arXiv subjects
Publications and source records attributed to Helge Spieker.
Reinforcement learning (RL) policies may exhibit unsafe behavior and are hard to explain. We use counterfactual large language model reasoning to enhance RL policy safety post-training. We show that our approach improves and helps to explain the RL policy safety.
This paper presents an explainable machine learning (ML) approach for predicting surface roughness in milling. Utilizing a dataset from milling aluminum alloy 2017A, the study employs random forest regression models and feature importance techniques. The key contributions include developing ML models that accurately predict various roughness values and identifying redundant sensors, particularly those for measuring normal cutting force. Our experiments show that removing certain sensors can reduce costs without sacrificing predictive accuracy, highlighting the potential of explainable machine learning to improve cost-effectiveness in machining.
Pruning neural networks (NNs) can streamline them but risks removing vital parameters from safe reinforcement learning (RL) policies. We introduce an interpretable RL method called VERINTER, which combines NN pruning with model checking to ensure interpretable RL safety. VERINTER exactly quantifies the effects of pruning and the impact of neural connections on complex safety properties by analyzing changes in safety measurements. This method maintains safety in pruned RL policies and enhances understanding of their safety dynamics, which has proven effective in multiple RL settings.
The prediction of human trajectories is important for planning in autonomous systems that act in the real world, e.g. automated driving or mobile robots. Human trajectory prediction is a noisy process, and no prediction does precisely match any future trajectory. It is therefore approached as a stochastic problem, where the goal is to minimise the error between the true and the predicted trajectory. In this work, we explore the application of metamorphic testing for human trajectory prediction. Metamorphic testing is designed to handle unclear or missing test oracles. It is well-designed for human trajectory prediction, where there is no clear criterion of correct or incorrect human behaviour. Metamorphic relations rely on transformations over source test cases and exploit invariants. A setting well-designed for human trajectory prediction where there are many symmetries of expected human behaviour under variations of the input, e.g. mirroring and rescaling of the input data. We discuss how metamorphic testing can be applied to stochastic human trajectory prediction and introduce the Wasserstein Violation Criterion to statistically assess whether a follow-up test case violates a label-preserving metamorphic relation.
We introduce a method to verify stochastic reinforcement learning (RL) policies. This approach is compatible with any RL algorithm as long as the algorithm and its corresponding environment collectively adhere to the Markov property. In this setting, the future state of the environment should depend solely on its current state and the action executed, independent of any previous states or actions. Our method integrates a verification technique, referred to as model checking, with RL, leveraging a Markov decision process, a trained RL policy, and a probabilistic computation tree logic (PCTL) formula to build a formal model that can be subsequently verified via the model checker Storm. We demonstrate our method's applicability across multiple benchmarks, comparing it to baseline methods called deterministic safety estimates and naive monolithic model checking. Our results show that our method is suited to verify stochastic RL policies.
This research presents a method that utilizes explainability techniques to amplify the performance of machine learning (ML) models in forecasting the quality of milling processes, as demonstrated in this paper through a manufacturing use case. The methodology entails the initial training of ML models, followed by a fine-tuning phase where irrelevant features identified through explainability methods are eliminated. This procedural refinement results in performance enhancements, paving the way for potential reductions in manufacturing costs and a better understanding of the trained ML models. This study highlights the usefulness of explainability techniques in both explaining and optimizing predictive models in the manufacturing realm.
Understanding driving scenes and communicating automated vehicle decisions are key requirements for trustworthy automated driving. In this article, we introduce the Qualitative Explainable Graph (QXG), which is a unified symbolic and qualitative representation for scene understanding in urban mobility. The QXG enables interpreting an automated vehicle's environment using sensor data and machine learning models. It utilizes spatio-temporal graphs and qualitative constraints to extract scene semantics from raw sensor inputs, such as LiDAR and camera data, offering an interpretable scene model. A QXG can be incrementally constructed in real-time, making it a versatile tool for in-vehicle explanations across various sensor types. Our research showcases the potential of QXG, particularly in the context of automated driving, where it can rationalize decisions by linking the graph with observed actions. These explanations can serve diverse purposes, from informing passengers and alerting vulnerable road users to enabling post-hoc analysis of prior behaviors.
Reinforcement Learning is the premier technique to approach sequential decision problems, including complex tasks such as driving cars and landing spacecraft. Among the software validation and verification practices, testing for functional fault detection is a convenient way to build trustworthiness in the learned decision model. While recent works seek to maximise the number of detected faults, none consider fault characterisation during the search for more diversity. We argue that policy testing should not find as many failures as possible (e.g., inputs that trigger similar car crashes) but rather aim at revealing as informative and diverse faults as possible in the model. In this paper, we explore the use of quality diversity optimisation to solve the problem of fault diversity in policy testing. Quality diversity (QD) optimisation is a type of evolutionary algorithm to solve hard combinatorial optimisation problems where high-quality diverse solutions are sought. We define and address the underlying challenges of adapting QD optimisation to the test of action policies. Furthermore, we compare classical QD optimisers to state-of-the-art frameworks dedicated to policy testing, both in terms of search efficiency and fault diversity. We show that QD optimisation, while being conceptually simple and generally applicable, finds effectively more diverse faults in the decision model, and conclude that QD-based policy testing is a promising approach.
