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goal-recognition
2023
Cillian Brewitt, Massimiliano Tamborski, Cheng Wang, Stefano V. Albrecht
Verifiable Goal Recognition for Autonomous Driving with Occlusions
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023
Abstract | BibTex | arXiv
IROSautonomous-drivinggoal-recognitionexplainable-ai
Abstract:
Goal recognition (GR) allows the future behaviour of vehicles to be more accurately predicted. GR involves inferring the goals of other vehicles, such as a certain junction exit. In autonomous driving, vehicles can encounter many different scenarios and the environment is partially observable due to occlusions. We present a novel GR method named Goal Recognition with Interpretable Trees under Occlusion (OGRIT). We demonstrate that OGRIT can handle missing data due to occlusions and make inferences across multiple scenarios using the same learned decision trees, while still being fast, accurate, interpretable and verifiable. We also present the inDO and rounDO datasets of occluded regions used to evaluate OGRIT.
@inproceedings{brewitt2023ogrit,
title={Verifiable Goal Recognition for Autonomous Driving with Occlusions},
author={Cillian Brewitt and Massimiliano Tamborski and Cheng Wang and Stefano V. Albrecht},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
year={2023}
}
Cillian Brewitt, Massimiliano Tamborski, Cheng Wang, Stefano V. Albrecht
Verifiable Goal Recognition for Autonomous Driving with Occlusions
ICRA Workshop on Scalable Autonomous Driving, 2023
Abstract | BibTex | arXiv
ICRAautonomous-drivinggoal-recognitionexplainable-ai
Abstract:
Goal recognition (GR) allows the future behaviour of vehicles to be more accurately predicted. GR involves inferring the goals of other vehicles, such as a certain junction exit. In autonomous driving, vehicles can encounter many different scenarios and the environment is partially observable due to occlusions. We present a novel GR method named Goal Recognition with Interpretable Trees under Occlusion (OGRIT). We demonstrate that OGRIT can handle missing data due to occlusions and make inferences across multiple scenarios using the same learned decision trees, while still being fast, accurate, interpretable and verifiable. We also present the inDO and rounDO datasets of occluded regions used to evaluate OGRIT.
@misc{brewitt2023verifiable,
title={Verifiable Goal Recognition for Autonomous Driving with Occlusions},
author={Cillian Brewitt and Massimiliano Tamborski and Cheng Wang and Stefano V. Albrecht},
booktitle={ICRA 2023 Workshop on Scalable Autonomous Driving},
year={2023}
}
2022
Ibrahim H. Ahmed, Cillian Brewitt, Ignacio Carlucho, Filippos Christianos, Mhairi Dunion, Elliot Fosong, Samuel Garcin, Shangmin Guo, Balint Gyevnar, Trevor McInroe, Georgios Papoudakis, Arrasy Rahman, Lukas Schäfer, Massimiliano Tamborski, Giuseppe Vecchio, Cheng Wang, Stefano V. Albrecht
Deep Reinforcement Learning for Multi-Agent Interaction
AI Communications, 2022
Abstract | BibTex | arXiv | Publisher
AICsurveydeep-rlmulti-agent-rlad-hoc-teamworkagent-modellinggoal-recognitionsecurityexplainable-aiautonomous-driving
Abstract:
The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group develops novel machine learning algorithms for autonomous systems control, with a specific focus on deep reinforcement learning and multi-agent reinforcement learning. Research problems include scalable learning of coordinated agent policies and inter-agent communication; reasoning about the behaviours, goals, and composition of other agents from limited observations; and sample-efficient learning based on intrinsic motivation, curriculum learning, causal inference, and representation learning. This article provides a broad overview of the ongoing research portfolio of the group and discusses open problems for future directions.
@article{albrecht2022aic,
author = {Ahmed, Ibrahim H. and Brewitt, Cillian and Carlucho, Ignacio and Christianos, Filippos and Dunion, Mhairi and Fosong, Elliot and Garcin, Samuel and Guo, Shangmin and Gyevnar, Balint and McInroe, Trevor and Papoudakis, Georgios and Rahman, Arrasy and Schäfer, Lukas and Tamborski, Massimiliano and Vecchio, Giuseppe and Wang, Cheng and Albrecht, Stefano V.},
title = {Deep Reinforcement Learning for Multi-Agent Interaction},
journal = {AI Communications, Special Issue on Multi-Agent Systems Research in the UK},
year = {2022}
}
Majd Hawasly, Jonathan Sadeghi, Morris Antonello, Stefano V. Albrecht, John Redford, Subramanian Ramamoorthy
Perspectives on the System-level Design of a Safe Autonomous Driving Stack
AI Communications, 2022
Abstract | BibTex | arXiv | Publisher
AICsurveyautonomous-drivinggoal-recognitionexplainable-ai
Abstract:
Achieving safe and robust autonomy is the key bottleneck on the path towards broader adoption of autonomous vehicles technology. This motivates going beyond extrinsic metrics such as miles between disengagement, and calls for approaches that embody safety by design. In this paper, we address some aspects of this challenge, with emphasis on issues of motion planning and prediction. We do this through description of novel approaches taken to solving selected sub-problems within an autonomous driving stack, in the process introducing the design philosophy being adopted within Five. This includes safe-by-design planning, interpretable as well as verifiable prediction, and modelling of perception errors to enable effective sim-to-real and real-to-sim transfer within the testing pipeline of a realistic autonomous system.
