Artificial Intelligence (AI) shows promising applications for the perception and planning tasks in autonomous driving (AD) due to its superior performance compared to conventional methods. However, inscrutable AI systems exacerbate the existing challenge of safety assurance of AD. One way to mitigate this challenge is to utilize explainable AI (XAI) techniques. To this end, we present the first comprehensive systematic literature review of explainable methods for safe and trustworthy AD. We begin by analyzing the requirements for AI in the context of AD, focusing on three key aspects: data, model, and agency. We find that XAI is fundamental to meeting these requirements. Based on this, we explain the sources of explanations in AI and describe a taxonomy of XAI. We then identify five key contributions of XAI for safe and trustworthy AI in AD, which are interpretable design, interpretable surrogate models, interpretable monitoring, auxiliary explanations, and interpretable validation. Finally, we propose a modular framework called SafeX to integrate these contributions, enabling explanation delivery to users while simultaneously ensuring the safety of AI models.

The emergence of Large Language Models (LLMs) has great potential to reshape the landscape of many social media platforms. While this can bring promising opportunities, it also raises many threats, such as biases and privacy concerns, and may contribute to the spread of propaganda by malicious actors. We developed the "LLMs Among Us" experimental framework on top of the Mastodon social media platform for bot and human participants to communicate without knowing the ratio or nature of bot and human participants. We built 10 personas with three different LLMs, GPT-4, LLama 2 Chat, and Claude. We conducted three rounds of the experiment and surveyed participants after each round to measure the ability of LLMs to pose as human participants without human detection. We found that participants correctly identified the nature of other users in the experiment only 42% of the time despite knowing the presence of both bots and humans. We also found that the choice of persona had substantially more impact on human perception than the choice of mainstream LLMs.

Remaining competitive in future conflicts with technologically-advanced competitors requires us to accelerate our research and development in artificial intelligence (AI) for wargaming. More importantly, leveraging machine learning for intelligent combat behavior development will be key to one day achieving superhuman performance in this domain--elevating the quality and accelerating the speed of our decisions in future wars. Although deep reinforcement learning (RL) continues to show promising results in intelligent agent behavior development in games, it has yet to perform at or above the human level in the long-horizon, complex tasks typically found in combat modeling and simulation. Capitalizing on the proven potential of RL and recent successes of hierarchical reinforcement learning (HRL), our research is investigating and extending the use of HRL to create intelligent agents capable of performing effectively in these large and complex simulation environments. Our ultimate goal is to develop an agent capable of superhuman performance that could then serve as an AI advisor to military planners and decision-makers. This papers covers our ongoing approach and the first three of our five research areas aimed at managing the exponential growth of computations that have thus far limited the use of AI in combat simulations: (1) developing an HRL training framework and agent architecture for combat units; (2) developing a multi-model framework for agent decision-making; (3) developing dimension-invariant observation abstractions of the state space to manage the exponential growth of computations; (4) developing an intrinsic rewards engine to enable long-term planning; and (5) implementing this framework into a higher-fidelity combat simulation.

In the general framework of Bayesian inference, the target distribution can only be evaluated up-to a constant of proportionality. Classical consistent Bayesian methods such as sequential Monte Carlo (SMC) and Markov chain Monte Carlo (MCMC) have unbounded time complexity requirements. We develop a fully parallel sequential Monte Carlo (pSMC) method which provably delivers parallel strong scaling, i.e. the time complexity (and per-node memory) remains bounded if the number of asynchronous processes is allowed to grow. More precisely, the pSMC has a theoretical convergence rate of MSE$ = O(1/NR)$, where $N$ denotes the number of communicating samples in each processor and $R$ denotes the number of processors. In particular, for suitably-large problem-dependent $N$, as $R \rightarrow \infty$ the method converges to infinitesimal accuracy MSE$=O(\varepsilon^2)$ with a fixed finite time-complexity Cost$=O(1)$ and with no efficiency leakage, i.e. computational complexity Cost$=O(\varepsilon^{-2})$. A number of Bayesian inference problems are taken into consideration to compare the pSMC and MCMC methods.

An October 2023 crash between a GM Cruise robotaxi and a pedestrian in San Francisco resulted not only in a severe injury, but also dramatic upheaval at that company that will likely have lasting effects throughout the industry. The issues stem not just from the crash facts themselves, but also how Cruise mishandled dealing with their robotaxi dragging a pedestrian under the vehicle after the initial post-crash stop. A pair of external investigation reports provide raw material describing the incident and critique the company's response from a regulatory interaction point of view, but did not include potential safety recommendations in scope. We use that report material to highlight specific facts and relationships between events by tying together different pieces of the report material. We then explore safety lessons that might be learned with regard to technology, operational safety practices, and organizational reaction to incidents.

