An Efficient Risk-aware Branch MPC for Automated Driving that is Robust to Uncertain Vehicle Behaviors

One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated with various behavior modes, their probabilistic estimates are often inaccurate, thus leading to a possibly unsafe trajectory. To overcome this challenge, we propose a risk-aware motion planning framework that appropriately accounts for the ambiguity in the estimated probability distribution. We formulate the risk-aware motion planning problem as a min-max optimization problem and develop an efficient iterative method by incorporating a regularization term in the probability update step. Via extensive numerical studies, we validate the convergence of our method and demonstrate its advantages compared to the state-of-the-art approaches.

An Efficient Game-Theoretic Planner for Automated Lane Merging with Multi-Modal Behavior Understanding

In this paper, we propose a novel behavior planner that combines game theory with search-based planning for automated lane merging. Specifically, inspired by human drivers, we model the interaction between vehicles as a gap selection process. To overcome the challenge of multi-modal behavior exhibited by the surrounding vehicles, we formulate the trajectory selection as a matrix game and compute an equilibrium. Next, we validate our proposed planner in the high-fidelity simulator CARLA and demonstrate its effectiveness in handling interactions in dense traffic scenarios.

Monotonicity for AI ethics and society: An empirical study of the monotonic neural additive model in criminology, education, health care, and finance

Algorithm fairness in the application of artificial intelligence (AI) is essential for a better society. As the foundational axiom of social mechanisms, fairness consists of multiple facets. Although the machine learning (ML) community has focused on intersectionality as a matter of statistical parity, especially in discrimination issues, an emerging body of literature addresses another facet -- monotonicity. Based on domain expertise, monotonicity plays a vital role in numerous fairness-related areas, where violations could misguide human decisions and lead to disastrous consequences. In this paper, we first systematically evaluate the significance of applying monotonic neural additive models (MNAMs), which use a fairness-aware ML algorithm to enforce both individual and pairwise monotonicity principles, for the fairness of AI ethics and society. We have found, through a hybrid method of theoretical reasoning, simulation, and extensive empirical analysis, that considering monotonicity axioms is essential in all areas of fairness, including criminology, education, health care, and finance. Our research contributes to the interdisciplinary research at the interface of AI ethics, explainable AI (XAI), and human-computer interactions (HCIs). By evidencing the catastrophic consequences if monotonicity is not met, we address the significance of monotonicity requirements in AI applications. Furthermore, we demonstrate that MNAMs are an effective fairness-aware ML approach by imposing monotonicity restrictions integrating human intelligence.

AI Ethics on Blockchain: Topic Analysis on Twitter Data for Blockchain Security

Blockchain has empowered computer systems to be more secure using a distributed network. However, the current blockchain design suffers from fairness issues in transaction ordering. Miners are able to reorder transactions to generate profits, the so-called miner extractable value (MEV). Existing research recognizes MEV as a severe security issue and proposes potential solutions, including prominent Flashbots. However, previous studies have mostly analyzed blockchain data, which might not capture the impacts of MEV in a much broader AI society. Thus, in this research, we applied natural language processing (NLP) methods to comprehensively analyze topics in tweets on MEV. We collected more than 20000 tweets with \#MEV and \#Flashbots hashtags and analyzed their topics. Our results show that the tweets discussed profound topics of ethical concern, including security, equity, emotional sentiments, and the desire for solutions to MEV. We also identify the co-movements of MEV activities on blockchain and social media platforms. Our study contributes to the literature at the interface of blockchain security, MEV solutions, and AI ethics.

What are People Talking about in #BackLivesMatter and #StopAsianHate? Exploring and Categorizing Twitter Topics Emerging in Online Social Movements through the Latent Dirichlet Allocation Model

Minority groups have been using social media to organize social movements that create profound social impacts. Black Lives Matter (BLM) and Stop Asian Hate (SAH) are two successful social movements that have spread on Twitter that promote protests and activities against racism and increase the public's awareness of other social challenges that minority groups face. However, previous studies have mostly conducted qualitative analyses of tweets or interviews with users, which may not comprehensively and validly represent all tweets. Very few studies have explored the Twitter topics within BLM and SAH dialogs in a rigorous, quantified and data-centered approach. Therefore, in this research, we adopted a mixed-methods approach to comprehensively analyze BLM and SAH Twitter topics. We implemented (1) the latent Dirichlet allocation model to understand the top high-level words and topics and (2) open-coding analysis to identify specific themes across the tweets. We collected more than one million tweets with the #blacklivesmatter and #stopasianhate hashtags and compared their topics. Our findings revealed that the tweets discussed a variety of influential topics in depth, and social justice, social movements, and emotional sentiments were common topics in both movements, though with unique subtopics for each movement. Our study contributes to the topic analysis of social movements on social media platforms in particular and the literature on the interplay of AI, ethics, and society in general.

Cryptocurrency Valuation: An Explainable AI Approach

Currently, there are no convincing proxies for the fundamentals of cryptocurrency assets. We propose a new market-to-fundamental ratio, the price-to-utility (PU) ratio, utilizing unique blockchain accounting methods. We then proxy various fundamental-to-market ratios by Bitcoin historical data and find they have little predictive power for short-term bitcoin returns. However, PU ratio effectively predicts long-term bitcoin returns. We verify PU ratio valuation by unsupervised and supervised machine learning. The valuation method informs investment returns and predicts bull markets effectively. Finally, we present an automated trading strategy advised by the PU ratio that outperforms the conventional buy-and-hold and market-timing strategies. We distribute the trading algorithms as open-source software via Python Package Index for future research.