{"id":4538,"date":"2020-06-24T09:19:22","date_gmt":"2020-06-24T01:19:22","guid":{"rendered":"http:\/\/pairlabs.ai.pro6.designworks.tw\/?post_type=portfolio&#038;p=4538"},"modified":"2020-07-07T16:08:40","modified_gmt":"2020-07-07T08:08:40","slug":"safe-explainable-ai-via-behavior-decomposition-p-en","status":"publish","type":"portfolio","link":"https:\/\/pairlabs.ai\/en\/portfolio-item\/safe-explainable-ai-via-behavior-decomposition-p-en\/","title":{"rendered":"Safe Explainable AI via Behavior Decomposition"},"content":{"rendered":"<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_1' class='avia-section main_color avia-section-large avia-no-border-styling avia-full-stretch av-section-color-overlay-active avia-bg-style-fixed    av-small-hide av-mini-hide container_wrap sidebar_right' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  '  data-section-bg-repeat='stretch' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  ' ><div class='av-section-color-overlay-wrap'><div class='av-section-color-overlay' style='opacity: 0.6; background-color: #ffffff; '><\/div><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4538'><div class='entry-content-wrapper clearfix'>\n<div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding first   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  '  style='font-size:20px; '  itemprop=\"text\" ><p style=\"text-align: center;\">Pervasive Artificial Intelligence Research (PAIR) Labs<\/p>\n<\/div><\/section><br \/>\n<div style='height:20px' class='hr hr-invisible   '><span class='hr-inner ' ><span class='hr-inner-style'><\/span><\/span><\/div><\/p><\/div><\/div><!--close column table wrapper. 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Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top    \" style='background-color:#00a0e9; background:linear-gradient(to bottom right,#00a0e9,#25a98f); padding:10px; border-radius:0px; '><p><div style=' margin-top:-21px; margin-bottom:0px;'  class='hr hr-custom hr-center hr-icon-yes   '><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><span class='av-seperator-icon' style='color:#ffffff;' aria-hidden='true' data-av_icon='\ue883' data-av_iconfont='entypo-fontello'><\/span><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><\/div><br \/>\n<section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  av_inherit_color '  style='font-size:30px; color:#ffffff; '  itemprop=\"text\" ><h1 style=\"text-align: center;\">Robotics and sensing technology Team<\/h1>\n<\/div><\/section><\/p><\/div><\/div><!--close column table wrapper. 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Autoclose: 1 -->\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><\/div><div id='after_section_1' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4538'><div class='entry-content-wrapper clearfix'>\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_2' class='avia-section main_color avia-section-large avia-no-border-styling avia-full-stretch av-section-color-overlay-active avia-bg-style-fixed    av-desktop-hide av-medium-hide container_wrap sidebar_right' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  '  data-section-bg-repeat='stretch' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  ' ><div class='av-section-color-overlay-wrap'><div class='av-section-color-overlay' style='opacity: 0.6; background-color: #ffffff; '><\/div><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4538'><div class='entry-content-wrapper clearfix'>\n<div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding first   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  '  style='font-size:20px; '  itemprop=\"text\" ><p style=\"text-align: center;\">Pervasive Artificial Intelligence Research (PAIR) Labs<\/p>\n<\/div><\/section><br \/>\n<div style='height:1px' class='hr hr-invisible   '><span class='hr-inner ' ><span class='hr-inner-style'><\/span><\/span><\/div><\/p><\/div><\/div><!--close column table wrapper. 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Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top    \" style='background-color:#00a0e9; background:linear-gradient(to bottom right,#00a0e9,#25a98f); padding:10px; border-radius:0px; '><p><div style=' margin-top:-21px; margin-bottom:0px;'  class='hr hr-custom hr-center hr-icon-yes   '><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><span class='av-seperator-icon' style='color:#ffffff;' aria-hidden='true' data-av_icon='\ue883' data-av_iconfont='entypo-fontello'><\/span><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><\/div><br \/>\n<section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  av_inherit_color '  style='font-size:30px; color:#ffffff; '  itemprop=\"text\" ><h2 style=\"text-align: center;\">Robotics and sensing technology Team<\/h2>\n<\/div><\/section><\/p><\/div><\/div><!--close column table wrapper. 