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Sense of hearing is crucial for autonomous vehicles (AVs) to better perceive its surrounding environment. Although visual sensors of an AV, such as camera, lidar, and radar, help to see its surrounding environment, an AV cannot see beyond those sensors line of sight. On the other hand, an AV s sense of hearing cannot be obstructed by line of sight. For example, an AV can identify an emergency vehicle s siren through audio classification even though the emergency vehicle is not within the line of sight of the AV. Thus, auditory perception is complementary to the camera, lidar, and radar-based perception systems. This paper presents a deep learning-based robust audio classification framework aiming to achieve improved environmental perception for AVs. The presented framework leverages a deep Convolution Neural Network (CNN) to classify different audio classes. UrbanSound8k, an urban environment dataset, is used to train and test the developed framework. Seven audio classes i.e., air conditioner, car horn, children playing, dog bark, engine idling, gunshot, and siren, are identified from the UrbanSound8k dataset because of their relevancy related to AVs. Our framework can classify different audio classes with 97.82% accuracy. Moreover, the audio classification accuracies with all ten classes are presented, which proves that our framework performed better in the case of AV-related sounds compared to the existing audio classification frameworks.

Law enforcement and city safety are significantly impacted by detecting violent incidents in surveillance systems. Although modern (smart) cameras are widely available and affordable, such technological solutions are impotent in most instances. Furthermore, personnel monitoring CCTV recordings frequently show a belated reaction, resulting in the potential cause of catastrophe to people and property. Thus automated detection of violence for swift actions is very crucial. The proposed solution uses a novel end-to-end deep learning-based video vision transformer (ViViT) that can proficiently discern fights, hostile movements, and violent events in video sequences. The study presents utilizing a data augmentation strategy to overcome the downside of weaker inductive biasness while training vision transformers on a smaller training datasets. The evaluated results can be subsequently sent to local concerned authority, and the captured video can be analyzed. In comparison to state-of-theart (SOTA) approaches the proposed method achieved auspicious performance on some of the challenging benchmark datasets.

Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains a challenging problem. In this paper, we propose an approach for keypoint-based visual imitation (K-VIL) that automatically extracts sparse, object-centric, and embodiment-independent task representations from a small number of human demonstration videos. The task representation is composed of keypoint-based geometric constraints on principal manifolds, their associated local frames, and the movement primitives that are then needed for the task execution. Our approach is capable of extracting such task representations from a single demonstration video, and of incrementally updating them when new demonstrations become available. To reproduce manipulation skills using the learned set of prioritized geometric constraints in novel scenes, we introduce a novel keypoint-based admittance controller. We evaluate our approach in several real-world applications, showcasing its ability to deal with cluttered scenes, new instances of categorical objects, and large object pose and shape variations, as well as its efficiency and robustness in both one-shot and few-shot imitation learning settings. Videos and source code are available at //sites.google.com/view/k-vil.

Creating a vision pipeline for different datasets to solve a computer vision task is a complex and time consuming process. Currently, these pipelines are developed with the help of domain experts. Moreover, there is no systematic structure to construct a vision pipeline apart from relying on experience, trial and error or using template-based approaches. As the search space for choosing suitable algorithms for achieving a particular vision task is large, human exploration for finding a good solution requires time and effort. To address the following issues, we propose a dynamic and data-driven way to identify an appropriate set of algorithms that would be fit for building the vision pipeline in order to achieve the goal task. We introduce a Transformer Architecture complemented with Deep Reinforcement Learning to recommend algorithms that can be incorporated at different stages of the vision workflow. This system is both robust and adaptive to dynamic changes in the environment. Experimental results further show that our method also generalizes well to recommend algorithms that have not been used while training and hence alleviates the need of retraining the system on a new set of algorithms introduced during test time.

Skeleton-based human action recognition is a longstanding challenge due to its complex dynamics. Some fine-grain details of the dynamics play a vital role in classification. The existing work largely focuses on designing incremental neural networks with more complicated adjacent matrices to capture the details of joints relationships. However, they still have difficulties distinguishing actions that have broadly similar motion patterns but belong to different categories. Interestingly, we found that the subtle differences in motion patterns can be significantly amplified and become easy for audience to distinct through specified view directions, where this property haven't been fully explored before. Drastically different from previous work, we boost the performance by proposing a conceptually simple yet effective Multi-view strategy that recognizes actions from a collection of dynamic view features. Specifically, we design a novel Skeleton-Anchor Proposal (SAP) module which contains a Multi-head structure to learn a set of views. For feature learning of different views, we introduce a novel Angle Representation to transform the actions under different views and feed the transformations into the baseline model. Our module can work seamlessly with the existing action classification model. Incorporated with baseline models, our SAP module exhibits clear performance gains on many challenging benchmarks. Moreover, comprehensive experiments show that our model consistently beats down the state-of-the-art and remains effective and robust especially when dealing with corrupted data. Related code will be available on //github.com/ideal-idea/SAP .

