相关论文: "Why This Avoidance Maneuver?" Contrastive Explana…

An open problem for autonomous driving is how to validate the safety of an autonomous vehicle in simulation. Automated testing procedures can find failures of an autonomous system but these failures may be difficult to interpret due to…

Current approaches in human-aware or social robot navigation address the humans that are visible to the robot. However, it is also important to address the possible emergences of humans to avoid shocks or surprises to humans and erratic…

Recently, leveraging different channels to model social semantic information and using self-supervised learning tasks to boost recommendation performance has been proven to be a very promising work. However, how to deeply dig out the…

In the Multi-Agent Path Finding (MAPF) problem, the goal is to find non-colliding paths for agents in an environment, such that each agent reaches its goal from its initial location. In safety-critical applications, a human supervisor may…

Explainable NLP techniques primarily explain by answering "Which tokens in the input are responsible for this prediction?''. We argue that for NLP models that make predictions by comparing two input texts, it is more useful to explain by…

The design of aircraft collision avoidance algorithms is a subtle but important challenge that merits the need for provable safety guarantees. Obtaining such guarantees is nontrivial given the unpredictability of the interplay of the…

In this paper, we design a supervisor to prevent vehicle collisions at intersections. An intersection is modeled as an area containing multiple conflict points where vehicle paths cross in the future. At every time step, the supervisor…

As mobile robots are increasingly deployed in human environments, enabling them to predict how people perceive them is critical for socially adaptable navigation. Predicting perceptions is challenging for two main reasons: (1) HRI…

Reinforcement learning (RL) has demonstrated remarkable success in solving complex decision-making problems, yet its adoption in critical domains is hindered by the lack of interpretability in its decision-making processes. Existing…

In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…

Predicting future trajectories of nearby objects, especially under occlusion, is a crucial task in autonomous driving and safe robot navigation. Prior works typically neglect to maintain uncertainty about occluded objects and only predict…

Driving automation holds significant potential for enhancing traffic safety. However, effectively handling interactions with human drivers in mixed traffic remains a challenging task. Several models exist that attempt to capture human…

Learning socially-aware motion representations is at the core of recent advances in multi-agent problems, such as human motion forecasting and robot navigation in crowds. Despite promising progress, existing representations learned with…

This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…

It is often argued that effective human-centered explainable artificial intelligence (XAI) should resemble human reasoning. However, empirical investigations of how concepts from cognitive science can aid the design of XAI are lacking.…

Maritime domain awareness is critical for protecting sea lanes, ports, harbors, offshore structures and critical infrastructures against common threats and illegal activities. Limited surveillance resources constrain maritime domain…

Contrastive learning has revolutionized the field of computer vision, learning rich representations from unlabeled data, which generalize well to diverse vision tasks. Consequently, it has become increasingly important to explain these…

Safety-critical Autonomous Systems require trustworthy and transparent decision-making process to be deployable in the real world. The advancement of Machine Learning introduces high performance but largely through black-box algorithms. We…

As the demand for transportation through waterways continues to rise, the number of vessels plying the waters has correspondingly increased. This has resulted in a greater number of accidents and collisions between ships, some of which lead…

Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…