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Autoclose: 1 -->\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><\/div><div id='after_section_2' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4538'><div class='entry-content-wrapper clearfix'>\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_3' class='avia-section socket_color avia-section-default avia-no-border-styling avia-bg-style-scroll    av-arrow-down-section container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4538'><div class='entry-content-wrapper clearfix'>\n<div style='padding-bottom:0px; margin:0 0 0 0; font-size:30px;' class='av-special-heading av-special-heading-h3  blockquote modern-quote modern-centered   av-inherit-size '><h3 class='av-special-heading-tag '  itemprop=\"headline\"  >Safe Explainable AI via Behavior Decomposition<\/h3><div class='special-heading-border'><div class='special-heading-inner-border' ><\/div><\/div><\/div>\n<\/div><\/div><\/div><!-- close content main div --><\/div><div class='av-extra-border-element border-extra-arrow-down'><div class='av-extra-border-outer'><div class='av-extra-border-inner'  style='background-color:#333333;' ><\/div><\/div><\/div><\/div><div id='after_section_3' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4538'><div class='entry-content-wrapper clearfix'><\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_4' class='avia-section main_color avia-section-default avia-no-border-styling avia-bg-style-scroll   container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4538'><div class='entry-content-wrapper clearfix'>\n<div class=\"flex_column av_three_fifth  flex_column_div av-zero-column-padding first  \" style='border-radius:0px; '><section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  '   itemprop=\"text\" ><p><b>Principal Investigator:<\/b><a href=\"http:\/\/pairlabs.ai\/\/en\/2019\/05\/26\/professor-jacky-baltes\/\">Prof. Jacky Baltes<\/a><\/p>\n<p>&#8212;<\/p>\n<blockquote>\n<h5><b>Summary<\/b><\/h5>\n<\/blockquote>\n<p>The goal of this project is to develop novel algorithms that are able to transform neural networks and deep learning architectures learned into representations that are susceptible to analysis and verification.\u00a0\u00a0Artificial neural networks and especially deep learning approaches are popular at the moment, because of theiroutstanding performance on a variety of tasks.\u00a0\u00a0One important drawback of artificial neural networks is the fact that they act as a black box and that is impossible in many cases to extract the knowledge from the network.\u00a0\u00a0Therefore, a user can never be sure if the network learned the correct function or not.\u00a0\u00a0This may lead to poor and incorrect performance of the network or even biases against certain classes of users (e.g., misclassifying images of black people or Asians).\u00a0\u00a0Since more and more AI algorithms directly and substantially impact people\u2019s lives, there has been a recent push towards explainable AI, that is AI algorithms whose performance can be interpreted, analyzed, and understood by humans.\u00a0\u00a0We propose behavior tree programs, an extension of Brook\u2019s subsumption architecture, as an intermediate representation suitable to model the important aspects of perception, motion planning, and goal reasoning of several important classes of robot systems. We investigate and evaluate our approach in three domains: (a) self-driving cars, (b) nuclear power plant operation robots, and (c) service robots.\u00a0\u00a0These robot systems pose unique and important challenges for AI.\u00a0\u00a0In the self-driving car application, we investigate methods for converting and visualization the mapping from images (e.g., color image) into perceptions (e.g,a traffic light that is currently green is 30m in front of the car).\u00a0\u00a0The goal is to evaluate the robustness of the perception against other images.\u00a0\u00a0In the nuclear power plant operation robot domain, we investigate the motion plans generated by a robot through reinforcement learning for decommissioning generator set (e.g., evaluate radiation space distribution for the planning of decommissioning strategy or separate waste in different radiation level).\u00a0\u00a0In the AGV domain, we transpilegoal directed behaviorinto plans (i.e., action sequences to achieve a manufacture process such as carrying a product box to an assigned location).\u00a0\u00a0Initially, we use a white box approach, that is we use knowledge about the internal structure of the system in our conversion. For example, the output of deep learning network or the reinforcement learner will be used directly. In the last stage, we will treat the system as a black box and infer an approximate behavior tree program for a robot system without knowledge about its internal structure.<\/p>\n<blockquote>\n<h5><b>Keywords<\/b><\/h5>\n<\/blockquote>\n<p>Explainable AI, behavior tree decomposition, nuclear plant operation robot, autonomous guide vehicle, self-driving cars.<\/p>\n<h5><b>Innovations<\/b><\/h5>\n<ul>\n<li>We propose behavior tree programs, an extension of Brook\u2019s subsumption architecture, as an intermediate representation suitable to model the important aspects of perception, motion planning, and goal reasoning of several important classes of robot systems.