{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,27]],"date-time":"2025-10-27T16:24:54Z","timestamp":1761582294521,"version":"3.28.0"},"reference-count":49,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,6,4]],"date-time":"2023-06-04T00:00:00Z","timestamp":1685836800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,6,4]],"date-time":"2023-06-04T00:00:00Z","timestamp":1685836800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,6,4]]},"DOI":"10.1109\/iv55152.2023.10186720","type":"proceedings-article","created":{"date-parts":[[2023,7,27]],"date-time":"2023-07-27T17:20:05Z","timestamp":1690478405000},"page":"1-8","source":"Crossref","is-referenced-by-count":2,"title":["Towards Explainability in Modular Autonomous System Software"],"prefix":"10.1109","author":[{"given":"Hongrui","family":"Zheng","sequence":"first","affiliation":[{"name":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104"}]},{"given":"Zirui","family":"Zang","sequence":"additional","affiliation":[{"name":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104"}]},{"given":"Shuo","family":"Yang","sequence":"additional","affiliation":[{"name":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104"}]},{"given":"Rahul","family":"Mangharam","sequence":"additional","affiliation":[{"name":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA,USA,19104"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340769"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561335"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919863090"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/MPRV.2003.1228524"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593703"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.772544"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00470"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01300"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00655"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196708"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.23919\/ACC53348.2022.9867652"},{"key":"ref45","article-title":"Differentiable safe controller design through control barrier functions","author":"yang","year":"2022","journal-title":"Systems & Control Letters"},{"key":"ref48","article-title":"Differentiable convex optimization layers","volume":"32","author":"agrawal","year":"2019","journal-title":"Advances in neural information processing systems"},{"key":"ref47","first-page":"136","article-title":"Optnet: Differentiable optimization as a layer in neural networks","author":"amos","year":"2017","journal-title":"International Conference on Machine Learning"},{"article-title":"Guaranteeing safety of learned perception modules via measurement-robust control barrier functions","year":"2020","author":"dean","key":"ref42"},{"key":"ref41","first-page":"708","article-title":"Learning for safety-critical control with control barrier functions","author":"taylor","year":"2020","journal-title":"Learning for Dynamics and Control"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/CDC42340.2020.9303896"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v33i01.33013387"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref8","article-title":"Explanations in autonomous driving: A survey","author":"omeiza","year":"2021","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"article-title":"Explainable artificial intelligence for autonomous driving: A comprehensive overview and field guide for future research directions","year":"2021","author":"atakishiyev","key":"ref7"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/DSAA.2018.00018"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2020.3027314"},{"article-title":"Explainable artificial intelligence approaches: A survey","year":"2021","author":"islam","key":"ref3"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-022-01657-x"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2022.2029720"},{"key":"ref40","first-page":"1724","article-title":"Safe nonlinear control using robust neural lyapunov-barrier functions","author":"dawson","year":"2022","journal-title":"Conference on Robot Learning"},{"journal-title":"Model Predictive Control","year":"2013","author":"camacho","key":"ref35"},{"key":"ref34","article-title":"Regret Minimization in Games with Incomplete Information","volume":"20","author":"zinkevich","year":"2007","journal-title":"Advances in neural information processing systems"},{"article-title":"Safe output feedback motion planning from images via learned perception modules and contraction theory","year":"2022","author":"chou","key":"ref37"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2017.8263977"},{"article-title":"Auto-encoding variational bayes","year":"2013","author":"kingma","key":"ref31"},{"article-title":"Learning likelihoods with conditional normalizing flows","year":"2019","author":"winkler","key":"ref30"},{"article-title":"Game-theoretic objective space planning","year":"2022","author":"zheng","key":"ref33"},{"key":"ref32","article-title":"Attention is all you need","volume":"30","author":"vaswani","year":"2017","journal-title":"Advances in neural information processing systems"},{"key":"ref2","doi-asserted-by":"crossref","first-page":"210","DOI":"10.23919\/MIPRO.2018.8400040","article-title":"Explainable artificial intelligence: A survey","author":"do\u0161ilovi?","year":"2018","journal-title":"2018 41st International Convention on Information and Communication Technology Electronics and Microelectronics (MIPRO)"},{"year":"0","key":"ref1"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2021.09.173"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2638961"},{"key":"ref24","first-page":"1","article-title":"Normalizing flows for probabilistic modeling and inference","volume":"22","author":"papamakarios","year":"2021","journal-title":"J Mach Learn Res"},{"article-title":"Local_inn: Implicit map representation and localization with invertible neural networks","year":"2022","author":"zang","key":"ref23"},{"article-title":"Guided image generation with conditional invertible neural networks","year":"2019","author":"ardizzone","key":"ref26"},{"article-title":"Analyzing inverse problems with invertible neural networks","year":"2018","author":"ardizzone","key":"ref25"},{"article-title":"A hybrid probabilistic model for camera relocalization","year":"2019","author":"cai","key":"ref20"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-022-01612-w"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487679"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01101"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-019-01939-9"},{"article-title":"Density estimation using real nvp","year":"2016","author":"dinh","key":"ref29"}],"event":{"name":"2023 IEEE Intelligent Vehicles Symposium (IV)","start":{"date-parts":[[2023,6,4]]},"location":"Anchorage, AK, USA","end":{"date-parts":[[2023,6,7]]}},"container-title":["2023 IEEE Intelligent Vehicles Symposium (IV)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10186382\/10186383\/10186720.pdf?arnumber=10186720","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,8,14]],"date-time":"2023-08-14T17:37:04Z","timestamp":1692034624000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10186720\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6,4]]},"references-count":49,"URL":"https:\/\/doi.org\/10.1109\/iv55152.2023.10186720","relation":{},"subject":[],"published":{"date-parts":[[2023,6,4]]}}}