Accurate prediction of vehicle trajectories is vital for advanced driver assistance systems and autonomous vehicles. Existing methods mainly rely on generic trajectory predictions derived from large datasets, overlooking the personalized driving patterns of individual drivers. To address this gap, we propose an approach for interaction-aware personalized vehicle trajectory prediction that incorporates temporal graph neural networks. Our method utilizes Graph Convolution Networks (GCN) and Long Short-Term Memory (LSTM) to model the spatio-temporal interactions between target vehicles and their surrounding traffic. To personalize the predictions, we establish a pipeline that leverages transfer learning: the model is initially pre-trained on a large-scale trajectory dataset and then fine-tuned for each driver using their specific driving data. We employ human-in-the-loop simulation to collect personalized naturalistic driving trajectories and corresponding surrounding vehicle trajectories. Experimental results demonstrate the superior performance of our personalized GCN-LSTM model, particularly for longer prediction horizons, compared to its generic counterpart. Moreover, the personalized model outperforms individual models created without pre-training, emphasizing the significance of pre-training on a large dataset to avoid overfitting. By incorporating personalization, our approach enhances trajectory prediction accuracy.
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ACM/IEEE第23屆模型驅動工程語言和系統國際會議，是模型驅動軟件和系統工程的首要會議系列，由ACM-SIGSOFT和IEEE-TCSE支持組織。自1998年以來，模型涵蓋了建模的各個方面，從語言和方法到工具和應用程序。模特的參加者來自不同的背景，包括研究人員、學者、工程師和工業專業人士。MODELS 2019是一個論壇，參與者可以圍繞建模和模型驅動的軟件和系統交流前沿研究成果和創新實踐經驗。今年的版本將為建模社區提供進一步推進建模基礎的機會，并在網絡物理系統、嵌入式系統、社會技術系統、云計算、大數據、機器學習、安全、開源等新興領域提出建模的創新應用以及可持續性。
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Trajectory planning is crucial for the safe driving of autonomous vehicles in highway traffic flow. Currently, some advanced trajectory planning methods utilize spatio-temporal voxels to construct feasible regions and then convert trajectory planning into optimization problem solving based on the feasible regions. However, these feasible region construction methods cannot adapt to the changes in dynamic environments, making them difficult to apply in complex traffic flow. In this paper, we propose a trajectory planning method based on adaptive spatio-temporal voxels which improves the construction of feasible regions and trajectory optimization while maintaining the quadratic programming form. The method can adjust feasible regions and trajectory planning according to real-time traffic flow and environmental changes, realizing vehicles to drive safely in complex traffic flow. The proposed method has been tested in both open-loop and closed-loop environments, and the test results show that our method outperforms the current planning methods.
This paper proposes a imitation learning model for autonomous driving on highway traffic by mimicking human drivers' driving behaviours. The study utilizes the HighD traffic dataset, which is complex, high-dimensional, and diverse in vehicle variations. Imitation learning is an alternative solution to autonomous highway driving that reduces the sample complexity of learning a challenging task compared to reinforcement learning. However, imitation learning has limitations such as vulnerability to compounding errors in unseen states, poor generalization, and inability to predict outlier driver profiles. To address these issues, the paper proposes mixture density network behaviour cloning model to manage complex and non-linear relationships between inputs and outputs and make more informed decisions about the vehicle's actions. Additional improvement is using collision penalty based on the GAIL model. The paper includes a simulated driving test to demonstrate the effectiveness of the proposed method based on real traffic scenarios and provides conclusions on its potential impact on autonomous driving.
Large Language Models (LLMs) have emerged as a groundbreaking technology with their unparalleled text generation capabilities across various applications. Nevertheless, concerns persist regarding the accuracy and appropriateness of their generated content. A contemporary methodology, self-correction, has been proposed as a remedy to these issues. Building upon this premise, this paper critically examines the role and efficacy of self-correction within LLMs, shedding light on its true potential and limitations. Central to our investigation is the notion of intrinsic self-correction, whereby an LLM attempts to correct its initial responses based solely on its inherent capabilities, without the crutch of external feedback. In the context of reasoning, our research indicates that LLMs struggle to self-correct their responses without external feedback, and at times, their performance might even degrade post self-correction. Drawing from these insights, we offer suggestions for future research and practical applications in this field.
For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include predictions where moving objects vanish or become blurred, particularly at longer time horizons. We propose an environment prediction framework that incorporates environment semantics for future occupancy prediction. Our method first semantically segments the environment and uses this information along with the occupancy information to predict the spatiotemporal evolution of the environment. We validate our approach on the real-world Waymo Open Dataset. Compared to baseline methods, our model has higher prediction accuracy and is capable of maintaining moving object appearances in the predictions for longer prediction time horizons.
