Causal-Audit: A Framework for Risk Assessment of Assumption Violations in Time-Series Causal Discovery

Time-series causal discovery methods rely on assumptions such as stationarity, regular sampling, and bounded temporal dependence. When these assumptions are violated, structure learning can produce confident but misleading causal graphs without warning. We introduce Causal-Audit, a framework that formalizes assumption validation as calibrated risk assessment. The framework computes effect-size diagnostics across five assumption families (stationarity, irregularity, persistence, nonlinearity, and confounding proxies), aggregates them into four calibrated risk scores with uncertainty intervals, and applies an abstention-aware decision policy that recommends methods (e.g., PCMCI+, VAR-based Granger causality) only when evidence supports reliable inference. The semi-automatic diagnostic stage can also be used independently for structured assumption auditing in individual studies. Evaluation on a synthetic atlas of 500 data-generating processes (DGPs) spanning 10 violation families demonstrates well-calibrated risk scores (AUROC > 0.95), a 62% false positive reduction among recommended datasets, and 78% abstention on severe-violation cases. On 21 external evaluations from TimeGraph (18 categories) and CausalTime (3 domains), recommend-or-abstain decisions are consistent with benchmark specifications in all cases. An open-source implementation of our framework is available.

Low-latency Perception in Off-Road Dynamical Low Visibility Environments

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms applied to semantic segmentation of off-road environments and unpaved roads under differents adverse conditions of visibility. Almost 12,000 images of different unpaved and off-road environments were collected and labeled. It was assembled an off-road proving ground exclusively for its development. The proposed dataset also contains many adverse situations such as rain, dust, and low light. To develop the system, we have used convolutional neural networks trained to segment obstacles and areas where the car can pass through. We developed a Configurable Modular Segmentation Network (CMSNet) framework to help create different architectures arrangements and test them on the proposed dataset. Besides, we also have ported some CMSNet configurations by removing and fusing many layers using TensorRT, C++, and CUDA to achieve embedded real-time inference and allow field tests. The main contributions of this work are: a new dataset for unpaved roads and off-roads environments containing many adverse conditions such as night, rain, and dust; a CMSNet framework; an investigation regarding the feasibility of applying deep learning to detect region where the vehicle can pass through when there is no clear boundary of the track; a study of how our proposed segmentation algorithms behave in different severity levels of visibility impairment; and an evaluation of field tests carried out with semantic segmentation architectures ported for real-time inference.