With the development of industry, drones are appearing in various field. In recent years, deep reinforcement learning has made impressive gains in games, and we are committed to applying deep reinforcement learning algorithms to the field of robotics, moving reinforcement learning algorithms from game scenarios to real-world application scenarios. We are inspired by the LunarLander of OpenAI Gym, we decided to make a bold attempt in the field of reinforcement learning to control drones. At present, there is still a lack of work applying reinforcement learning algorithms to robot control, the physical simulation platform related to robot control is only suitable for the verification of classical algorithms, and is not suitable for accessing reinforcement learning algorithms for the training. In this paper, we will face this problem, bridging the gap between physical simulation platforms and intelligent agent, connecting intelligent agents to a physical simulation platform, allowing agents to learn and complete drone flight tasks in a simulator that approximates the real world. We proposed a reinforcement learning framework based on Gazebo that is a kind of physical simulation platform (ROS-RL), and used three continuous action space reinforcement learning algorithms in the framework to dealing with the problem of autonomous landing of drones. Experiments show the effectiveness of the algorithm, the task of autonomous landing of drones based on reinforcement learning achieved full success.

Autonomous driving has achieved a significant milestone in research and development over the last decade. There is increasing interest in the field as the deployment of self-operating vehicles on roads promises safer and more ecologically friendly transportation systems. With the rise of computationally powerful artificial intelligence (AI) techniques, autonomous vehicles can sense their environment with high precision, make safe real-time decisions, and operate more reliably without human interventions. However, intelligent decision-making in autonomous cars is not generally understandable by humans in the current state of the art, and such deficiency hinders this technology from being socially acceptable. Hence, aside from making safe real-time decisions, the AI systems of autonomous vehicles also need to explain how these decisions are constructed in order to be regulatory compliant across many jurisdictions. Our study sheds a comprehensive light on developing explainable artificial intelligence (XAI) approaches for autonomous vehicles. In particular, we make the following contributions. First, we provide a thorough overview of the present gaps with respect to explanations in the state-of-the-art autonomous vehicle industry. We then show the taxonomy of explanations and explanation receivers in this field. Thirdly, we propose a framework for an architecture of end-to-end autonomous driving systems and justify the role of XAI in both debugging and regulating such systems. Finally, as future research directions, we provide a field guide on XAI approaches for autonomous driving that can improve operational safety and transparency towards achieving public approval by regulators, manufacturers, and all engaged stakeholders.

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of such perception system especially for the sake of path planning, motion prediction, collision avoidance, etc. Generally, stereo or monocular images with corresponding 3D point clouds are already standard layout for 3D object detection, out of which point clouds are increasingly prevalent with accurate depth information being provided. Despite existing efforts, 3D object detection on point clouds is still in its infancy due to high sparseness and irregularity of point clouds by nature, misalignment view between camera view and LiDAR bird's eye of view for modality synergies, occlusions and scale variations at long distances, etc. Recently, profound progress has been made in 3D object detection, with a large body of literature being investigated to address this vision task. As such, we present a comprehensive review of the latest progress in this field covering all the main topics including sensors, fundamentals, and the recent state-of-the-art detection methods with their pros and cons. Furthermore, we introduce metrics and provide quantitative comparisons on popular public datasets. The avenues for future work are going to be judiciously identified after an in-deep analysis of the surveyed works. Finally, we conclude this paper.

The considerable significance of Anomaly Detection (AD) problem has recently drawn the attention of many researchers. Consequently, the number of proposed methods in this research field has been increased steadily. AD strongly correlates with the important computer vision and image processing tasks such as image/video anomaly, irregularity and sudden event detection. More recently, Deep Neural Networks (DNNs) offer a high performance set of solutions, but at the expense of a heavy computational cost. However, there is a noticeable gap between the previously proposed methods and an applicable real-word approach. Regarding the raised concerns about AD as an ongoing challenging problem, notably in images and videos, the time has come to argue over the pitfalls and prospects of methods have attempted to deal with visual AD tasks. Hereupon, in this survey we intend to conduct an in-depth investigation into the images/videos deep learning based AD methods. We also discuss current challenges and future research directions thoroughly.

Modern neural network training relies heavily on data augmentation for improved generalization. After the initial success of label-preserving augmentations, there has been a recent surge of interest in label-perturbing approaches, which combine features and labels across training samples to smooth the learned decision surface. In this paper, we propose a new augmentation method that leverages the first and second moments extracted and re-injected by feature normalization. We replace the moments of the learned features of one training image by those of another, and also interpolate the target labels. As our approach is fast, operates entirely in feature space, and mixes different signals than prior methods, one can effectively combine it with existing augmentation methods. We demonstrate its efficacy across benchmark data sets in computer vision, speech, and natural language processing, where it consistently improves the generalization performance of highly competitive baseline networks.