<\/li>\n<li>We investigate and evaluate our approach in three domains: (a) self-driving cars, (b) nuclear power plant operations robots, and (c) service robots.<\/li>\n<li>The first application is the new and exciting area of self-driving cars, that is cars that can fully autonomously drive safely over highways and through city traffic.<\/li>\n<li>The second application that we use to develop and test our approach are operations robot in industrial plants.<\/li>\n<li>The last application that we employ in our research are social robots, that is robots that cooperate with humans and other robots in common tasks found in the home or at work.<\/li>\n<\/ul>\n<blockquote>\n<h5><b>Benefits<\/b><\/h5>\n<\/blockquote>\n<ul>\n<li>In our project, however, we focus on a programming language that allows us to easily express the control flow behavior of robotic applications.<\/li>\n<li>The programming language should be abstract enough so that it allows us to reason about the beliefs and intentions of the robot, as this is important for explainable AI.<\/li>\n<li>Through the development of an integrated and applied robotics project, the students acquire knowledge in a practical and contextualized way. This systemic approach not only helps on the knowledge consolidation, but also, and more importantly, prepare the students in their social and interdisciplinary skills.<\/li>\n<li>Problem solving requires research, creativity, logical reasoning and action planning. Group work helps them develop their capacity of communicating ideas, reason and negotiate.<\/li>\n<li>Leadership skills are also developed in this way. All these social skills are as important as the technical ones, and maybe even more important in the long term \u2014 given the fast pace of technological advance, tools, methods, technologies, they are likely to change, be updated and replaced in short period of time. Social skills, like the ones mentioned above, help students be prepared for these changes.<\/li>\n<li>In the two sample applications that we propose, we address the themes of self-driving cars and nuclear power plant robots, both of which will play a major role in society in the future.<\/li>\n<\/ul>\n<\/div><\/section><\/div><div class=\"flex_column av_two_fifth  flex_column_div av-zero-column-padding   \" style='border-radius:0px; '><p><div class='avia-progress-bar-container  av-desktop-hide av-medium-hide av-small-hide av-mini-hide avia_animate_when_almost_visible   av-striped-bar av-animated-bar '><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 1<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 91%' data-progress='91'><\/div><\/div><\/div><\/div><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 2<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 86%' data-progress='86'><\/div><\/div><\/div><\/div><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 3<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 97%' data-progress='97'><\/div><\/div><\/div><\/div><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 4<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 85%' data-progress='85'><\/div><\/div><\/div><\/div><\/div><br \/>\n<div style='height:20px' class='hr hr-invisible   '><span class='hr-inner ' ><span class='hr-inner-style'><\/span><\/span><\/div><br \/>\n<div id='av-masonry-1' class='av-masonry  noHover av-fixed-size av-no-gap av-hover-overlay- av-masonry-animation-active av-masonry-col-2 av-caption-always av-caption-style- av-masonry-gallery   av-orientation-portrait   av-medium-columns-overwrite av-medium-columns-2 av-small-columns-overwrite av-small-columns-2 av-mini-columns-overwrite av-mini-columns-2'  ><div class='av-masonry-container isotope av-js-disabled ' ><div class='av-masonry-entry isotope-item av-masonry-item-no-image '><\/div><a href=\"https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/06\/photo-30.jpg\" id='av-masonry-1-item-4537' data-av-masonry-item='4537' class='av-masonry-entry isotope-item post-4537 attachment type-attachment status-inherit hentry  av-masonry-item-with-image' title=\"photo\"  itemprop=\"thumbnailUrl\" ><div class='av-inner-masonry-sizer'><\/div><figure class='av-inner-masonry main_color'><div class=\"av-masonry-outerimage-container\"><div class=\"av-masonry-image-container\" style=\"background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/06\/photo-30-499x705.jpg);\" title=\"photo\" ><\/div><\/div><\/figure><\/a><!--end av-masonry entry--><\/div><\/div><\/p><\/div><\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='after_section_4' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4538'><div class='entry-content-wrapper clearfix'><\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_5' class='avia-section alternate_color avia-section-default avia-no-border-styling avia-bg-style-scroll    container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4538'><div class='entry-content-wrapper clearfix'>\n<div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class=\"flex_column av_two_fifth  flex_column_table_cell av-equal-height-column av-align-middle av-zero-column-padding first   \" style='border-radius:0px; 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