# Smaller is Better: Enhancing Transparency in Vehicle AI Systems via Pruning

arXiv: https://arxiv.org/abs/2509.20148 · HTML: https://mlsanity.com/paper/2509.20148/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 37 of its 47 references that are in the map.
- First posted on arXiv 24 Sep 2025.

## Builds on (most cited first, 30 of 37)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Grad-CAM: Visual Explanations from Deep Networks via Gradient-based Localization](https://mlsanity.com/paper/1610.02391/) (2016)
- [A Unified Approach to Interpreting Model Predictions](https://mlsanity.com/paper/1705.07874/) (2017)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- ["Why Should I Trust You?": Explaining the Predictions of Any Classifier](https://mlsanity.com/paper/1602.04938/) (2016)
- [Axiomatic Attribution for Deep Networks](https://mlsanity.com/paper/1703.01365/) (2017)
- [Deep Inside Convolutional Networks: Visualising Image Classification Models and Saliency Maps](https://mlsanity.com/paper/1312.6034/) (2013)
- [Deep Compression: Compressing Deep Neural Networks with Pruning, Trained Quantization and Huffman Coding](https://mlsanity.com/paper/1510.00149/) (2015)
- [The Lottery Ticket Hypothesis: Finding Sparse, Trainable Neural Networks](https://mlsanity.com/paper/1803.03635/) (2018)
- [Learning both Weights and Connections for Efficient Neural Networks](https://mlsanity.com/paper/1506.02626/) (2015)
- [Learning Important Features Through Propagating Activation Differences](https://mlsanity.com/paper/1704.02685/) (2017)
- [Sanity Checks for Saliency Maps](https://mlsanity.com/paper/1810.03292/) (2018)
- [SmoothGrad: removing noise by adding noise](https://mlsanity.com/paper/1706.03825/) (2017)
- [Striving for Simplicity: The All Convolutional Net](https://mlsanity.com/paper/1412.6806/) (2014)
- [RISE: Randomized Input Sampling for Explanation of Black-box Models](https://mlsanity.com/paper/1806.07421/) (2018)
- [What is the State of Neural Network Pruning?](https://mlsanity.com/paper/2003.03033/) (2020)
- [Picking Winning Tickets Before Training by Preserving Gradient Flow](https://mlsanity.com/paper/2002.07376/) (2020)
- [Fooling LIME and SHAP: Adversarial Attacks on Post hoc Explanation Methods](https://mlsanity.com/paper/1911.02508/) (2019)
- [The (Un)reliability of saliency methods](https://mlsanity.com/paper/1711.00867/) (2017)
- [Soft Filter Pruning for Accelerating Deep Convolutional Neural Networks](https://mlsanity.com/paper/1808.06866/) (2018)
- [A Survey on Deep Neural Network Pruning-Taxonomy, Comparison, Analysis, and Recommendations](https://mlsanity.com/paper/2308.06767/) (2023)
- [A Survey of Deep Learning Applications to Autonomous Vehicle Control](https://mlsanity.com/paper/1912.10773/) (2019)
- [A Consistent and Efficient Evaluation Strategy for Attribution Methods](https://mlsanity.com/paper/2202.00449/) (2022)
- [On the Connection Between Adversarial Robustness and Saliency Map Interpretability](https://mlsanity.com/paper/1905.04172/) (2019)
- [More is Less: A More Complicated Network with Less Inference Complexity](https://mlsanity.com/paper/1703.08651/) (2017)
- [ML-LOO: Detecting Adversarial Examples with Feature Attribution](https://mlsanity.com/paper/1906.03499/) (2019)
- [NoiseGrad: Enhancing Explanations by Introducing Stochasticity to Model Weights](https://mlsanity.com/paper/2106.10185/) (2021)
- [Improving Feature Attribution through Input-specific Network Pruning](https://mlsanity.com/paper/1911.11081/) (2019)

## Abstract (arXiv)

Connected and autonomous vehicles continue to heavily rely on AI systems, where transparency and security are critical for trust and operational safety. Post-hoc explanations provide transparency to these black-box like AI models but the quality and reliability of these explanations is often questioned due to inconsistencies and lack of faithfulness in representing model decisions. This paper systematically examines the impact of three widely used training approaches, namely natural training, adversarial training, and pruning, affect the quality of post-hoc explanations for traffic sign classifiers. Through extensive empirical evaluation, we demonstrate that pruning significantly enhances the comprehensibility and faithfulness of explanations (using saliency maps). Our findings reveal that pruning not only improves model efficiency but also enforces sparsity in learned representation, leading to more interpretable and reliable decisions. Additionally, these insights suggest that pruning is a promising strategy for developing transparent deep learning models, especially in resource-constrained vehicular AI systems.