{"id":"https://openalex.org/W4385301760","doi":"https://doi.org/10.1109/iv55152.2023.10186720","title":"Towards Explainability in Modular Autonomous System Software","display_name":"Towards Explainability in Modular Autonomous System Software","publication_year":2023,"publication_date":"2023-06-04","ids":{"openalex":"https://openalex.org/W4385301760","doi":"https://doi.org/10.1109/iv55152.2023.10186720"},"language":"en","primary_location":{"id":"doi:10.1109/iv55152.2023.10186720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089057605","display_name":"Hongrui Zheng","orcid":"https://orcid.org/0000-0002-1284-285X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hongrui Zheng","raw_affiliation_strings":["University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018518467","display_name":"Zirui Zang","orcid":"https://orcid.org/0000-0002-0990-6680"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zirui Zang","raw_affiliation_strings":["University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101601665","display_name":"Shuo Yang","orcid":"https://orcid.org/0000-0003-4516-9953"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuo Yang","raw_affiliation_strings":["University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009445756","display_name":"Rahul Mangharam","orcid":"https://orcid.org/0000-0002-3388-8283"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Mangharam","raw_affiliation_strings":["University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089057605"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.3491,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64332859,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9677000045776367,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.8512126207351685},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7047324180603027},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.556603193283081},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5273200869560242},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48735862970352173},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.44369858503341675},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.4383709728717804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4202896058559418},{"id":"https://openalex.org/keywords/black-box","display_name":"Black box","score":0.420119047164917},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4177302420139313},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.35441169142723083},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.24976930022239685}],"concepts":[{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.8512126207351685},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7047324180603027},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.556603193283081},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5273200869560242},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48735862970352173},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.44369858503341675},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.4383709728717804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4202896058559418},{"id":"https://openalex.org/C94966114","wikidata":"https://www.wikidata.org/wiki/Q29256","display_name":"Black box","level":2,"score":0.420119047164917},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4177302420139313},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.35441169142723083},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.24976930022239685},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55152.2023.10186720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":70,"referenced_works":["https://openalex.org/W1577509784","https://openalex.org/W1959608418","https://openalex.org/W1971984830","https://openalex.org/W2103315867","https://openalex.org/W2155971774","https://openalex.org/W2560504659","https://openalex.org/W2809925683","https://openalex.org/W2893142962","https://openalex.org/W2908969420","https://openalex.org/W2920828134","https://openalex.org/W2954340342","https://openalex.org/W2955544543","https://openalex.org/W2957348723","https://openalex.org/W2958089299","https://openalex.org/W2962705366","https://openalex.org/W2963024893","https://openalex.org/W2963708168","https://openalex.org/W2963847595","https://openalex.org/W2964040381","https://openalex.org/W2966735560","https://openalex.org/W2981603589","https://openalex.org/W2996196387","https://openalex.org/W3090241175","https://openalex.org/W3106396234","https://openalex.org/W3114821094","https://openalex.org/W3119933750","https://openalex.org/W3123487819","https://openalex.org/W3129252116","https://openalex.org/W3150807214","https://openalex.org/W3198980715","https://openalex.org/W3202864130","https://openalex.org/W3203617912","https://openalex.org/W3206790221","https://openalex.org/W3206889533","https://openalex.org/W3210065386","https://openalex.org/W3210379278","https://openalex.org/W4210659164","https://openalex.org/W4226252392","https://openalex.org/W4250589301","https://openalex.org/W4289694518","https://openalex.org/W4290375100","https://openalex.org/W4296414622","https://openalex.org/W4297798428","https://openalex.org/W4301496368","https://openalex.org/W4311443741","https://openalex.org/W4313316112","https://openalex.org/W4383108697","https://openalex.org/W4385245566","https://openalex.org/W4388683799","https://openalex.org/W6640963894","https://openalex.org/W6675509861","https://openalex.org/W6714644935","https://openalex.org/W6734122017","https://openalex.org/W6739901393","https://openalex.org/W6753758835","https://openalex.org/W6754927042","https://openalex.org/W6764817228","https://openalex.org/W6767977373","https://openalex.org/W6770847983","https://openalex.org/W6771256060","https://openalex.org/W6772100842","https://openalex.org/W6784988358","https://openalex.org/W6789073751","https://openalex.org/W6791656131","https://openalex.org/W6801468180","https://openalex.org/W6811129691","https://openalex.org/W6838606219","https://openalex.org/W6842395638","https://openalex.org/W6843419145","https://openalex.org/W6843643857"],"related_works":["https://openalex.org/W2797441709","https://openalex.org/W2346578521","https://openalex.org/W4297660007","https://openalex.org/W2886918272","https://openalex.org/W4387589990","https://openalex.org/W2943982549","https://openalex.org/W3101055019","https://openalex.org/W2910028250","https://openalex.org/W4241566321","https://openalex.org/W3094353829"],"abstract_inverted_index":{"Safety-critical":[0],"Autonomous":[1,41,104],"Systems":[2],"require":[3],"trustworthy":[4],"and":[5,96,100,110],"transparent":[6],"decision-making":[7],"process":[8],"to":[9,53],"be":[10,81],"deployable":[11],"in":[12,62,66,74],"the":[13,35,50,69],"real":[14],"world.":[15],"The":[16],"advancement":[17],"of":[18,37,102],"Machine":[19,56],"Learning":[20,57],"introduces":[21],"high":[22],"performance":[23],"but":[24],"largely":[25],"through":[26],"black-box":[27],"algorithms.":[28],"In":[29,83],"this":[30,84],"position":[31],"paper,":[32,85],"we":[33,86],"focus":[34],"discussion":[36],"explainability":[38,95],"specifically":[39],"with":[40],"Vehicles":[42],"(AVs).":[43],"As":[44],"a":[45],"safety-critical":[46],"system,":[47],"AVs":[48],"provide":[49,87],"unique":[51],"opportunity":[52],"utilize":[54],"cutting-edge":[55],"techniques":[58],"while":[59],"requiring":[60],"transparency":[61],"decision":[63],"making.":[64],"Interpretability":[65],"every":[67],"action":[68],"AV":[70],"takes":[71],"becomes":[72],"crucial":[73],"post-hoc":[75],"analysis":[76],"where":[77],"blame":[78],"assignment":[79],"might":[80],"necessary.":[82],"positioning":[88],"on":[89],"how":[90],"researchers":[91],"could":[92],"consider":[93],"incorporating":[94],"interpretability":[97],"into":[98],"design":[99],"optimization":[101],"separate":[103],"Vehicle":[105],"modules":[106],"including":[107],"Perception,":[108],"Planning,":[109],"Control.":[111]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
