Autonomous cars are indispensable when humans go further down the hands-free route. Although existing literature highlights that the acceptance of the autonomous car will increase if it drives in a human-like manner, sparse research offers the naturalistic experience from a passenger's seat perspective to examine the human likeness of current autonomous cars. The present study tested whether the AI driver could create a human-like ride experience for passengers based on 69 participants' feedback in a real-road scenario. We designed a ride experience-based version of the non-verbal Turing test for automated driving. Participants rode in autonomous cars (driven by either human or AI drivers) as a passenger and judged whether the driver was human or AI. The AI driver failed to pass our test because passengers detected the AI driver above chance. In contrast, when the human driver drove the car, the passengers' judgement was around chance. We further investigated how human passengers ascribe humanness in our test. Based on Lewin's field theory, we advanced a computational model combining signal detection theory with pre-trained language models to predict passengers' humanness rating behaviour. We employed affective transition between pre-study baseline emotions and corresponding post-stage emotions as the signal strength of our model. Results showed that the passengers' ascription of humanness would increase with the greater affective transition. Our study suggested an important role of affective transition in passengers' ascription of humanness, which might become a future direction for autonomous driving.
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While developing perception based deep learning models, the benefit of synthetic data is enormous. However, performance of networks trained with synthetic data for certain computer vision tasks degrade significantly when tested on real world data due to the domain gap between them. One of the popular solutions in bridging this gap between synthetic and actual world data is to frame it as a domain adaptation task. In this paper, we propose and evaluate novel ways for the betterment of such approaches. In particular we build upon the method of UNIT-GAN. In normal GAN training for the task of domain translation, pairing of images from both the domains (viz, real and synthetic) is done randomly. We propose a novel method to efficiently incorporate semantic supervision into this pair selection, which helps in boosting the performance of the model along with improving the visual quality of such transformed images. We illustrate our empirical findings on Cityscapes \cite{cityscapes} and challenging synthetic dataset Synscapes. Though the findings are reported on the base network of UNIT-GAN, they can be easily extended to any other similar network.
Predicting the behaviors of other road users is crucial to safe and intelligent decision-making for autonomous vehicles (AVs). However, most motion prediction models ignore the influence of the AV's actions and the planning module has to treat other agents as unalterable moving obstacles. To address this problem, this paper proposes an interaction-aware motion prediction model that is able to predict other agents' future trajectories according to the ego agent's future plan, i.e., their reactions to the ego's actions. Specifically, we employ Transformers to effectively encode the driving scene and incorporate the AV's plan in decoding the predicted trajectories. To train the model to accurately predict the reactions of other agents, we develop an online learning framework, where the ego agent explores the environment and collects other agents' reactions to itself. We validate the decision-making and learning framework in three highly interactive simulated driving scenarios. The results reveal that our decision-making method significantly outperforms the reinforcement learning methods in terms of data efficiency and performance. We also find that using the interaction-aware model can bring better performance than the non-interaction-aware model and the exploration process helps improve the success rate in testing.
Australia is a leader in autonomous systems technology, particularly in the mining industry, borne from necessity in a geographically dispersed and complex natural environment. Increasingly advanced autonomous systems are becoming more prevalent in Australia, particularly as the safety, environmental and efficiency benefits become better understood, and the increasing sophistication of technology improves capability and availability. Increasing use of these systems, including in the maritime domain and air domain, is placing pressure on the national safety regulators, who must either continue to apply their traditional regulatory approach requiring exemptions to enable operation of emerging technology, or seize the opportunity to put in place an agile and adaptive approach better suited to the rapid developments of the twenty first century. In Australia the key national safety regulators have demonstrated an appetite for working with industry to facilitate innovation, but their limited resources mean progress is slow. There is a critical role to be played by third parties from industry, government, and academia who can work together to develop, test and publish new assurance and accreditation frameworks for trusted autonomous systems, and assist in the transition to an adaptive and agile regulatory philosophy. This is necessary to ensure the benefits of autonomous systems can be realised, without compromising safety. This paper will identify the growing use cases for autonomous systems in Australia, in the maritime, air and land domains, assess the current regulatory framework, argue that Australia's regulatory approach needs to become more agile and anticipatory, and investigate how third party projects could positively impact the assurance and accreditation process for autonomous systems in the future.
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer Autonomous Mobile Robot (AMR), by dividing the environment in a sequence or route of freely accessible overlapping corridors. Multi-stage optimal control generates local trajectories through advancing subsets of this route. To cope with the advancing subsets and changing environments, the optimal control problem is solved online with a receding horizon in a Model Predictive Control (MPC) fashion with an improved update strategy. This strategy seamlessly integrates the computationally expensive MPC updates with a low-cost feedback controller for trajectory tracking, for disturbance rejection, and for stabilization of the unstable kinematics of the reversing truck-trailer AMR. This methodology is implemented in a flexible software framework for an effortless transition from offline simulations to deployment of experiments. An experimental setup showcasing the truck-trailer AMR performing two reverse parking maneuvers validates the presented method.
