As a variety of automated collision prevention systems gain presence within personal vehicles, rating and differentiating the automated safety performance of car models has become increasingly important for consumers, manufacturers, and insurers. In 2023, Swiss Re and partners initiated an eight-month long vehicle testing campaign conducted on a recognized UNECE type approval authority and Euro NCAP accredited proving ground in Germany. The campaign exposed twelve mass-produced vehicle models and one prototype vehicle fitted with collision prevention systems to a selection of safety-critical traffic scenarios representative of United States and European Union accident landscape. In this paper, we compare and evaluate the relative safety performance of these thirteen collision prevention systems (hardware and software stack) as demonstrated by this testing campaign. We first introduce a new scoring system which represents a test system's predicted impact on overall real-world collision frequency and reduction of collision impact energy, weighted based on the real-world relevance of the test scenario. Next, we introduce a novel metric that quantifies the realism of the protocol and confirm that our test protocol is a plausible representation of real-world driving. Finally, we find that the prototype system in its pre-release state outperforms the mass-produced (post-consumer-release) vehicles in the majority of the tested scenarios on the test track.
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This paper addresses the critical issue of psychological safety in the design and operation of autonomous vehicles, which are increasingly integrated with artificial intelligence technologies. While traditional safety standards focus primarily on physical safety, this paper emphasizes the psychological implications that arise from human interactions with autonomous vehicles, highlighting the importance of trust and perceived risk as significant factors influencing user acceptance. Through a review of existing safety techniques, the paper defines psychological safety in the context of autonomous vehicles, proposes a risk model to identify and assess psychological risks, and adopts a system-theoretic analysis method. The paper illustrates the potential psychological hazards using a scenario involving a family's experience with an autonomous vehicle, aiming to systematically evaluate situations that could lead to psychological harm. By establishing a framework that incorporates psychological safety alongside physical safety, the paper contributes to the broader discourse on the safe deployment of autonomous vehicle and aims to guide future developments in user-cantered design and regulatory practices.
The multi-line LiDAR is widely used in autonomous vehicles, so point cloud-based 3D detectors are essential for autonomous driving. Extracting rich multi-scale features is crucial for point cloud-based 3D detectors in autonomous driving due to significant differences in the size of different types of objects. However, because of the real-time requirements, large-size convolution kernels are rarely used to extract large-scale features in the backbone. Current 3D detectors commonly use feature pyramid networks to obtain large-scale features; however, some objects containing fewer point clouds are further lost during down-sampling, resulting in degraded performance. Since pillar-based schemes require much less computation than voxel-based schemes, they are more suitable for constructing real-time 3D detectors. Hence, we propose the *, a pillar-based scheme. We redesigned the feature encoding, the backbone, and the neck of the 3D detector. We propose the Voxel2Pillar feature encoding, which uses a sparse convolution constructor to construct pillars with richer point cloud features, especially height features. The Voxel2Pillar adds more learnable parameters to the feature encoding, enabling the initial pillars to have higher performance ability. We extract multi-scale and large-scale features in the proposed fully sparse backbone, which does not utilize large-size convolutional kernels; the backbone consists of the proposed multi-scale feature extraction module. The neck consists of the proposed sparse ConvNeXt, whose simple structure significantly improves the performance. We validate the effectiveness of the proposed * on the Waymo Open Dataset, and the object detection accuracy for vehicles, pedestrians, and cyclists is improved. We also verify the effectiveness of each proposed module in detail through ablation studies.
We propose a simple methodology to approximate functions with given asymptotic behavior by specifically constructed terms and an unconstrained deep neural network (DNN). The methodology we describe extends to various asymptotic behaviors and multiple dimensions and is easy to implement. In this work we demonstrate it for linear asymptotic behavior in one-dimensional examples. We apply it to function approximation and regression problems where we measure approximation of only function values (``Vanilla Machine Learning''-VML) or also approximation of function and derivative values (``Differential Machine Learning''-DML) on several examples. We see that enforcing given asymptotic behavior leads to better approximation and faster convergence.
We consider quantum circuit models where the gates are drawn from arbitrary gate ensembles given by probabilistic distributions over certain gate sets and circuit architectures, which we call stochastic quantum circuits. Of main interest in this work is the speed of convergence of stochastic circuits with different gate ensembles and circuit architectures to unitary t-designs. A key motivation for this theory is the varying preference for different gates and circuit architectures in different practical scenarios. In particular, it provides a versatile framework for devising efficient circuits for implementing $t$-designs and relevant applications including random circuit and scrambling experiments, as well as benchmarking the performance of gates and circuit architectures. We examine various important settings in depth. A key aspect of our study is an "ironed gadget" model, which allows us to systematically evaluate and compare the convergence efficiency of entangling gates and circuit architectures. Particularly notable results include i) gadgets of two-qubit gates with KAK coefficients $\left(\frac{\pi}{4}-\frac{1}{8}\arccos(\frac{1}{5}),\frac{\pi}{8},\frac{1}{8}\arccos(\frac{1}{5})\right)$ (which we call $\chi$ gates) directly form exact 2- and 3-designs; ii) the iSWAP gate family achieves the best efficiency for convergence to 2-designs under mild conjectures with numerical evidence, even outperforming the Haar-random gate, for generic many-body circuits; iii) iSWAP + complete graph achieve the best efficiency for convergence to 2-designs among all graph circuits. A variety of numerical results are provided to complement our analysis. We also derive robustness guarantees for our analysis against gate perturbations. Additionally, we provide cursory analysis on gates with higher locality and found that the Margolus gate outperforms various other well-known gates.
