IPAB Workshop-14/05/2020

 

 

Title:Safe autonomy in dynamic environments: what, why and how?

Subramanian Ramamoorthy

Abstract: This is an exciting time to be working in the areas of robotics and AI. Robots are everywhere, from our living room to outer space. With broad adoption comes the next round of scrutiny - are these complex engineered systems actually fit for purpose as commercial products? To what extent can we trust their reliability and ability to perform tasks safely in human centred environments? I will try to develop the argument that achieving safety in autonomous systems calls for some careful rethinking of assumptions that have become commonplace in other kinds of AI systems, especially with the emergence of deep learning and the appeal of domain-agnostic models. Through results from a few different projects, I will try to bring out some principles for safe autonomous system design. My talk will be structured around the following questions: A. How should we architect motion planning systems to be safe-by design? [1,2] B. How should perception and planning be integrated to ac!  commodate complex environments? [3,4] C. How can safety specifications represented logically be incorporated into neural network based models? [5] References: [1] F. Eiras, M. Hawasly, S.V. Albrecht, S. Ramamoorthy, A two-stage optimization approach to safe-by-design planning for autonomous driving. https://arxiv.org/abs/2002.02215 [2] A. Blake, A. Bordallo, K. Brestnichki, M. Hawasly, S.V. Penkov, S. Ramamoorthy, A. Silva, FPR-Fast Path Risk algorithm to evaluate collision probability, IEEE Robotics and Automation Letters, Vol 5(1): 1-7, 2020. https://arxiv.org/abs/1804.05384 [3] S.V. Albrecht, C. Brewitt, J. Wilhelm, F. Eiras, M. Dobre, S. Ramamoorthy, Integrating planning and interpretable goal recognition for autonomous driving. https://arxiv.org/abs/2002.02277 [4] A. Straizys, M. Burke, S. Ramamoorthy, Surfing on an uncertain edge: Precision cutting of soft tissue using torque-based medium classification, In Proc. IEEE International Conference on Robotics and Automatio!  n (ICRA), 2020. https://arxiv.org/abs/1909.07247 [5] C. Innes, S. Ramamoorthy, Elaborating on learned demonstrations with temporal logic specifications, Robotics: Science and Systems (R:SS), 2020. https://arxiv.org/abs/2002.00784

May 14 2020 -

IPAB Workshop-14/05/2020

Subramanian Ramamoorthy
https://eu.bbcollab.com/guest/3c5600a11dc34d77a83aea854eb07cc1

" />