We present the Qualitative Explainable Graph (QXG): a unified symbolic and qualitative representation for scene understanding in urban mobility. QXG enables the interpretation of an automated vehicle's environment using sensor data and machine learning models. It leverages spatio-temporal graphs and qualitative constraints to extract scene semantics from raw sensor inputs, such as LiDAR and camera data, offering an intelligible scene model. Crucially, QXG can be incrementally constructed in real-time, making it a versatile tool for in-vehicle explanations and real-time decision-making across various sensor types. Our research showcases the transformative potential of QXG, particularly in the context of automated driving, where it elucidates decision rationales by linking the graph with vehicle actions. These explanations serve diverse purposes, from informing passengers and alerting vulnerable road users (VRUs) to enabling post-analysis of prior behaviours.
In maritime traffic surveillance, detecting illegal activities, such as illegal fishing or transshipment of illicit products is a crucial task of the coastal administration. In the open sea, one has to rely on Automatic Identification System (AIS) message transmitted by on-board transponders, which are captured by surveillance satellites. However, insincere vessels often intentionally shut down their AIS transponders to hide illegal activities. In the open sea, it is very challenging to differentiate intentional AIS shutdowns from missing reception due to protocol limitations, bad weather conditions or restricting satellite positions. This paper presents a novel approach for the detection of abnormal AIS missing reception based on self-supervised deep learning techniques and transformer models. Using historical data, the trained model predicts if a message should be received in the upcoming minute or not. Afterwards, the model reports on detected anomalies by comparing the prediction with what actually happens. Our method can process AIS messages in real-time, in particular, more than 500 Millions AIS messages per month, corresponding to the trajectories of more than 60 000 ships. The method is evaluated on 1-year of real-world data coming from four Norwegian surveillance satellites. Using related research results, we validated our method by rediscovering already detected intentional AIS shutdowns.
The future of automated driving (AD) is rooted in the development of robust, fair and explainable artificial intelligence methods. Upon request, automated vehicles must be able to explain their decisions to the driver and the car passengers, to the pedestrians and other vulnerable road users and potentially to external auditors in case of accidents. However, nowadays, most explainable methods still rely on quantitative analysis of the AD scene representations captured by multiple sensors. This paper proposes a novel representation of AD scenes, called Qualitative eXplainable Graph (QXG), dedicated to qualitative spatiotemporal reasoning of long-term scenes. The construction of this graph exploits the recent Qualitative Constraint Acquisition paradigm. Our experimental results on NuScenes, an open real-world multi-modal dataset, show that the qualitative eXplainable graph of an AD scene composed of 40 frames can be computed in real-time and light in space storage which makes it a potentially interesting tool for improved and more trustworthy perception and control processes in AD.
Automated test execution scheduling is crucial in modern software development environments, where components are frequently updated with changes that impact their integration with hardware systems. Building test schedules, which focus on the right tests and make optimal use of the available resources, both time and hardware, under consideration of vast requirements on the selection of test cases and their assignment to certain test execution machines, is a complex optimization task. Manual solutions are time-consuming and often error-prone. Furthermore, when software and hardware components and test scripts are frequently added, removed or updated, static test execution scheduling is no longer feasible and the motivation for automation taking care of dynamic changes grows. Since 2012, our work has focused on transferring technology based on constraint programming for automating the testing of industrial robotic systems at ABB Robotics. After having successfully transferred constraint satisfaction models dedicated to test case generation, we present the results of a project called DynTest whose goal is to automate the scheduling of test execution from a large test repository, on distinct industrial robots. This paper reports on our experience and lessons learned for successfully transferring constraint-based optimization models for test execution scheduling at ABB Robotics. Our experience underlines the benefits of a close collaboration between industry and academia for both parties.
Deep Learning (DL) has revolutionized the capabilities of vision-based systems (VBS) in critical applications such as autonomous driving, robotic surgery, critical infrastructure surveillance, air and maritime traffic control, etc. By analyzing images, voice, videos, or any type of complex signals, DL has considerably increased the situation awareness of these systems. At the same time, while relying more and more on trained DL models, the reliability and robustness of VBS have been challenged and it has become crucial to test thoroughly these models to assess their capabilities and potential errors. To discover faults in DL models, existing software testing methods have been adapted and refined accordingly. In this article, we provide an overview of these software testing methods, namely differential, metamorphic, mutation, and combinatorial testing, as well as adversarial perturbation testing and review some challenges in their deployment for boosting perception systems used in VBS. We also provide a first experimental comparative study on a classical benchmark used in VBS and discuss its results.
