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

Classification of Explainable Artificial Intelligence Methods through Their Output Formats

Machine and deep learning have proven their utility to generate data-driven models with high accuracy and precision. However, their non-linear, complex structures are often difficult to interpret. Consequently, many scholars have developed a plethora of methods to explain their functioning and the logic of their inferences. This systematic review aimed to organise these methods into a hierarchical classification system that builds upon and extends existing taxonomies by adding a significant dimension—the output formats. The reviewed scientific papers were retrieved by conducting an initial search on Google Scholar with the keywords “explainable artificial intelligence”; “explainable machine learning”; and “interpretable machine learning”. A subsequent iterative search was carried out by checking the bibliography of these articles. The addition of the dimension of the explanation format makes the proposed classification system a practical tool for scholars, supporting them to select the most suitable type of explanation format for the problem at hand. Given the wide variety of challenges faced by researchers, the existing XAI methods provide several solutions to meet the requirements that differ considerably between the users, problems and application fields of artificial intelligence (AI). The task of identifying the most appropriate explanation can be daunting, thus the need for a classification system that helps with the selection of methods. This work concludes by critically identifying the limitations of the formats of explanations and by providing recommendations and possible future research directions on how to build a more generally applicable XAI method. Future work should be flexible enough to meet the many requirements posed by the widespread use of AI in several fields, and the new regulation

Going beyond Visualization. Verbalization as Complementary Medium to Explain Machine Learning Models

In this position paper, we argue that a combination of visualization and verbalization techniques is beneficial for creating broad and versatile insights into the structure and decision-making processes of machine learning models. Explainability of machine learning models is emerging as an important area of research. Hence, insights into the inner workings of a trained model allow users and analysts, alike, to understand the models, develop justifications, and gain trust in the systems they inform. Explanations can be generated through different types of media, such as visualization and verbalization. Both are powerful tools that enable model interpretability. However, while their combination is arguably more powerful than each medium separately, they are currently applied and researched independently. To support our position that the combination of the two techniques is beneficial to explain machine learning models, we describe the design space of such a combination and discuss arising research questions, gaps, and opportunities

Interactive Visual Analysis of Translations

This thesis is the result of a collaboration with the College of Arts and Humanities at Swansea University. The goal of this collaboration is to design novel visualization techniques to enable digital humanities scholars to explore and analyze parallel translations. To this end, chapter 2 introduces the first survey of surveys on text visualization which reviews all of the surveys and state-of-the-art reports on text visualization techniques, classifies them, provides recommendations, and discusses reported challenges.Following this, we present three visual interactive designs that support the typical digital humanities scholars workflow. In Chapter 4, we present VNLP, a visual, interactive design that enables users to explicitly observe the NLP pipeline processes and update the parameters at each processing stage. Chapter 5 presents AlignVis, a visual tool that provides a semi-automatic alignment framework to build a correspondence between multiple translations. It presents the results of using text similarity measurements and enables the user to create, verify, and edit alignments using a novel visual interface. Chapter 6 introduce TransVis, a novel visual design that supports comparison of multiple parallel translations. It incorporates customized mechanisms for rapid and interactive filtering and selection of a large number of German translations of Shakespeare’s Othello. All of the visual designs are evaluated using examples, detailed observations, case studies, and/or domain expert feedback from a specialist in modern and contemporary German literature and culture.Chapter 7 reports our collaborative experience and proposes a methodological workflow to guide such interdisciplinary research projects. This chapter also includes a summary of outcomes and lessons learned from our collaboration with the domain expert. Finally, Chapter 8 presents a summary of the thesis and future work directions