Over the past decade explainable artificial intelligence has evolved from a predominantly technical discipline into a field that is deeply intertwined with social sciences. Insights such as human preference for contrastive -- more precisely, counterfactual -- explanations have played a major role in this transition, inspiring and guiding the research in computer science. Other observations, while equally important, have received much less attention. The desire of human explainees to communicate with artificial intelligence explainers through a dialogue-like interaction has been mostly neglected by the community. This poses many challenges for the effectiveness and widespread adoption of such technologies as delivering a single explanation optimised according to some predefined objectives may fail to engender understanding in its recipients and satisfy their unique needs given the diversity of human knowledge and intention. Using insights elaborated by Niklas Luhmann and, more recently, Elena Esposito we apply social systems theory to highlight challenges in explainable artificial intelligence and offer a path forward, striving to reinvigorate the technical research in this direction. This paper aims to demonstrate the potential of systems theoretical approaches to communication in understanding problems and limitations of explainable artificial intelligence.
Multi-agent motion planning (MAMP) is a critical challenge in applications such as connected autonomous vehicles and multi-robot systems. In this paper, we propose a space-time conflict resolution approach for MAMP. We formulate the problem using a novel, flexible sphere-based discretization for trajectories. Our approach leverages a depth-first conflict search strategy to provide the scalability of decoupled approaches while maintaining the computational guarantees of coupled approaches. We compose procedures for evading discretization error and adhering to kinematic constraints in generated solutions. Theoretically, we prove the continuous-time feasibility and formulation-space completeness of our algorithm. Experimentally, we demonstrate that our algorithm matches the performance of the current state of the art with respect to both runtime and solution quality, while expanding upon the abilities of current work through accommodation for both static and dynamic obstacles. We evaluate our algorithm in various unsignalized traffic intersection scenarios using CARLA, an open-source vehicle simulator. Results show significant success rate improvement in spatially constrained settings, involving both connected and non-connected vehicles. Furthermore, we maintain a reasonable suboptimality ratio that scales well among increasingly complex scenarios.
An assisted living facility (ALF) is a place where someone can live, have access to social supports such as transportation, and receive assistance with the activities of daily living such as toileting and dressing. Despite the important role of ALFs, they are not required to be certified with Medicare and there is no public national database of these facilities. We present the first public dataset of ALFs in the United States, covering all 50 states and DC with 44,638 facilities and over 1.2 million beds. This dataset can help provide answers to existing public health questions as well as help those in need find a facility. The dataset was validated by replicating the results of a nationwide study of ALFs that uses closed data [4], where the prevalence of ALFs is assessed with respect to county-level socioeconomic variables related to health disparity such as race, disability, and income. To showcase the value of this dataset, we also propose a novel metric to assess access to community-based care. We calculate the average distance an individual in need must travel in order to reach an ALF. The dataset and all relevant code are available at github.com/antonstengel/assisted-living-data.
Many small to large organizations have adopted the Microservices Architecture (MSA) style to develop and deliver their core businesses. Despite the popularity of MSA in the software industry, there is a limited evidence-based and thorough understanding of the types of issues (e.g., errors, faults, failures, and bugs) that microservices system developers experience, the causes of the issues, and the solutions as potential fixing strategies to address the issues. To ameliorate this gap, we conducted a mixed-methods empirical study that collected data from 2,641 issues from the issue tracking systems of 15 open-source microservices systems on GitHub, 15 interviews, and an online survey completed by 150 practitioners from 42 countries across 6 continents. Our analysis led to comprehensive taxonomies for the issues, causes, and solutions. The findings of this study inform that Technical Debt, Continuous Integration and Delivery, Exception Handling, Service Execution and Communication, and Security are the most dominant issues in microservices systems. Furthermore, General Programming Errors, Missing Features and Artifacts, and Invalid Configuration and Communication are the main causes behind the issues. Finally, we found 177 types of solutions that can be applied to fix the identified issues. Based on our study results, we formulated future research directions that could help researchers and practitioners to engineer emergent and next-generation microservices systems.
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.
Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of such perception system especially for the sake of path planning, motion prediction, collision avoidance, etc. Generally, stereo or monocular images with corresponding 3D point clouds are already standard layout for 3D object detection, out of which point clouds are increasingly prevalent with accurate depth information being provided. Despite existing efforts, 3D object detection on point clouds is still in its infancy due to high sparseness and irregularity of point clouds by nature, misalignment view between camera view and LiDAR bird's eye of view for modality synergies, occlusions and scale variations at long distances, etc. Recently, profound progress has been made in 3D object detection, with a large body of literature being investigated to address this vision task. As such, we present a comprehensive review of the latest progress in this field covering all the main topics including sensors, fundamentals, and the recent state-of-the-art detection methods with their pros and cons. Furthermore, we introduce metrics and provide quantitative comparisons on popular public datasets. The avenues for future work are going to be judiciously identified after an in-deep analysis of the surveyed works. Finally, we conclude this paper.
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