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Objective. Algorithmic differentiation (AD) can be a useful technique to numerically optimize design and algorithmic parameters by, and quantify uncertainties in, computer simulations. However, the effectiveness of AD depends on how "well-linearizable" the software is. In this study, we assess how promising derivative information of a typical proton computed tomography (pCT) scan computer simulation is for the aforementioned applications. Approach. This study is mainly based on numerical experiments, in which we repeatedly evaluate three representative computational steps with perturbed input values. We support our observations with a review of the algorithmic steps and arithmetic operations performed by the software, using debugging techniques. Main results. The model-based iterative reconstruction (MBIR) subprocedure (at the end of the software pipeline) and the Monte Carlo (MC) simulation (at the beginning) were piecewise differentiable. Jumps in the MBIR function arose from the discrete computation of the set of voxels intersected by a proton path. Jumps in the MC function likely arose from changes in the control flow that affect the amount of consumed random numbers. The tracking algorithm solves an inherently non-differentiable problem. Significance. The MC and MBIR codes are ready for the integration of AD, and further research on surrogate models for the tracking subprocedure is necessary.

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a perception error may adversely impact the motion planning results. In this work, we propose a joint simulation framework with LiDAR-based perception and motion planning for real-time automated driving. Taking the sensor input from the CARLA simulator with additive noise, a LiDAR perception system is designed to detect and track all surrounding vehicles and to provide precise orientation and velocity information. Next, we introduce a new collision bound representation that relaxes the communication cost between the perception module and the motion planner. A novel collision checking algorithm is implemented using line intersection checking that is more efficient for long distance range in comparing to the traditional method of occupancy grid. We evaluate the joint simulation framework in CARLA for urban driving scenarios. Experiments show that our proposed automated driving system can execute at 25 Hz, which meets the real-time requirement. The LiDAR perception system has high accuracy within 20 meters when evaluated with the ground truth. The motion planning results in consistent safe distance keeping when tested in CARLA urban driving scenarios.

A well-known problem when learning from user clicks are inherent biases prevalent in the data, such as position or trust bias. Click models are a common method for extracting information from user clicks, such as document relevance in web search, or to estimate click biases for downstream applications such as counterfactual learning-to-rank, ad placement, or fair ranking. Recent work shows that the current evaluation practices in the community fail to guarantee that a well-performing click model generalizes well to downstream tasks in which the ranking distribution differs from the training distribution, i.e., under covariate shift. In this work, we propose an evaluation metric based on conditional independence testing to detect a lack of robustness to covariate shift in click models. We introduce the concept of debiasedness and a metric for measuring it. We prove that debiasedness is a necessary condition for recovering unbiased and consistent relevance scores and for the invariance of click prediction under covariate shift. In extensive semi-synthetic experiments, we show that our proposed metric helps to predict the downstream performance of click models under covariate shift and is useful in an off-policy model selection setting.

Private and public sector structures and norms refine how emerging technology is used in practice. In healthcare, despite a proliferation of AI adoption, the organizational governance surrounding its use and integration is often poorly understood. What the Health AI Partnership (HAIP) aims to do in this research is to better define the requirements for adequate organizational governance of AI systems in healthcare settings and support health system leaders to make more informed decisions around AI adoption. To work towards this understanding, we first identify how the standards for the AI adoption in healthcare may be designed to be used easily and efficiently. Then, we map out the precise decision points involved in the practical institutional adoption of AI technology within specific health systems. Practically, we achieve this through a multi-organizational collaboration with leaders from major health systems across the United States and key informants from related fields. Working with the consultancy IDEO [dot] org, we were able to conduct usability-testing sessions with healthcare and AI ethics professionals. Usability analysis revealed a prototype structured around mock key decision points that align with how organizational leaders approach technology adoption. Concurrently, we conducted semi-structured interviews with 89 professionals in healthcare and other relevant fields. Using a modified grounded theory approach, we were able to identify 8 key decision points and comprehensive procedures throughout the AI adoption lifecycle. This is one of the most detailed qualitative analyses to date of the current governance structures and processes involved in AI adoption by health systems in the United States. We hope these findings can inform future efforts to build capabilities to promote the safe, effective, and responsible adoption of emerging technologies in healthcare.