@article{albrecht2022aic,
author = {Majd Hawasly and Jonathan Sadeghi and Morris Antonello and Stefano V. Albrecht and John Redford and Subramanian Ramamoorthy},
title = {Perspectives on the System-level Design of a Safe Autonomous Driving Stack},
journal = {AI Communications, Special Issue on Multi-Agent Systems Research in the UK},
year = {2022}
}
Cillian Brewitt, Massimiliano Tamborski, Stefano V. Albrecht
Verifiable Goal Recognition for Autonomous Driving with Occlusions
NeurIPS Workshop on Machine Learning for Autonomous Driving, 2022
Abstract | BibTex | arXiv | Code
NeurIPSautonomous-drivinggoal-recognitionexplainable-ai
Abstract:
Goal recognition (GR) allows the future behaviour of vehicles to be more accurately predicted. GR involves inferring the goals of other vehicles, such as a certain junction exit. In autonomous driving, vehicles can encounter many different scenarios and the environment is partially observable due to occlusions. We present a novel GR method named Goal Recognition with Interpretable Trees under Occlusion (OGRIT). We demonstrate that OGRIT can handle missing data due to occlusions and make inferences across multiple scenarios using the same learned decision trees, while still being fast, accurate, interpretable and verifiable. We also present the inDO and rounDO datasets of occluded regions used to evaluate OGRIT.
@inproceedings{brewitt2022,
title={Verifiable Goal Recognition for Autonomous Driving with Occlusions},
author={Cillian Brewitt and Massimiliano Tamborski and Stefano V. Albrecht},
booktitle={NeurIPS Workshop on Machine Learning for Autonomous Driving},
year={2022}
}
2021
Stefano V. Albrecht, Cillian Brewitt, John Wilhelm, Balint Gyevnar, Francisco Eiras, Mihai Dobre, Subramanian Ramamoorthy
Interpretable Goal-based Prediction and Planning for Autonomous Driving
IEEE International Conference on Robotics and Automation, 2021
Abstract | BibTex | arXiv | Video | Code
ICRAautonomous-drivinggoal-recognitionexplainable-ai
Abstract:
We propose an integrated prediction and planning system for autonomous driving which uses rational inverse planning to recognise the goals of other vehicles. Goal recognition informs a Monte Carlo Tree Search (MCTS) algorithm to plan optimal maneuvers for the ego vehicle. Inverse planning and MCTS utilise a shared set of defined maneuvers and macro actions to construct plans which are explainable by means of rationality principles. Evaluation in simulations of urban driving scenarios demonstrate the system's ability to robustly recognise the goals of other vehicles, enabling our vehicle to exploit non-trivial opportunities to significantly reduce driving times. In each scenario, we extract intuitive explanations for the predictions which justify the system's decisions.
@inproceedings{albrecht2020igp2,
title={Interpretable Goal-based Prediction and Planning for Autonomous Driving},
author={Stefano V. Albrecht and Cillian Brewitt and John Wilhelm and Balint Gyevnar and Francisco Eiras and Mihai Dobre and Subramanian Ramamoorthy},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year={2021}
}
Cillian Brewitt, Balint Gyevnar, Samuel Garcin, Stefano V. Albrecht
GRIT: Fast, Interpretable, and Verifiable Goal Recognition with Learned Decision Trees for Autonomous Driving
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Abstract | BibTex | arXiv | Video | Code
IROSautonomous-drivinggoal-recognitionexplainable-ai
Abstract:
It is important for autonomous vehicles to have the ability to infer the goals of other vehicles (goal recognition), in order to safely interact with other vehicles and predict their future trajectories. This is a difficult problem, especially in urban environments with interactions between many vehicles. Goal recognition methods must be fast to run in real time and make accurate inferences. As autonomous driving is safety-critical, it is important to have methods which are human interpretable and for which safety can be formally verified. Existing goal recognition methods for autonomous vehicles fail to satisfy all four objectives of being fast, accurate, interpretable and verifiable. We propose Goal Recognition with Interpretable Trees (GRIT), a goal recognition system which achieves these objectives. GRIT makes use of decision trees trained on vehicle trajectory data. We evaluate GRIT on two datasets, showing that GRIT achieved fast inference speed and comparable accuracy to two deep learning baselines, a planning-based goal recognition method, and an ablation of GRIT. We show that the learned trees are human interpretable and demonstrate how properties of GRIT can be formally verified using a satisfiability modulo theories (SMT) solver.