In the era of data-driven Music Information Retrieval (MIR), the scarcity of labeled data has been one of the major concerns to the success of an MIR task. In this work, we leverage the semi-supervised teacher-student training approach to improve MIR tasks. For training, we scale up the unlabeled music data to 240k hours, which is much larger than any public MIR datasets. We iteratively create and refine the pseudo-labels in the noisy teacher-student training process. Knowledge expansion is also explored to iteratively scale up the model sizes from as small as less than 3M to almost 100M parameters. We study the performance correlation between data size and model size in the experiments. By scaling up both model size and training data, our models achieve state-of-the-art results on several MIR tasks compared to models that are either trained in a supervised manner or based on a self-supervised pretrained model. To our knowledge, this is the first attempt to study the effects of scaling up both model and training data for a variety of MIR tasks.
Speech emotion recognition (SER) has drawn increasing attention for its applications in human-machine interaction. However, existing SER methods ignore the information gap between the pre-training speech recognition task and the downstream SER task, leading to sub-optimal performance. Moreover, they require much time to fine-tune on each specific speech dataset, restricting their effectiveness in real-world scenes with large-scale noisy data. To address these issues, we propose an active learning (AL) based Fine-Tuning framework for SER that leverages task adaptation pre-training (TAPT) and AL methods to enhance performance and efficiency. Specifically, we first use TAPT to minimize the information gap between the pre-training and the downstream task. Then, AL methods are used to iteratively select a subset of the most informative and diverse samples for fine-tuning, reducing time consumption. Experiments demonstrate that using only 20\%pt. samples improves 8.45\%pt. accuracy and reduces 79\%pt. time consumption.
Signalized intersections in arterial roads result in persistent vehicle idling and excess accelerations, contributing to fuel consumption and CO2 emissions. There has thus been a line of work studying eco-driving control strategies to reduce fuel consumption and emission levels at intersections. However, methods to devise effective control strategies across a variety of traffic settings remain elusive. In this paper, we propose a reinforcement learning (RL) approach to learn effective eco-driving control strategies. We analyze the potential impact of a learned strategy on fuel consumption, CO2 emission, and travel time and compare with naturalistic driving and model-based baselines. We further demonstrate the generalizability of the learned policies under mixed traffic scenarios. Simulation results indicate that scenarios with 100% penetration of connected autonomous vehicles (CAV) may yield as high as 18% reduction in fuel consumption and 25% reduction in CO2 emission levels while even improving travel speed by 20%. Furthermore, results indicate that even 25% CAV penetration can bring at least 50% of the total fuel and emission reduction benefits.
The development of unmanned aerial vehicles (UAVs) has been gaining momentum in recent years owing to technological advances and a significant reduction in their cost. UAV technology can be used in a wide range of domains, including communication, agriculture, security, and transportation. It may be useful to group the UAVs into clusters/flocks in certain domains, and various challenges associated with UAV usage can be alleviated by clustering. Several computational challenges arise in UAV flock management, which can be solved by using machine learning (ML) methods. In this survey, we describe the basic terms relating to UAVS and modern ML methods, and we provide an overview of related tutorials and surveys. We subsequently consider the different challenges that appear in UAV flocks. For each issue, we survey several machine learning-based methods that have been suggested in the literature to handle the associated challenges. Thereafter, we describe various open issues in which ML can be applied to solve the different challenges of flocks, and we suggest means of using ML methods for this purpose. This comprehensive review may be useful for both researchers and developers in providing a wide view of various aspects of state-of-the-art ML technologies that are applicable to flock management.
Data transmission between two or more digital devices in industry and government demands secure and agile technology. Digital information distribution often requires deployment of Internet of Things (IoT) devices and Data Fusion techniques which have also gained popularity in both, civilian and military environments, such as, emergence of Smart Cities and Internet of Battlefield Things (IoBT). This usually requires capturing and consolidating data from multiple sources. Because datasets do not necessarily originate from identical sensors, fused data typically results in a complex Big Data problem. Due to potentially sensitive nature of IoT datasets, Blockchain technology is used to facilitate secure sharing of IoT datasets, which allows digital information to be distributed, but not copied. However, blockchain has several limitations related to complexity, scalability, and excessive energy consumption. We propose an approach to hide information (sensor signal) by transforming it to an image or an audio signal. In one of the latest attempts to the military modernization, we investigate sensor fusion approach by investigating the challenges of enabling an intelligent identification and detection operation and demonstrates the feasibility of the proposed Deep Learning and Anomaly Detection models that can support future application for specific hand gesture alert system from wearable devices.
The potential of graph convolutional neural networks for the task of zero-shot learning has been demonstrated recently. These models are highly sample efficient as related concepts in the graph structure share statistical strength allowing generalization to new classes when faced with a lack of data. However, knowledge from distant nodes can get diluted when propagating through intermediate nodes, because current approaches to zero-shot learning use graph propagation schemes that perform Laplacian smoothing at each layer. We show that extensive smoothing does not help the task of regressing classifier weights in zero-shot learning. In order to still incorporate information from distant nodes and utilize the graph structure, we propose an Attentive Dense Graph Propagation Module (ADGPM). ADGPM allows us to exploit the hierarchical graph structure of the knowledge graph through additional connections. These connections are added based on a node's relationship to its ancestors and descendants and an attention scheme is further used to weigh their contribution depending on the distance to the node. Finally, we illustrate that finetuning of the feature representation after training the ADGPM leads to considerable improvements. Our method achieves competitive results, outperforming previous zero-shot learning approaches.
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