Intelligent vehicles (IVs) have gained worldwide attention due to their increased convenience, safety advantages, and potential commercial value. Despite predictions of commercial deployment by 2025, implementation remains limited to small-scale validation, with precise tracking controllers and motion planners being essential prerequisites for IVs. This paper reviews state-of-the-art motion planning methods for IVs, including pipeline planning and end-to-end planning methods. The study examines the selection, expansion, and optimization operations in a pipeline method, while it investigates training approaches and validation scenarios for driving tasks in end-to-end methods. Experimental platforms are reviewed to assist readers in choosing suitable training and validation strategies. A side-by-side comparison of the methods is provided to highlight their strengths and limitations, aiding system-level design choices. Current challenges and future perspectives are also discussed in this survey.

Logical frameworks provide natural and direct ways of specifying and reasoning within deductive systems. The logical framework LF and subsequent developments focus on finitary proof systems, making the formalization of circular proof systems in such logical frameworks a cumbersome and awkward task. To address this issue, we propose CoLF, a conservative extension of LF with higher-order rational terms and mixed inductive and coinductive definitions. In this framework, two terms are equal if they unfold to the same infinite regular B\"ohm tree. Both term equality and type checking are decidable in CoLF. We illustrate the elegance and expressive power of the framework with several small case studies.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

Transformers have achieved superior performances in many tasks in natural language processing and computer vision, which also intrigues great interests in the time series community. Among multiple advantages of transformers, the ability to capture long-range dependencies and interactions is especially attractive for time series modeling, leading to exciting progress in various time series applications. In this paper, we systematically review transformer schemes for time series modeling by highlighting their strengths as well as limitations through a new taxonomy to summarize existing time series transformers in two perspectives. From the perspective of network modifications, we summarize the adaptations of module level and architecture level of the time series transformers. From the perspective of applications, we categorize time series transformers based on common tasks including forecasting, anomaly detection, and classification. Empirically, we perform robust analysis, model size analysis, and seasonal-trend decomposition analysis to study how Transformers perform in time series. Finally, we discuss and suggest future directions to provide useful research guidance. To the best of our knowledge, this paper is the first work to comprehensively and systematically summarize the recent advances of Transformers for modeling time series data. We hope this survey will ignite further research interests in time series Transformers.

Autonomous driving has achieved a significant milestone in research and development over the last decade. There is increasing interest in the field as the deployment of self-operating vehicles on roads promises safer and more ecologically friendly transportation systems. With the rise of computationally powerful artificial intelligence (AI) techniques, autonomous vehicles can sense their environment with high precision, make safe real-time decisions, and operate more reliably without human interventions. However, intelligent decision-making in autonomous cars is not generally understandable by humans in the current state of the art, and such deficiency hinders this technology from being socially acceptable. Hence, aside from making safe real-time decisions, the AI systems of autonomous vehicles also need to explain how these decisions are constructed in order to be regulatory compliant across many jurisdictions. Our study sheds a comprehensive light on developing explainable artificial intelligence (XAI) approaches for autonomous vehicles. In particular, we make the following contributions. First, we provide a thorough overview of the present gaps with respect to explanations in the state-of-the-art autonomous vehicle industry. We then show the taxonomy of explanations and explanation receivers in this field. Thirdly, we propose a framework for an architecture of end-to-end autonomous driving systems and justify the role of XAI in both debugging and regulating such systems. Finally, as future research directions, we provide a field guide on XAI approaches for autonomous driving that can improve operational safety and transparency towards achieving public approval by regulators, manufacturers, and all engaged stakeholders.

We describe ACE0, a lightweight platform for evaluating the suitability and viability of AI methods for behaviour discovery in multiagent simulations. Specifically, ACE0 was designed to explore AI methods for multi-agent simulations used in operations research studies related to new technologies such as autonomous aircraft. Simulation environments used in production are often high-fidelity, complex, require significant domain knowledge and as a result have high R&D costs. Minimal and lightweight simulation environments can help researchers and engineers evaluate the viability of new AI technologies for behaviour discovery in a more agile and potentially cost effective manner. In this paper we describe the motivation for the development of ACE0.We provide a technical overview of the system architecture, describe a case study of behaviour discovery in the aerospace domain, and provide a qualitative evaluation of the system. The evaluation includes a brief description of collaborative research projects with academic partners, exploring different AI behaviour discovery methods.