Abstract: A method includes generating a data structure including states and actions to be executed at those states as determined by an AI policy of behavior, determining, with a first computing system that is offline, state factors associated with the states and responsibility scores for the state factors, each responsibility score indicating a causal impact for each of the actions associated with one of the states, generating, with the first computing system, a causal ML model based on the state factors and the responsibility scores, determining, with a second computing system that is online based on the causal ML model, state factors associated with a current state, and identifying one or more of the state factors as a causal reason for an action resulting from the current state. Other example methods and systems for providing explanation of an AI policy of behavior with causal reasoning are also disclosed.

Abstract: A vehicle and a system and method for operating the vehicle. The system includes a sensor and a processor. The sensor is configured to obtain raw data of a road actor in an environment. The processor is configured to determine a current behavior of the road actor from the raw data, wherein the current behavior is in response to an environmental state, determine the environmental state based on the current behavior of the road actor, plan a driving policy for the vehicle based on the environmental state, and actuate a movement of the vehicle according to the driving policy.