Transmissibility-based DAgger For Fault Classification in Connected Autonomous Vehicles
Bibliographic record
Abstract
Fault mitigation in Connected Autonomous Vehicle (CAV) platoons is faster and more reliable if the fault structure is known. In this paper we propose using transmissibility operators, which are relationships that relate a set of velocities with another in the platoon, to classify the faults. Transmissibility operators were shown to be exceptional in signals estimation; however, its also shown to be noncausal and thus can only be used offline. To this end, we propose using Data Aggregation (DAgger), which is an extension in imitation learning to transfer the classification experience from transmissibility operators to a novice machine learning agent to be used online. A heterogeneous CAV platoon was modeled with three different faults separately. These faults are actuator disturbances, false data injection attacks, and communication time delay. The proposed algorithm is then tested on the platoon model and then applied to an experimental setup that consists of three autonomous robots. The overall classification accuracy achieved was 95.8% for the experiment.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".