Understanding the intention of vehicles in the surrounding traffic is crucial for an autonomous vehicle to successfully accomplish its driving tasks in complex traffic scenarios such as highway forced merging. In this paper, we consider a behavioral model that incorporates both social behaviors and personal objectives of the interacting drivers. Leveraging this model, we develop a receding-horizon control-based decision-making strategy, that estimates online the other drivers' intentions using Bayesian filtering and incorporates predictions of nearby vehicles' behaviors under uncertain intentions. The effectiveness of the proposed decision-making strategy is demonstrated and evaluated based on simulation studies in comparison with a game theoretic controller and a real-world traffic dataset.
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Internet-of-vehicle (IoV) is a general concept referring to, e.g., autonomous drive based vehicle-to-everything (V2X) communications or moving relays. Here, high rate and reliability demands call for advanced multi-antenna techniques and millimeter-wave (mmw) based communications. However, the sensitivity of the mmw signals to blockage may limit the system performance, especially in highways/rural areas with limited building reflectors/base station deployments and high-speed devices. To avoid the blockage, various techniques have been proposed among which reconfigurable intelligent surface (RIS) is a candidate. RIS, however, has been mainly of interest in stationary/low mobility scenarios, due to the associated channel state information acquisition and beam management overhead as well as imperfect reflection. In this article, we study the potentials and challenges of RIS-assisted dynamic blockage avoidance in IoV networks. Particularly, by designing region-based RIS pre-selection as well as blockage prediction schemes, we show that RIS-assisted communication has the potential to boost the performance of IoV networks. However, there are still issues to be solved before RIS can be practically deployed in IoV networks.
Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution and higher point cloud density, making it a highly promising sensor for autonomous driving in complex environmental perception. However, due to the much higher noise than LiDAR, manufacturers choose different filtering strategies, resulting in an inverse ratio between noise level and point cloud density. There is still a lack of comparative analysis on which method is beneficial for deep learning-based perception algorithms in autonomous driving. One of the main reasons is that current datasets only adopt one type of 4D radar, making it difficult to compare different 4D radars in the same scene. Therefore, in this paper, we introduce a novel large-scale multi-modal dataset featuring, for the first time, two types of 4D radars captured simultaneously. This dataset enables further research into effective 4D radar perception algorithms.Our dataset consists of 151 consecutive series, most of which last 20 seconds and contain 10,007 meticulously synchronized and annotated frames. Moreover, our dataset captures a variety of challenging driving scenarios, including many road conditions, weather conditions, nighttime and daytime with different lighting intensities and periods. Our dataset annotates consecutive frames, which can be applied to 3D object detection and tracking, and also supports the study of multi-modal tasks. We experimentally validate our dataset, providing valuable results for studying different types of 4D radars. This dataset is released on //github.com/adept-thu/Dual-Radar.
As a classical generative modeling approach, energy-based models have the natural advantage of flexibility in the form of the energy function. Recently, energy-based models have achieved great success in modeling high-dimensional data in computer vision and natural language processing. In line with these advancements, we build a multi-purpose energy-based probabilistic model for High Energy Physics events at the Large Hadron Collider. This framework builds on a powerful generative model and describes higher-order inter-particle interactions. It suits different encoding architectures and builds on implicit generation. As for applicational aspects, it can serve as a powerful parameterized event generator for physics simulation, a generic anomalous signal detector free from spurious correlations, and an augmented event classifier for particle identification.
The widespread adoption of commercial autonomous vehicles (AVs) and advanced driver assistance systems (ADAS) may largely depend on their acceptance by society, for which their perceived trustworthiness and interpretability to riders are crucial. In general, this task is challenging because modern autonomous systems software relies heavily on black-box artificial intelligence models. Towards this goal, this paper introduces a novel dataset, Rank2Tell, a multi-modal ego-centric dataset for Ranking the importance level and Telling the reason for the importance. Using various close and open-ended visual question answering, the dataset provides dense annotations of various semantic, spatial, temporal, and relational attributes of various important objects in complex traffic scenarios. The dense annotations and unique attributes of the dataset make it a valuable resource for researchers working on visual scene understanding and related fields. Furthermore, we introduce a joint model for joint importance level ranking and natural language captions generation to benchmark our dataset and demonstrate performance with quantitative evaluations.
We consider the problem of testing whether a single coefficient is equal to zero in fixed-design linear models under a moderately high-dimensional regime, where the dimension of covariates $p$ is allowed to be in the same order of magnitude as sample size $n$. In this regime, to achieve finite-population validity, existing methods usually require strong distributional assumptions on the noise vector (such as Gaussian or rotationally invariant), which limits their applications in practice. In this paper, we propose a new method, called residual permutation test (RPT), which is constructed by projecting the regression residuals onto the space orthogonal to the union of the column spaces of the original and permuted design matrices. RPT can be proved to achieve finite-population size validity under fixed design with just exchangeable noises, whenever $p < n / 2$. Moreover, RPT is shown to be asymptotically powerful for heavy tailed noises with bounded $(1+t)$-th order moment when the true coefficient is at least of order $n^{-t/(1+t)}$ for $t \in [0,1]$. We further proved that this signal size requirement is essentially rate-optimal in the minimax sense. Numerical studies confirm that RPT performs well in a wide range of simulation settings with normal and heavy-tailed noise distributions.
