Autonomous driving demands an integrated approach that encompasses perception, prediction, and planning, all while operating under strict energy constraints to enhance scalability and environmental sustainability. We present Spiking Autonomous Driving (SAD), the first unified Spiking Neural Network (SNN) to address the energy challenges faced by autonomous driving systems through its event-driven and energy-efficient nature. SAD is trained end-to-end and consists of three main modules: perception, which processes inputs from multi-view cameras to construct a spatiotemporal bird's eye view; prediction, which utilizes a novel dual-pathway with spiking neurons to forecast future states; and planning, which generates safe trajectories considering predicted occupancy, traffic rules, and ride comfort. Evaluated on the nuScenes dataset, SAD achieves competitive performance in perception, prediction, and planning tasks, while drawing upon the energy efficiency of SNNs. This work highlights the potential of neuromorphic computing to be applied to energy-efficient autonomous driving, a critical step toward sustainable and safety-critical automotive technology. Our code is available at [https://github.com/ridgerchu/SAD](https://github.com/ridgerchu/SAD).

In question-answering scenarios, humans can assess whether the available information is sufficient and seek additional information if necessary, rather than providing a forced answer. In contrast, Vision Language Models (VLMs) typically generate direct, one-shot responses without evaluating the sufficiency of the information. To investigate this gap, we identify a critical and challenging task in the Visual Question Answering (VQA) scenario: can VLMs indicate how to adjust an image when the visual information is insufficient to answer a question? This capability is especially valuable for assisting visually impaired individuals who often need guidance to capture images correctly. To evaluate this capability of current VLMs, we introduce a human-labeled dataset as a benchmark for this task. Additionally, we present an automated framework that generates synthetic training data by simulating ``where to know'' scenarios. Our empirical results show significant performance improvements in mainstream VLMs when fine-tuned with this synthetic data. This study demonstrates the potential to narrow the gap between information assessment and acquisition in VLMs, bringing their performance closer to humans.

With the rise of AI used for critical decision-making, many important predictions are made by complex and opaque AI algorithms. The aim of eXplainable Artificial Intelligence (XAI) is to make these opaque decision-making algorithms more transparent and trustworthy. This is often done by constructing an ``explainable model'' for a single modality or subsystem. However, this approach fails for complex systems that are made out of multiple parts. In this paper, I discuss how to explain complex system failures. I represent a complex machine as a hierarchical model of introspective sub-systems working together towards a common goal. The subsystems communicate in a common symbolic language. This work creates a set of explanatory accountability layers for trustworthy AI.

Compositional Explanations is a method for identifying logical formulas of concepts that approximate the neurons' behavior. However, these explanations are linked to the small spectrum of neuron activations (i.e., the highest ones) used to check the alignment, thus lacking completeness. In this paper, we propose a generalization, called Clustered Compositional Explanations, that combines Compositional Explanations with clustering and a novel search heuristic to approximate a broader spectrum of the neuron behavior. We define and address the problems connected to the application of these methods to multiple ranges of activations, analyze the insights retrievable by using our algorithm, and propose desiderata qualities that can be used to study the explanations returned by different algorithms.

Complex machines, such as autonomous vehicles, are unable to reconcile conflicting behaviors between their underlying subsystems, which leads to accidents and other negative consequences. Existing approaches to error and anomaly detection are not equipped to detect and mitigate inconsistencies among parts. In this paper, we present “Anomaly Detection through Explanations” or ADE, a multimodal monitoring architecture to reconcile critical discrepancies under uncertainty. ADE uses symbolic explanations as a debugging language, by examining underlying reasons for those decisions. Further, when decisions conflict, our method uses a synthesizer, along with a priority hierarchy, to process subsystem outputs along with their underlying reasons and transparently judges the conflicts. We show the accuracy and performance of ADE on autonomous vehicle scenarios and data, and discuss other error evaluations for future work.

As we move towards autonomous machines responsible for making decisions previously entrusted to humans, there is an immediate need for machines to be able to explain their behavior and defend the reasonableness of their actions. To implement this vision, each part of a machine should be aware of the behavior of the other parts that they cooperate with. Each part must be able to explain the observed behavior of those neighbors in the context of the shared goal for the local community. If such an explanation cannot be made, it is evidence that either a part has failed (or was subverted) or the communication has failed. The development of reasonableness monitors is work towards generalizing that vision, with the intention of developing a system-construction methodology that enhances both robustness and security, at runtime (not static compile time), by dynamic checking and explaining of the behaviors of parts and subsystems for reasonableness in context.

There has recently been a surge of work in explanatory artificial intelligence (XAI). This research area tackles the important problem that complex machines and algorithms often cannot provide insights into their behavior and thought processes. XAI allows users and parts of the internal system to be more transparent, providing explanations of their decisions in some level of detail. These explanations are important to ensure algorithmic fairness, identify potential bias/problems in the training data, and to ensure that the algorithms perform as expected. However, explanations produced by these systems is neither standardized nor systematically assessed. In an effort to create best practices and identify open challenges, we describe foundational concepts of explainability and show how they can be used to classify existing literature. We discuss why current approaches to explanatory methods especially for deep neural networks are insufficient. Finally, based on our survey, we conclude with suggested future research directions for explanatory artificial intelligence.

Detection of fraud, waste, and abuse (FWA) is an important yet difficult problem. In this paper, we describe a system to detect suspicious activities in large healthcare claims datasets. Each healthcare dataset is viewed as a heterogeneous network of patients, doctors, pharmacies, and other entities. These networks can be large, with millions of patients, hundreds of thousands of doctors, and tens of thousands of pharmacies, for example. Graph analysis techniques are developed to find suspicious individuals, suspicious relationships between individuals, unusual changes over time, unusual geospatial dispersion, and anomalous networks within the overall graph structure. The system has been deployed on multiple sites and data sets, both government and commercial, to facilitate the work of FWA investigation analysts.