{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/neural-circuit-policies-enabling-auditable","title":"Neural circuit policies enabling auditable autonomy","arxiv_id":null,"date":"2020-10-13","proceeding":null,"authors":["Mathias Lechner","Ramin Hasani","Alexander Amini","Thomas A. Henzinger","Daniela Rus & Radu Grosu"],"abstract":"A central goal of artificial intelligence in high-stakes decision-making applications is to design a single algorithm that simultaneously expresses generalizability by learning coherent representations of their world and interpretable explanations of its dynamics. Here, we combine brain-inspired neural computation principles and scalable deep learning architectures to design compact neural controllers for task-specific compartments of a full-stack autonomous vehicle control system. We discover that a single algorithm with 19 control neurons, connecting 32 encapsulated input features to outputs by 253 synapses, learns to map high-dimensional inputs into steering commands. This system shows superior generalizability, interpretability and robustness compared with orders-of-magnitude larger black-box learning systems. The obtained neural agents enable high-fidelity autonomy for task-specific parts of a complex autonomous system.","url_abs":"https://www.nature.com/articles/s42256-020-00237-3","url_pdf":"https://www.nature.com/articles/s42256-020-00237-3","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"neural-circuit-policies-enabling-auditable","repo_url":"https://github.com/mlech26l/keras-ncp","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"tf","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"},{"task_slug":"decision-making","task_name":"Decision Making"}],"methods":[{"method_slug":"interpretability","method_name":"Interpretability"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}