Autonomous vehicle refers to a vehicle capable of perceiving its surrounding environment and driving with little or no human driver input. The perception system is a fundamental component which enables the autonomous vehicle to collect data and extract relevant information from the environment to drive safely. Benefit from the recent advances in computer vision, the perception task can be achieved by using sensors, such as camera, LiDAR, radar, and ultrasonic sensor. This paper reviews publications on computer vision and autonomous driving that are published during the last ten years. In particular, we first investigate the development of autonomous driving systems and summarize these systems that are developed by the major automotive manufacturers from different countries. Second, we investigate the sensors and benchmark data sets that are commonly utilized for autonomous driving. Then, a comprehensive overview of computer vision applications for autonomous driving such as depth estimation, object detection, lane detection, and traffic sign recognition are discussed. Additionally, we review public opinions and concerns on autonomous vehicles. Based on the discussion, we analyze the current technological challenges that autonomous vehicles meet with. Finally, we present our insights and point out some promising directions for future research. This paper will help the reader to understand autonomous vehicles from the perspectives of academia and industry.

This EPTCS volume contains the proceedings for the Fifth International Workshop on Formal Methods for Autonomous Systems (FMAS 2023), which was held on the 15th and 16th of November 2023. FMAS 2023 was co-located with 18th International Conference on integrated Formal Methods (iFM) (iFM'22), organised by Leiden Institute of Advanced Computer Science of Leiden University. The workshop itself was held at Scheltema Leiden, a renovated 19th Century blanket factory alongside the canal. FMAS 2023 received 25 submissions. We received 11 regular papers, 3 experience reports, 6 research previews, and 5 vision papers. The researchers who submitted papers to FMAS 2023 were from institutions in: Australia, Canada, Colombia, France, Germany, Ireland, Italy, the Netherlands, Sweden, the United Kingdom, and the United States of America. Increasing our number of submissions for the third year in a row is an encouraging sign that FMAS has established itself as a reputable publication venue for research on the formal modelling and verification of autonomous systems. After each paper was reviewed by three members of our Programme Committee we accepted a total of 15 papers: 8 long papers and 7 short papers.

Transformer language models (LMs) have been shown to represent concepts as directions in the latent space of hidden activations. However, for any given human-interpretable concept, how can we find its direction in the latent space? We present a technique called linear relational concepts (LRC) for finding concept directions corresponding to human-interpretable concepts at a given hidden layer in a transformer LM by first modeling the relation between subject and object as a linear relational embedding (LRE). While the LRE work was mainly presented as an exercise in understanding model representations, we find that inverting the LRE while using earlier object layers results in a powerful technique to find concept directions that both work well as a classifier and causally influence model outputs.

Deep biasing for the Transducer can improve the recognition performance of rare words or contextual entities, which is essential in practical applications, especially for streaming Automatic Speech Recognition (ASR). However, deep biasing with large-scale rare words remains challenging, as the performance drops significantly when more distractors exist and there are words with similar grapheme sequences in the bias list. In this paper, we combine the phoneme and textual information of rare words in Transducers to distinguish words with similar pronunciation or spelling. Moreover, the introduction of training with text-only data containing more rare words benefits large-scale deep biasing. The experiments on the LibriSpeech corpus demonstrate that the proposed method achieves state-of-the-art performance on rare word error rate for different scales and levels of bias lists.

One way that the current state of the art measures the reasoning ability of transformer-based models is by evaluating accuracy in downstream tasks like logical question answering or proof generation over synthetic contexts expressed in natural language. However, most of the contexts used are in practice very simple; in most cases, they are generated from short first-order logic sentences with only a few logical operators and quantifiers. In this work, we seek to answer the question how well a transformer-based model will perform reasoning over expressive contexts. For this purpose, we construct a synthetic natural language question-answering dataset, generated by description logic knowledge bases. For the generation of the knowledge bases, we use the expressive language $\mathcal{ALCQ}$. The resulting dataset contains 384K examples, and increases in two dimensions: i) reasoning depth, and ii) length of sentences. We show that the performance of our DeBERTa-based model, DELTA$_M$, is marginally affected when the reasoning depth is increased and it is not affected at all when the length of the sentences is increasing. We also evaluate the generalization ability of the model on reasoning depths unseen at training, both increasing and decreasing, revealing interesting insights into the model's adaptive generalization abilities.

