Autonomous systems are often deployed in the open world where it is hard to obtain complete specifications of objectives and constraints. Operating based on an incomplete model can produce negative side effects (NSEs), which affect the safety and reliability of the system. We focus on mitigating NSEs in environments modeled as Markov decision processes (MDPs). First, we learn a model of NSEs using observed data that contains state-action trajectories and severity of associated NSEs. Unlike previous works that associate NSEs with state-action pairs, our framework associates NSEs with entire trajectories, which is more general and captures non-Markovian dependence on states and actions. Second, we learn finite state controllers (FSCs) that predict NSE severity for a given trajectory and generalize well to unseen data. Finally, we develop a constrained MDP model that uses information from the underlying MDP and the learned FSC for planning while avoiding NSEs. Our empirical evaluation demonstrates the effectiveness of our approach in learning and mitigating Markovian and non-Markovian NSEs.

Summary We investigate the challenges of building an end‐to‐end cloud pipeline for real‐time intelligent visual inspection system for use in automotive manufacturing. Current methods of visual detection in automotive assembly are highly labor intensive, and thus prone to errors. An automated process is sought that can operate within the real‐time constraints of the assembly line and can reduce errors. Components of the cloud pipeline include capture of a large set of high‐definition images from a camera setup at the assembly location, transfer and storage of the images as needed, execution of object detection, and notification to a human operator when a fault is detected. The end‐to‐end execution must complete within a fixed time frame before the next car arrives in the assembly line. In this article, we report the design, development, and experimental evaluation of the tradeoffs of performance, accuracy, and scalability for a cloud system.

Deep learning models are associated with various deployment challenges. Inference of such models is typically very compute-intensive and memory-intensive. In this paper, we investigate the performance of deep learning models for a computer vision application used in the automotive manufacturing industry. This application has demanding requirements that are characteristic of Big Data systems, including high volume and high velocity. The application has to process a very large set of high-definition images in real-time with appropriate accuracy requirements using a deep learning-based object detection model. Meeting the run time, accuracy, and resource requirements require a careful consideration of the choice of model, model parameters, hardware, and environmental support. In this paper, we investigate the trade-offs of the most popular deep neural network-based object detection models on four hardware platforms. We report the trade-offs of resource consumption, run time, and accuracy for a realistic real-time application environment.