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Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to identify the target for navigation. Reduced visibility under extreme weather conditions in marine environments makes it difficult for vision-based approaches to work properly. To overcome these issues, this paper presents an autonomous vision-based navigation framework for tracking target objects in extreme marine conditions. The proposed framework consists of an integrated perception pipeline that uses a generative adversarial network (GAN) to remove noise and highlight the object features before passing them to the object detector (i.e., YOLOv5). The detected visual features are then used by the USV to track the target. The proposed framework has been thoroughly tested in simulation under extremely reduced visibility due to sandstorms and fog. The results are compared with state-of-the-art de-hazing methods across the benchmarked MBZIRC simulation dataset, on which the proposed scheme has outperformed the existing methods across various metrics.

Motion planning in dynamically changing environments is one of the most complex challenges in autonomous driving. Safety is a crucial requirement, along with driving comfort and speed limits. While classical sampling-based, lattice-based, and optimization-based planning methods can generate smooth and short paths, they often do not consider the dynamics of the environment. Some techniques do consider it, but they rely on updating the environment on-the-go rather than explicitly accounting for the dynamics, which is not suitable for self-driving. To address this, we propose a novel method based on the Neural Field Optimal Motion Planner (NFOMP), which outperforms state-of-the-art approaches in terms of normalized curvature and the number of cusps. Our approach embeds previously known moving obstacles into the neural field collision model to account for the dynamics of the environment. We also introduce time profiling of the trajectory and non-linear velocity constraints by adding Lagrange multipliers to the trajectory loss function. We applied our method to solve the optimal motion planning problem in an urban environment using the BeamNG.tech driving simulator. An autonomous car drove the generated trajectories in three city scenarios while sharing the road with the obstacle vehicle. Our evaluation shows that the maximum acceleration the passenger can experience instantly is -7.5 m/s^2 and that 89.6% of the driving time is devoted to normal driving with accelerations below 3.5 m/s^2. The driving style is characterized by 46.0% and 31.4% of the driving time being devoted to the light rail transit style and the moderate driving style, respectively.

Driver models play a vital role in developing and verifying autonomous vehicles (AVs). Previously, they are mainly applied in traffic flow simulation to model driver behavior. With the development of AVs, driver models attract much attention again due to their potential contributions to AV safety assessment. The simulation-based testing method is an effective measure to accelerate AV testing due to its safe and efficient characteristics. Nonetheless, realistic driver models are prerequisites for valid simulation results. Additionally, an AV is assumed to be at least as safe as a careful and competent driver, which is modeled by driver models as well. Therefore, driver models are essential for AV safety assessment from the current perspective. However, no comparison or discussion of driver models is available regarding their utility to AVs in the last five years despite their necessities in the release of AVs. This motivates us to present a comprehensive survey of driver models in the paper and compare their applicability. Requirements for driver models as applied to AV safety assessment are discussed. A summary of driver models for simulation-based testing and AV benchmarks is provided. Evaluation metrics are defined to compare their strength and weakness. Finally, potential gaps in existing driver models are identified, which provide direction for future work. This study gives related researchers especially regulators an overview and helps them to define appropriate driver models for AVs.

Remotely operating vehicles utilizes the benefits of vehicle automation when fully automated driving is not yet possible. A human operator ensures safety and availability from afar and supports the vehicle automation when its capabilities are exceeded. The remote operator thus fulfills the legal requirements in Germany as a Technical Supervisor to operate highly automated vehicles at SAE 4. To integrate the remote operator into the automated driving system, a novel user-centered human-machine interface (HMI) for remote assistance workplaces was developed and initially evaluated. The insights gained in this process were incorporated into the design of a workplace prototype for remote assistance. This prototype was now tested in the study reported here by 34 participants meeting the professional background criteria for the role of Technical Supervisor according to the German law by using typical remote assistance scenarios created in a simulation environment. Even under elevated cognitive load induced by simultaneously engaging in a secondary task, participants were able to obtain sufficient situation awareness and quickly resolve the scenarios. The HMI also yielded favorable usability and acceptance ratings. The results of the study inform the iterative workplace development and further research on the remote assistance of highly automated vehicles.