Solving Constraint Optimization Problems (COPs) can be dramatically simplified by boundary estimation, that is, providing tight boundaries of cost functions. By feeding a supervised Machine Learning (ML) model with data composed of known boundaries and extracted features of COPs, it is possible to train the model to estimate boundaries of a new COP instance. In this paper, we first give an overview of the existing body of knowledge on ML for Constraint Programming (CP) which learns from problem instances. Second, we introduce a boundary estimation framework that is applied as a tool to support a CP solver. Within this framework, different ML models are discussed and evaluated regarding their suitability for boundary estimation, and countermeasures to avoid unfeasible estimations that avoid the solver to find an optimal solution are shown. Third, we present an experimental study with distinct CP solvers on seven COPs. Our results show that near-optimal boundaries can be learned for these COPs with only little overhead. These estimated boundaries reduce the objective domain size by 60-88% and can help the solver to find near-optimal solutions early during search.
Context: Tangled commits are changes to software that address multiple concerns at once. For researchers interested in bugs, tangled commits mean that they actually study not only bugs, but also other concerns irrelevant for the study of bugs. Objective: We want to improve our understanding of the prevalence of tangling and the types of changes that are tangled within bug fixing commits. Methods: We use a crowd sourcing approach for manual labeling to validate which changes contribute to bug fixes for each line in bug fixing commits. Each line is labeled by four participants. If at least three participants agree on the same label, we have consensus. Results: We estimate that between 17% and 32% of all changes in bug fixing commits modify the source code to fix the underlying problem. However, when we only consider changes to the production code files this ratio increases to 66% to 87%. We find that about 11% of lines are hard to label leading to active disagreements between participants. Due to confirmed tangling and the uncertainty in our data, we estimate that 3% to 47% of data is noisy without manual untangling, depending on the use case. Conclusion: Tangled commits have a high prevalence in bug fixes and can lead to a large amount of noise in the data. Prior research indicates that this noise may alter results. As researchers, we should be skeptics and assume that unvalidated data is likely very noisy, until proven otherwise.
Reinforcement Learning (RL) agents have great successes in solving tasks with large observation and action spaces from limited feedback. Still, training the agents is data-intensive and there are no guarantees that the learned behavior is safe and does not violate rules of the environment, which has limitations for the practical deployment in real-world scenarios. This paper discusses the engineering of reliable agents via the integration of deep RL with constraint-based augmentation models to guide the RL agent towards safe behavior. Within the constraints set, the RL agent is free to adapt and explore, such that its effectiveness to solve the given problem is not hindered. However, once the RL agent leaves the space defined by the constraints, the outside models can provide guidance to still work reliably. We discuss integration points for constraint guidance within the RL process and perform experiments on two case studies: a strictly constrained card game and a grid world environment with additional combinatorial subgoals. Our results show that constraint-guidance does both provide reliability improvements and safer behavior, as well as accelerated training.
Trustworthiness is a central requirement for the acceptance and success of human-centered artificial intelligence (AI). To deem an AI system as trustworthy, it is crucial to assess its behaviour and characteristics against a gold standard of Trustworthy AI, consisting of guidelines, requirements, or only expectations. While AI systems are highly complex, their implementations are still based on software. The software engineering community has a long-established toolbox for the assessment of software systems, especially in the context of software testing. In this paper, we argue for the application of software engineering and testing practices for the assessment of trustworthy AI. We make the connection between the seven key requirements as defined by the European Commission's AI high-level expert group and established procedures from software engineering and raise questions for future work.
Constraint Programming (CP) is a powerful declarative programming paradigm where inference and search are interleaved to find feasible and optimal solutions to various type of constraint systems. However, handling logical connectors with constructive information in CP is notoriously difficult. This paper presents If Then Else (ITE), a lightweight implementation of stratified constructive reasoning for logical connectives. Stratification is introduced to cope with the risk of combinatorial explosion of constructing information from nested and combined logical operators. ITE is an open-source library built on top of SICStus Prolog clp(fd), which proposes various operators, including constructive disjunction and negation, constructive implication and conditional. These operators can be used to express global constraints and to benefit from constructive reasoning for more domain pruning during constraint filtering. Even though ITE is not competitive with specialized filtering algorithms available in some global constraints implementations, its expressiveness allows users to easily define well-tuned constraints with powerful deduction capabilities. Our extended experimental results show that ITE is more efficient than available generic approaches that handle logical constraint systems over finite domains.