In the emerging space economy, autonomous robotic missions with specialized goals such as mapping and mining are gaining traction, with agencies and enterprises increasingly investing resources. Multirobot systems (MRS) research has provided many approaches to establish control and communication layers to facilitate collaboration from a technical perspective, such as granting more autonomy to heterogeneous robotic groups through auction-based interactions in mesh networks. However, stakeholders' competing economic interests often prevent them from cooperating within a proprietary ecosystem. Related work suggests that distributed ledger technology (DLT) might serve as a mechanism for enterprises to coordinate workflows and trade services to explore space resources through a transparent, reliable, non-proprietary digital platform. We challenge this perspective by pointing to the core technical weaknesses of blockchains, in particular, increased energy consumption, low throughput, and full transparency through redundancy. Our objective is to advance the discussion in a direction where the benefits of DLT from an economic perspective are weighted against the drawbacks from a technical perspective. We finally present a possible DLT-driven heterogeneous MRS for map exploration to study the opportunities for economic collaboration and competitiveness.

In the new space economy, space agencies, large enterprises, and start-ups aim to launch space multi-robot systems (MRS) for various in-situ resource utilization (ISRU) purposes, such as mapping, soil evaluation, and utility provisioning. However, these stakeholders' competing economic interests may hinder effective collaboration on a centralized digital platform. To address this issue, neutral and transparent infrastructures could facilitate coordination and value exchange among heterogeneous space MRS. While related work has expressed legitimate concerns about the technical challenges associated with blockchain use in space, we argue that weighing its potential economic benefits against its drawbacks is necessary. This paper presents a novel architectural framework and a comprehensive set of requirements for integrating blockchain technology in MRS, aiming to enhance coordination and data integrity in space exploration missions. We explored distributed ledger technology (DLT) to design a non-proprietary architecture for heterogeneous MRS and validated the prototype in a simulated lunar environment. The analyses of our implementation suggest global ISRU efficiency improvements for map exploration, compared to a corresponding group of individually acting robots, and that fostering a coopetitive environment may provide additional revenue opportunities for stakeholders.

We propose the problem of conversational web navigation, where a digital agent controls a web browser and follows user instructions to solve real-world tasks in a multi-turn dialogue fashion. To support this problem, we introduce WEBLINX - a large-scale benchmark of 100K interactions across 2300 expert demonstrations of conversational web navigation. Our benchmark covers a broad range of patterns on over 150 real-world websites and can be used to train and evaluate agents in diverse scenarios. Due to the magnitude of information present, Large Language Models (LLMs) cannot process entire web pages in real-time. To solve this bottleneck, we design a retrieval-inspired model that efficiently prunes HTML pages by ranking relevant elements. We use the selected elements, along with screenshots and action history, to assess a variety of models for their ability to replicate human behavior when navigating the web. Our experiments span from small text-only to proprietary multimodal LLMs. We find that smaller finetuned decoders surpass the best zero-shot LLMs (including GPT-4V), but also larger finetuned multimodal models which were explicitly pretrained on screenshots. However, all finetuned models struggle to generalize to unseen websites. Our findings highlight the need for large multimodal models that can generalize to novel settings. Our code, data and models are available for research: https://mcgill-nlp.github.io/weblinx

Large language models (LLMs) have played a pivotal role in building communicative AI to imitate human behaviors but face the challenge of efficient customization. To tackle this challenge, recent studies have delved into the realm of model editing, which manipulates specific memories of language models and changes the related language generation. However, the robustness of model editing remains an open question. This work seeks to understand the strengths and limitations of editing methods, thus facilitating robust, realistic applications of communicative AI. Concretely, we conduct extensive analysis to address the three key research questions. Q1: Can edited LLMs behave consistently resembling communicative AI in realistic situations? Q2: To what extent does the rephrasing of prompts lead LLMs to deviate from the edited knowledge memory? Q3: Which knowledge features are correlated with the performance and robustness of editing? Our experimental results uncover a substantial disparity between existing editing methods and the practical application of LLMs. On rephrased prompts that are complex and flexible but common in realistic applications, the performance of editing experiences a significant decline. Further analysis shows that more popular knowledge is memorized better, easier to recall, and more challenging to edit effectively.

The aim of this study is to investigate Machine Unlearning (MU), a burgeoning field focused on addressing concerns related to neural models inadvertently retaining personal or sensitive data. Here, a novel approach is introduced to achieve precise and selective forgetting within language models. Unlike previous methodologies that adopt completely opposing training objectives, this approach aims to mitigate adverse effects on language model performance, particularly in generation tasks. Furthermore, two innovative evaluation metrics are proposed: Sensitive Information Extraction Likelihood (S-EL) and Sensitive Information Memory Accuracy (S-MA), designed to gauge the effectiveness of sensitive information elimination. To reinforce the forgetting framework, an effective method for annotating sensitive scopes is presented, involving both online and offline strategies. The online selection mechanism leverages language probability scores to ensure computational efficiency, while the offline annotation entails a robust two-stage process based on Large Language Models (LLMs).