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Perception of obstacles remains a critical safety concern for autonomous vehicles. Real-world collisions have shown that the autonomy faults leading to fatal collisions originate from obstacle existence detection. Open source autonomous driving implementations show a perception pipeline with complex interdependent Deep Neural Networks. These networks are not fully verifiable, making them unsuitable for safety-critical tasks. In this work, we present a safety verification of an existing LiDAR based classical obstacle detection algorithm. We establish strict bounds on the capabilities of this obstacle detection algorithm. Given safety standards, such bounds allow for determining LiDAR sensor properties that would reliably satisfy the standards. Such analysis has as yet been unattainable for neural network based perception systems. We provide a rigorous analysis of the obstacle detection s
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Aspis: Lightweight Neural Network Protection Against Soft Errors
Convolutional neural networks (CNN) are incorporated into many image-based tasks across a variety of domains. Some of these are safety critical tasks such as object classification/detection and lane detection for self-driving cars. These applications have strict safety requirements and must guarantee the reliable operation of the neural networks in the presence of soft errors (i.e., transient faults) in DRAM. Standard safety mechanisms (e.g., triplication of data/computation) provide high resilience, but introduce intolerable overhead. We perform detailed characterization and propose an efficient methodology for pinpointing critical weights by using an efficient proxy, the Taylor criterion. Using this characterization, we design Aspis, an efficient software protection scheme that does selective weight hardening and offers a performance/reliability tradeoff. Aspis provides higher resilience comparing to state-of-the-art methods and is integrated into PyTorch as a fully-automated library.
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- PAR ID:
- 10592119
- Publisher / Repository:
- IEEE
- Date Published:
- ISBN:
- 979-8-3503-5388-4
- Page Range / eLocation ID:
- 248 to 259
- Format(s):
- Medium: X
- Location:
- Tsukuba, Japan
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/ISSRE62328.2024.00036