While reaching for NLP systems that maximize accuracy, other important metrics of system performance are often overlooked. Prior models are easily forgotten despite their possible suitability in settings where large computing resources are unavailable or relatively more costly. In this paper, we perform a broad comparative evaluation of document-level sentiment analysis models with a focus on resource costs that are important for the feasibility of model deployment and general climate consciousness. Our experiments consider different feature extraction techniques, the effect of ensembling, task-specific deep learning modeling, and domain-independent large language models (LLMs). We find that while a fine-tuned LLM achieves the best accuracy, some alternate configurations provide huge (up to 24, 283 *) resource savings for a marginal (<1%) loss in accuracy. Furthermore, we find that for smaller datasets, the differences in accuracy shrink while the difference in resource consumption grows further.

Blockchain, pivotal in shaping the metaverse and Web3, often draws criticism for high energy consumption and carbon emission. The rise of sustainability-focused blockchains, especially when intersecting with innovative wireless technologies, revises this predicament. To understand blockchain's role in sustainability, we propose a three-layers structure encapsulating four green utilities: Recording and Tracking, Wide Verification, Value Trading, and Concept Disseminating. Nori, a decentralized voluntary carbon offset project, serves as our case, illuminating these utilities. Our research unveils unique insights into the on-chain carbon market participants, affect factors of the market, value propositions of NFT-based carbon credits, and the role of social media to spread the concept of carbon offset. We argue that blockchain's contribution to sustainability is significant, with carbon offsetting potentially evolving as a new standard within the blockchain sector.

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.

With the advances of data-driven machine learning research, a wide variety of prediction problems have been tackled. It has become critical to explore how machine learning and specifically deep learning methods can be exploited to analyse healthcare data. A major limitation of existing methods has been the focus on grid-like data; however, the structure of physiological recordings are often irregular and unordered which makes it difficult to conceptualise them as a matrix. As such, graph neural networks have attracted significant attention by exploiting implicit information that resides in a biological system, with interactive nodes connected by edges whose weights can be either temporal associations or anatomical junctions. In this survey, we thoroughly review the different types of graph architectures and their applications in healthcare. We provide an overview of these methods in a systematic manner, organized by their domain of application including functional connectivity, anatomical structure and electrical-based analysis. We also outline the limitations of existing techniques and discuss potential directions for future research.

Graph Neural Networks (GNNs) have been studied from the lens of expressive power and generalization. However, their optimization properties are less well understood. We take the first step towards analyzing GNN training by studying the gradient dynamics of GNNs. First, we analyze linearized GNNs and prove that despite the non-convexity of training, convergence to a global minimum at a linear rate is guaranteed under mild assumptions that we validate on real-world graphs. Second, we study what may affect the GNNs' training speed. Our results show that the training of GNNs is implicitly accelerated by skip connections, more depth, and/or a good label distribution. Empirical results confirm that our theoretical results for linearized GNNs align with the training behavior of nonlinear GNNs. Our results provide the first theoretical support for the success of GNNs with skip connections in terms of optimization, and suggest that deep GNNs with skip connections would be promising in practice.

Many tasks in natural language processing can be viewed as multi-label classification problems. However, most of the existing models are trained with the standard cross-entropy loss function and use a fixed prediction policy (e.g., a threshold of 0.5) for all the labels, which completely ignores the complexity and dependencies among different labels. In this paper, we propose a meta-learning method to capture these complex label dependencies. More specifically, our method utilizes a meta-learner to jointly learn the training policies and prediction policies for different labels. The training policies are then used to train the classifier with the cross-entropy loss function, and the prediction policies are further implemented for prediction. Experimental results on fine-grained entity typing and text classification demonstrate that our proposed method can obtain more accurate multi-label classification results.