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a multi-fingered robotic hand can be precisely calibrated only by moving the tips of the fingers pairwise into contact. The only prerequisite for this is sensitive contact detection, e.g., by torque-sensing in the joints (as in our DLR-Hand II) or tactile skin. The measurement function for a given joint configuration is the distance between the modeled fingertip geometries, but the actual measurement is always zero. In an in-depth analysis, we prove that this contact-based calibration determines all quantities needed for manipulating objects with the hand, i.e., the difference vectors of the fingertips, and that it is as sensitive as a calibration using an external visual tracking system and markers. We describe the complete calibration scheme, including the selection of optimal sample joint configurations and search motions for the contacts despite the initial kinematic uncertainties. In a real-world calibration experiment for the torque-controlled four-fingered DLR-Hand II, the maximal error of 17.7mm can be reduced to only 3.7mm.
As the complexity of System-on-Chip (SoC) designs continues to increase, ensuring thorough verification becomes a significant challenge for system integrators. The complexity of verification can result in undetected bugs. Unlike software or firmware bugs, hardware bugs are hard to fix after deployment and they require additional logic, i.e., patching logic integrated with the design in advance in order to patch. However, the absence of a standardized metric for defining "patchability" leaves system integrators relying on their understanding of each IP and security requirements to engineer ad hoc patching designs. In this paper, we propose a theoretical patchability quantification method to analyze designs at the Register Transfer Level (RTL) with provided patching options. Our quantification defines patchability as a combination of observability and controllability so that we can analyze and compare the patchability of IP variations. This quantification is a systematic approach to estimate each patching architecture's ability to patch at run-time and complements existing patching works. In experiments, we compare several design options of the same patching architecture and discuss their differences in terms of theoretical patchability and how many potential weaknesses can be mitigated.
Functional quantile regression (FQR) is a useful alternative to mean regression for functional data as it provides a comprehensive understanding of how scalar predictors influence the conditional distribution of functional responses. In this article, we study the FQR model for densely sampled, high-dimensional functional data without relying on parametric error or independent stochastic process assumptions, with the focus on statistical inference under this challenging regime along with scalable implementation. This is achieved by a simple but powerful distributed strategy, in which we first perform separate quantile regression to compute $M$-estimators at each sampling location, and then carry out estimation and inference for the entire coefficient functions by properly exploiting the uncertainty quantification and dependence structure of $M$-estimators. We derive a uniform Bahadur representation and a strong Gaussian approximation result for the $M$-estimators on the discrete sampling grid, leading to dimension reduction and serving as the basis for inference. An interpolation-based estimator with minimax optimality is proposed, and large sample properties for point and simultaneous interval estimators are established. The obtained minimax optimal rate under the FQR model shows an interesting phase transition phenomenon that has been previously observed in functional mean regression. The proposed methods are illustrated via simulations and an application to a mass spectrometry proteomics dataset.
Multi-modal fusion is a fundamental task for the perception of an autonomous driving system, which has recently intrigued many researchers. However, achieving a rather good performance is not an easy task due to the noisy raw data, underutilized information, and the misalignment of multi-modal sensors. In this paper, we provide a literature review of the existing multi-modal-based methods for perception tasks in autonomous driving. Generally, we make a detailed analysis including over 50 papers leveraging perception sensors including LiDAR and camera trying to solve object detection and semantic segmentation tasks. Different from traditional fusion methodology for categorizing fusion models, we propose an innovative way that divides them into two major classes, four minor classes by a more reasonable taxonomy in the view of the fusion stage. Moreover, we dive deep into the current fusion methods, focusing on the remaining problems and open-up discussions on the potential research opportunities. In conclusion, what we expect to do in this paper is to present a new taxonomy of multi-modal fusion methods for the autonomous driving perception tasks and provoke thoughts of the fusion-based techniques in the future.
We address the task of automatically scoring the competency of candidates based on textual features, from the automatic speech recognition (ASR) transcriptions in the asynchronous video job interview (AVI). The key challenge is how to construct the dependency relation between questions and answers, and conduct the semantic level interaction for each question-answer (QA) pair. However, most of the recent studies in AVI focus on how to represent questions and answers better, but ignore the dependency information and interaction between them, which is critical for QA evaluation. In this work, we propose a Hierarchical Reasoning Graph Neural Network (HRGNN) for the automatic assessment of question-answer pairs. Specifically, we construct a sentence-level relational graph neural network to capture the dependency information of sentences in or between the question and the answer. Based on these graphs, we employ a semantic-level reasoning graph attention network to model the interaction states of the current QA session. Finally, we propose a gated recurrent unit encoder to represent the temporal question-answer pairs for the final prediction. Empirical results conducted on CHNAT (a real-world dataset) validate that our proposed model significantly outperforms text-matching based benchmark models. Ablation studies and experimental results with 10 random seeds also show the effectiveness and stability of our models.
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