@inproceedings{brewitt2021grit,
title={{GRIT:} Fast, Interpretable, and Verifiable Goal Recognition with Learned Decision Trees for Autonomous Driving},
author={Cillian Brewitt and Balint Gyevnar and Samuel Garcin and Stefano V. Albrecht},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2021}
}
Josiah P. Hanna, Arrasy Rahman, Elliot Fosong, Francisco Eiras, Mihai Dobre, John Redford, Subramanian Ramamoorthy, Stefano V. Albrecht
Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Abstract | BibTex | arXiv
IROSautonomous-drivinggoal-recognitionexplainable-ai
Abstract:
Recognising the goals or intentions of observed vehicles is a key step towards predicting the long-term future behaviour of other agents in an autonomous driving scenario. When there are unseen obstacles or occluded vehicles in a scenario, goal recognition may be confounded by the effects of these unseen entities on the behaviour of observed vehicles. Existing prediction algorithms that assume rational behaviour with respect to inferred goals may fail to make accurate long-horizon predictions because they ignore the possibility that the behaviour is influenced by such unseen entities. We introduce the Goal and Occluded Factor Inference (GOFI) algorithm which bases inference on inverse-planning to jointly infer a probabilistic belief over goals and potential occluded factors. We then show how these beliefs can be integrated into Monte Carlo Tree Search (MCTS). We demonstrate that jointly inferring goals and occluded factors leads to more accurate beliefs with respect to the true world state and allows an agent to safely navigate several scenarios where other baselines take unsafe actions leading to collisions.
@inproceedings{hanna2021interpretable,
title={Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles},
author={Josiah P. Hanna and Arrasy Rahman and Elliot Fosong and Francisco Eiras and Mihai Dobre and John Redford and Subramanian Ramamoorthy and Stefano V. Albrecht},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2021}
}
2020
Stefano V. Albrecht, Cillian Brewitt, John Wilhelm, Balint Gyevnar, Francisco Eiras, Mihai Dobre, Subramanian Ramamoorthy
Interpretable Goal-based Prediction and Planning for Autonomous Driving
arXiv:2002.02277, 2020
Abstract | BibTex | arXiv
autonomous-drivinggoal-recognitionexplainable-ai
Abstract:
We propose an integrated prediction and planning system for autonomous driving which uses rational inverse planning to recognise the goals of other vehicles. Goal recognition informs a Monte Carlo Tree Search (MCTS) algorithm to plan optimal maneuvers for the ego vehicle. Inverse planning and MCTS utilise a shared set of defined maneuvers and macro actions to construct plans which are explainable by means of rationality principles. Evaluation in simulations of urban driving scenarios demonstrate the system's ability to robustly recognise the goals of other vehicles, enabling our vehicle to exploit non-trivial opportunities to significantly reduce driving times. In each scenario, we extract intuitive explanations for the predictions which justify the system's decisions.
@misc{albrecht2020integrating,
title={Interpretable Goal-based Prediction and Planning for Autonomous Driving},
author={Stefano V. Albrecht and Cillian Brewitt and John Wilhelm and Balint Gyevnar and Francisco Eiras and Mihai Dobre and Subramanian Ramamoorthy},
year={2020},
eprint={2002.02277},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
2018
Stefano V. Albrecht, Peter Stone
Autonomous Agents Modelling Other Agents: A Comprehensive Survey and Open Problems
Artificial Intelligence, 2018
Abstract | BibTex | arXiv | Publisher
AIJsurveyagent-modellinggoal-recognition
Abstract:
Much research in artificial intelligence is concerned with the development of autonomous agents that can interact effectively with other agents. An important aspect of such agents is the ability to reason about the behaviours of other agents, by constructing models which make predictions about various properties of interest (such as actions, goals, beliefs) of the modelled agents. A variety of modelling approaches now exist which vary widely in their methodology and underlying assumptions, catering to the needs of the different sub-communities within which they were developed and reflecting the different practical uses for which they are intended. The purpose of the present article is to provide a comprehensive survey of the salient modelling methods which can be found in the literature. The article concludes with a discussion of open problems which may form the basis for fruitful future research.
@article{ albrecht2018modelling,
title = {Autonomous Agents Modelling Other Agents: A Comprehensive Survey and Open Problems},
author = {Stefano V. Albrecht and Peter Stone},
journal = {Artificial Intelligence},
volume = {258},
pages = {66--95},
year = {2018},
publisher = {Elsevier},
note = {DOI: 10.1016/j.artint.2018.01.002}
}