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Anomaly detection is commonly pursued as a one-class classification problem, where models can only learn from normal training samples, while being evaluated on both normal and abnormal test samples. Among the successful approaches for anomaly detection, a distinguished category of methods relies on predicting masked information (e.g. patches, future frames, etc.) and leveraging the reconstruction error with respect to the masked information as an abnormality score. Different from related methods, we propose to integrate the reconstruction-based functionality into a novel self-supervised predictive architectural building block. The proposed self-supervised block is generic and can easily be incorporated into various state-of-the-art anomaly detection methods. Our block starts with a convolutional layer with dilated filters, where the center area of the receptive field is masked. The resulting activation maps are passed through a channel attention module. Our block is equipped with a loss that minimizes the reconstruction error with respect to the masked area in the receptive field. We demonstrate the generality of our block by integrating it into several state-of-the-art frameworks for anomaly detection on image and video, providing empirical evidence that shows considerable performance improvements on MVTec AD, Avenue, and ShanghaiTech.

We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation that accounts for the unfolding multiagent dynamics. Existing approaches to this problem tend to employ microscopic models of motion prediction that reason about the individual behavior of other agents. While such models may achieve high tracking accuracy in trajectory prediction benchmarks, they often lack an understanding of the group structures unfolding in crowded scenes. Inspired by the Gestalt theory from psychology, we build a Model Predictive Control framework (G-MPC) that leverages group-based prediction for robot motion planning. We conduct an extensive simulation study involving a series of challenging navigation tasks in scenes extracted from two real-world pedestrian datasets. We illustrate that G-MPC enables a robot to achieve statistically significantly higher safety and lower number of group intrusions than a series of baselines featuring individual pedestrian motion prediction models. Finally, we show that G-MPC can handle noisy lidar-scan estimates without significant performance losses.

Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods and tools to model and solve problems related to autonomous mobility-on-demand systems. Specifically, we first identify problem settings for their analysis and control, from both operational and planning perspectives. We then review modeling aspects, including transportation networks, transportation demand, congestion, operational constraints, and interactions with existing infrastructure. Thereafter, we provide a systematic analysis of existing solution methods and performance metrics, highlighting trends and trade-offs. Finally, we present various directions for further research.

Characterizing Enzyme function is an important requirement for predicting Enzyme-Substrate interactions. In this paper, we present a novel approach of applying Contrastive Multiview Coding to this problem to improve the performance of prediction. We present a method to leverage auxiliary data from an Enzymatic database like KEGG to learn the mutual information present in multiple views of enzyme-substrate reactions. We show that congruency in the multiple views of the reaction data can be used to improve prediction performance.

Judging the readability of text has many important applications, for instance when performing text simplification or when sourcing reading material for language learners. In this paper, we present a 518 participant study which investigates how scrolling behaviour relates to the readability of a text. We make our dataset publicly available and show that (1) there are statistically significant differences in the way readers interact with text depending on the text level, (2) such measures can be used to predict the readability of text, and (3) the background of a reader impacts their reading interactions and the factors contributing to text difficulty.

Movement specific vehicle classification and counting at traffic intersections is a crucial component for various traffic management activities. In this context, with recent advancements in computer-vision based techniques, cameras have emerged as a reliable data source for extracting vehicular trajectories from traffic scenes. However, classifying these trajectories by movement type is quite challenging as characteristics of motion trajectories obtained this way vary depending on camera calibrations. Although some existing methods have addressed such classification tasks with decent accuracies, the performance of these methods significantly relied on manual specification of several regions of interest. In this study, we proposed an automated classification method for movement specific classification (such as right-turn, left-turn and through movements) of vision-based vehicle trajectories. Our classification framework identifies different movement patterns observed in a traffic scene using an unsupervised hierarchical clustering technique Thereafter a similarity-based assignment strategy is adopted to assign incoming vehicle trajectories to identified movement groups. A new similarity measure was designed to overcome the inherent shortcomings of vision-based trajectories. Experimental results demonstrated the effectiveness of the proposed classification approach and its ability to adapt to different traffic scenarios without any manual intervention.

Cooperative vehicle platooning significantly improves highway safety and fuel efficiency. In this model, a set of vehicles move in line formation and coordinate functions such as acceleration, braking, and steering using a combination of physical sensing and vehicle-to-vehicle (V2V) messaging. The authenticity and integrity of the V2V messages are paramount to highway safety. For this reason, recent V2V and V2X standards support the integration of a PKI. However, a PKI cannot bind a vehicle's digital identity to the vehicle's physical state (location, heading, velocity, etc.). As a result, a vehicle with valid cryptographic credentials can impact the platoon by creating "ghost" vehicles and injecting false state information. In this paper, we seek to provide the missing link between the physical and the digital world in the context of verifying a vehicle's platoon membership. We focus on the property of following, where vehicles follow each other in a close and coordinated manner. We aim at developing a Proof-of-Following (PoF) protocol that enables a candidate vehicle to prove that it follows a verifier within the typical platooning distance. The main idea of the proposed PoF protocol is to draw security from the common, but constantly changing environment experienced by the closely traveling vehicles. We use the large-scale fading effect of ambient RF signals as a common source of randomness to construct a PoF primitive. The correlation of large-scale fading is an ideal candidate for the mobile outdoor environment because it exponentially decays with distance and time. We evaluate our PoF protocol on an experimental platoon of two vehicles in freeway, highway, and urban driving conditions. In such realistic conditions, we demonstrate that the PoF withstands both the pre-recording and following attacks with overwhelming probability.

To solve complex real-world problems with reinforcement learning, we cannot rely on manually specified reward functions. Instead, we can have humans communicate an objective to the agent directly. In this work, we combine two approaches to learning from human feedback: expert demonstrations and trajectory preferences. We train a deep neural network to model the reward function and use its predicted reward to train an DQN-based deep reinforcement learning agent on 9 Atari games. Our approach beats the imitation learning baseline in 7 games and achieves strictly superhuman performance on 2 games without using game rewards. Additionally, we investigate the goodness of fit of the reward model, present some reward hacking problems, and study the effects of noise in the human labels.

Current multi-person localisation and tracking systems have an over reliance on the use of appearance models for target re-identification and almost no approaches employ a complete deep learning solution for both objectives. We present a novel, complete deep learning framework for multi-person localisation and tracking. In this context we first introduce a light weight sequential Generative Adversarial Network architecture for person localisation, which overcomes issues related to occlusions and noisy detections, typically found in a multi person environment. In the proposed tracking framework we build upon recent advances in pedestrian trajectory prediction approaches and propose a novel data association scheme based on predicted trajectories. This removes the need for computationally expensive person re-identification systems based on appearance features and generates human like trajectories with minimal fragmentation. The proposed method is evaluated on multiple public benchmarks including both static and dynamic cameras and is capable of generating outstanding performance, especially among other recently proposed deep neural network based approaches.

We report an evaluation of the effectiveness of the existing knowledge base embedding models for relation prediction and for relation extraction on a wide range of benchmarks. We also describe a new benchmark, which is much larger and complex than previous ones, which we introduce to help validate the effectiveness of both tasks. The results demonstrate that knowledge base embedding models are generally effective for relation prediction but unable to give improvements for the state-of-art neural relation extraction model with the existing strategies, while pointing limitations of existing methods.