The efficiency of locally generating unitary designs, which capture statistical notions of quantum pseudorandomness, lies at the heart of wide-ranging areas in physics and quantum information technologies. While there are extensive potent methods and results for this problem, the evidently important setting where continuous symmetries or conservation laws (most notably U(1) and SU(d)) are involved is known to present fundamental difficulties. In particular, even the basic question of whether any local symmetric circuit can generate 2-designs efficiently (in time that grows at most polynomially in the system size) remains open with no circuit constructions provably known to do so, despite intensive efforts. In this work, we resolve this long-standing open problem for both U(1) and SU(d) symmetries by explicitly constructing local symmetric quantum circuits which we prove to converge to symmetric unitary 2-designs in polynomial time using a combination of representation theory, graph theory, and Markov chain methods. As a direct application, our constructions can be used to efficiently generate near-optimal random covariant quantum error-correcting codes, confirming a conjecture in [PRX Quantum 3, 020314 (2022)].
Sequential neural posterior estimation (SNPE) techniques have been recently proposed for dealing with simulation-based models with intractable likelihoods. Unlike approximate Bayesian computation, SNPE techniques learn the posterior from sequential simulation using neural network-based conditional density estimators by minimizing a specific loss function. The SNPE method proposed by Lueckmann et al. (2017) used a calibration kernel to boost the sample weights around the observed data, resulting in a concentrated loss function. However, the use of calibration kernels may increase the variances of both the empirical loss and its gradient, making the training inefficient. To improve the stability of SNPE, this paper proposes to use an adaptive calibration kernel and several variance reduction techniques. The proposed method greatly speeds up the process of training and provides a better approximation of the posterior than the original SNPE method and some existing competitors as confirmed by numerical experiments. We also manage to demonstrate the superiority of the proposed method for a high-dimensional model with real-world dataset.
In the present work, strong approximation errors are analyzed for both the spatial semi-discretization and the spatio-temporal fully discretization of stochastic wave equations (SWEs) with cubic polynomial nonlinearities and additive noises. The fully discretization is achieved by the standard Galerkin ffnite element method in space and a novel exponential time integrator combined with the averaged vector ffeld approach. The newly proposed scheme is proved to exactly satisfy a trace formula based on an energy functional. Recovering the convergence rates of the scheme, however, meets essential difffculties, due to the lack of the global monotonicity condition. To overcome this issue, we derive the exponential integrability property of the considered numerical approximations, by the energy functional. Armed with these properties, we obtain the strong convergence rates of the approximations in both spatial and temporal direction. Finally, numerical results are presented to verify the previously theoretical findings.
The gradient bounds of generalized barycentric coordinates play an essential role in the $H^1$ norm approximation error estimate of generalized barycentric interpolations. Similarly, the $H^k$ norm, $k>1$, estimate needs upper bounds of high-order derivatives, which are not available in the literature. In this paper, we derive such upper bounds for the Wachspress generalized barycentric coordinates on simple convex $d$-dimensional polytopes, $d\ge 1$. The result can be used to prove optimal convergence for Wachspress-based polytopal finite element approximation of, for example, fourth-order elliptic equations. Another contribution of this paper is to compare various shape-regularity conditions for simple convex polytopes, and to clarify their relations using knowledge from convex geometry.
Randomized trials are considered the gold standard for making informed decisions in medicine, yet they often lack generalizability to the patient populations in clinical practice. Observational studies, on the other hand, cover a broader patient population but are prone to various biases. Thus, before using an observational study for decision-making, it is crucial to benchmark its treatment effect estimates against those derived from a randomized trial. We propose a novel strategy to benchmark observational studies beyond the average treatment effect. First, we design a statistical test for the null hypothesis that the treatment effects estimated from the two studies, conditioned on a set of relevant features, differ up to some tolerance. We then estimate an asymptotically valid lower bound on the maximum bias strength for any subgroup in the observational study. Finally, we validate our benchmarking strategy in a real-world setting and show that it leads to conclusions that align with established medical knowledge.
In industry, online randomized controlled experiment (a.k.a A/B experiment) is a standard approach to measure the impact of a causal change. These experiments have small treatment effect to reduce the potential blast radius. As a result, these experiments often lack statistical significance due to low signal-to-noise ratio. To improve the precision (or reduce standard error), we introduce the idea of trigger observations where the output of the treatment and the control model are different. We show that the evaluation with full information about trigger observations (full knowledge) improves the precision in comparison to a baseline method. However, detecting all such trigger observations is a costly affair, hence we propose a sampling based evaluation method (partial knowledge) to reduce the cost. The randomness of sampling introduces bias in the estimated outcome. We theoretically analyze this bias and show that the bias is inversely proportional to the number of observations used for sampling. We also compare the proposed evaluation methods using simulation and empirical data. In simulation, evaluation with full knowledge reduces the standard error as much as 85%. In empirical setup, evaluation with partial knowledge reduces the standard error by 36.48%.
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