature widely. We present and study a new deep architecture
to predict the steering angle automatically by using Long-Short-Term-Memory
(LSTM) in our deep architecture. Our deep architecture is an end-to-end network
that utilizes CNN, LSTM and fully connected (FC) layers and it uses both
present and futures images (shared by a vehicle ahead via Vehicle-to-Vehicle
(V2V) communication) as input to control the steering angle. Our model
demonstrates the lowest error when compared to the other existing approaches in
the literature.Comment: Accepted in IV 2019, 6 pages, 9 figure
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