Realizing the recent advances in Natural Language Processing (NLP) to the legal sector poses challenging problems such as extremely long sequence lengths, specialized vocabulary that is usually only understood by legal professionals, and high amounts of data imbalance. The recent surge of Large Language Models (LLMs) has begun to provide new opportunities to apply NLP in the legal domain due to their ability to handle lengthy, complex sequences. Moreover, the emergence of domain-specific LLMs has displayed extremely promising results on various tasks. In this study, we aim to quantify how general LLMs perform in comparison to legal-domain models (be it an LLM or otherwise). Specifically, we compare the zero-shot performance of three general-purpose LLMs (ChatGPT-20b, LLaMA-2-70b, and Falcon-180b) on the LEDGAR subset of the LexGLUE benchmark for contract provision classification. Although the LLMs were not explicitly trained on legal data, we observe that they are still able to classify the theme correctly in most cases. However, we find that their mic-F1/mac-F1 performance is up to 19.2/26.8\% lesser than smaller models fine-tuned on the legal domain, thus underscoring the need for more powerful legal-domain LLMs.

We are introducing Aligned, a platform for global governance and alignment of frontier models, and eventually superintelligence. While previous efforts at the major AI labs have attempted to gather inputs for alignment, these are often conducted behind closed doors. We aim to set the foundation for a more trustworthy, public-facing approach to safety: a constitutional committee framework. Initial tests with 680 participants result in a 30-guideline constitution with 93% overall support. We show the platform naturally scales, instilling confidence and enjoyment from the community. We invite other AI labs and teams to plug and play into the Aligned ecosystem.

Metaphor identification aims at understanding whether a given expression is used figuratively in context. However, in this paper we show how existing metaphor identification datasets can be gamed by fully ignoring the potential metaphorical expression or the context in which it occurs. We test this hypothesis in a variety of datasets and settings, and show that metaphor identification systems based on language models without complete information can be competitive with those using the full context. This is due to the construction procedures to build such datasets, which introduce unwanted biases for positive and negative classes. Finally, we test the same hypothesis on datasets that are carefully sampled from natural corpora and where this bias is not present, making these datasets more challenging and reliable.

We present a novel approach for action recognition in UAV videos. Our formulation is designed to handle occlusion and viewpoint changes caused by the movement of a UAV. We use the concept of mutual information to compute and align the regions corresponding to human action or motion in the temporal domain. This enables our recognition model to learn from the key features associated with the motion. We also propose a novel frame sampling method that uses joint mutual information to acquire the most informative frame sequence in UAV videos. We have integrated our approach with X3D and evaluated the performance on multiple datasets. In practice, we achieve 18.9% improvement in Top-1 accuracy over current state-of-the-art methods on UAV-Human(Li et al., 2021), 7.3% improvement on Drone-Action(Perera et al., 2019), and 7.16% improvement on NEC Drones(Choi et al., 2020).

In recent years, language-driven artistic style transfer has emerged as a new type of style transfer technique, eliminating the need for a reference style image by using natural language descriptions of the style. The first model to achieve this, called CLIPstyler, has demonstrated impressive stylisation results. However, its lengthy optimisation procedure at runtime for each query limits its suitability for many practical applications. In this work, we present FastCLIPstyler, a generalised text-based image style transfer model capable of stylising images in a single forward pass for arbitrary text inputs. Furthermore, we introduce EdgeCLIPstyler, a lightweight model designed for compatibility with resource-constrained devices. Through quantitative and qualitative comparisons with state-of-the-art approaches, we demonstrate that our models achieve superior stylisation quality based on measurable metrics while offering significantly improved runtime efficiency, particularly on edge devices.