A Closed-Loop Evaluation of Capability Loss and Recovery in Compressed Driving Policies
Ahmad Alfan Alfian IrfanNur Ahmad KhatimMansur Arief
Sep 2026
Artificial IntelligenceComputer Vision
Abstract
Many automobile and mobility companies deploy learned driving policies on embedded computers with limited memory and power. Pruning, knowledge distillation, and quantization are the standard methods to reduce the size and the inference cost of these policies. However, these methods are commonly assessed by aggregate numerical scores, and such scores may not reflect the ability of the policy to drive safely when interacting with other road users. In this study, we propose a stage-wise closed-loop evaluation approach to follow a driving policy through a compression pipeline. We formulate the driving task as a partially observable Markov decision process (POMDP) and train a belief-state policy with proximal policy optimization (PPO) in Gym-Duckietown. We then extract the actor, compress it one stage at a time, and evaluate it on five driving curricula. We show that structured pruning is the stage at which the driving capability is first lost. Meanwhile, distillation improves the pruned actor, but the improvement is limited by its rehearsal data. Integer quantization of the improved actor loses some of the curricula that require the vehicle to stop and then resume. Interestingly, the same procedure on the unpruned actor preserves all five curricula. Our study thus provides an empirical analysis aiming to answer the currently active discussions on how to accept a compressed driving policy, so as to achieve a safe and statistically reliable deployment of automated driving functions.
Agile - denoting "the quality of being agile, readiness for motion, nimbleness, activity, dexterity in motion" - software development methods are attempting to offer an answer to the eager business community asking for lighter weight along with faster and nimbler software development processes. This is especially the case with the rapidly growing and volatile Internet software industry as well as for the emerging mobile application environment. The new agile methods have evoked substantial amount of literature and debates. However, academic research on the subject is still scarce, as most of existing publications are written by practitioners or consultants. The aim of this publication is to begin filling this gap by systematically reviewing the existing literature on agile software development methodologies. This publication has three purposes. First, it proposes a definition and a classification of agile software development approaches. Second, it analyses ten software development methods that can be characterized as being "agile" against the defined criterion. Third, it compares these methods and highlights their similarities and differences. Based on this analysis, future research needs are identified and discussed.
P. Abrahamsson, O. Salo, Jussi Ronkainen et al.· arXiv.org· 728 citations· ⚡54
Context: Software startups are newly created companies with no operating history and fast in producing cutting-edge technologies. These companies develop software under highly uncertain conditions, tackling fast-growing markets under severe lack of resources. Therefore, software startups present a unique combination of characteristics which pose several challenges to software development activities. Objective: This study aims to structure and analyze the literature on software development in startup companies, determining thereby the potential for technology transfer and identifying software development work practices reported by practitioners and researchers. Method: We conducted a systematic mapping study, developing a classification schema, ranking the selected primary studies according their rigor and relevance, and analyzing reported software development work practices in startups. Results: A total of 43 primary studies were identified and mapped, synthesizing the available evidence on software development in startups. Only 16 studies are entirely dedicated to software development in startups, of which 10 result in a weak contribution (advice and implications (6); lesson learned (3); tool (1)). Nineteen studies focus on managerial and organizational factors. Moreover, only 9 studies exhibit high scientific rigor and relevance. From the reviewed primary studies, 213 software engineering work practices were extracted, categorized and analyzed. Conclusion: This mapping study provides the first systematic exploration of the state-of-art on software startup research. The existing body of knowledge is limited to a few high quality studies. Furthermore, the results indicate that software engineering work practices are chosen opportunistically, adapted and configured to provide value under the constrains imposed by the startup context.
Nicolò Paternoster, Carmine Giardino, M. Unterkalmsteiner et al.· Information and Software Tec...· 394 citations· ⚡54
Known for his clear and elegant writing style, Bertsekas shaped fields from control and optimization to large-scale computation and artificial intelligence.
