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Trajectory prediction in traffic scenes involves accurately forecasting the behaviour of surrounding vehicles. To achieve this objective it is crucial to consider contextual information, including the driving path of vehicles, road topology, lane dividers, and traffic rules. Although studies demonstrated the potential of leveraging heterogeneous context for improving trajectory prediction, state-of-the-art deep learning approaches still rely on a limited subset of this information. This is mainly due to the limited availability of comprehensive representations. This paper presents an approach that utilizes knowledge graphs to model the diverse entities and their semantic connections within traffic scenes. Further, we present nuScenes Knowledge Graph (nSKG), a knowledge graph for the nuScenes dataset, that models explicitly all scene participants and road elements, as well as their semantic and spatial relationships. To facilitate the usage of the nSKG via graph neural networks for trajectory prediction, we provide the data in a format, ready-to-use by the PyG library. All artefacts can be found here: //github.com/boschresearch/nuScenes_Knowledge_Graph

This paper proposes a specialized autonomous driving system that takes into account the unique constraints and characteristics of automotive systems, aiming for innovative advancements in autonomous driving technology. The proposed system systematically analyzes the intricate data flow in autonomous driving and provides functionality to dynamically adjust various factors that influence deep learning models. Additionally, for algorithms that do not rely on deep learning models, the system analyzes the flow to determine resource allocation priorities. In essence, the system optimizes data flow and schedules efficiently to ensure real-time performance and safety. The proposed system was implemented in actual autonomous vehicles and experimentally validated across various driving scenarios. The experimental results provide evidence of the system's stable inference and effective control of autonomous vehicles, marking a significant turning point in the development of autonomous driving systems.

Can generative AI help us speed up the authoring of tools to help self-represented litigants? In this paper, we describe 3 approaches to automating the completion of court forms: a generative AI approach that uses GPT-3 to iteratively prompt the user to answer questions, a constrained template-driven approach that uses GPT-4-turbo to generate a draft of questions that are subject to human review, and a hybrid method. We use the open source Docassemble platform in all 3 experiments, together with a tool created at Suffolk University Law School called the Assembly Line Weaver. We conclude that the hybrid model of constrained automated drafting with human review is best suited to the task of authoring guided interviews.

Effective planning in the real world requires not only world knowledge, but the ability to leverage that knowledge to build the right representation of the task at hand. Decades of hierarchical planning techniques have used domain-specific temporal action abstractions to support efficient and accurate planning, almost always relying on human priors and domain knowledge to decompose hard tasks into smaller subproblems appropriate for a goal or set of goals. This paper describes Ada (Action Domain Acquisition), a framework for automatically constructing task-specific planning representations using task-general background knowledge from language models (LMs). Starting with a general-purpose hierarchical planner and a low-level goal-conditioned policy, Ada interactively learns a library of planner-compatible high-level action abstractions and low-level controllers adapted to a particular domain of planning tasks. On two language-guided interactive planning benchmarks (Mini Minecraft and ALFRED Household Tasks), Ada strongly outperforms other approaches that use LMs for sequential decision-making, offering more accurate plans and better generalization to complex tasks.

There are many unsolved problems in vascular image segmentation, including vascular structural connectivity, scarce branches and missing small vessels. Obtaining vessels that preserve their correct topological structures is currently a crucial research issue, as it provides an overall view of one vascular system. In order to preserve the topology and accuracy of vessel segmentation, we proposed a novel Morphology Edge Attention Network (MEA-Net) for the segmentation of vessel-like structures, and an Optimal Geometric Matching Connection (OGMC) model to connect the broken vessel segments. The MEA-Net has an edge attention module that improves the segmentation of edges and small objects by morphology operation extracting boundary voxels on multi-scale. The OGMC model uses the concept of curve touching from differential geometry to filter out fragmented vessel endpoints, and then employs minimal surfaces to determine the optimal connection order between blood vessels. Finally, we calculate the geodesic to repair missing vessels under a given Riemannian metric. Our method achieves superior or competitive results compared to state-of-the-art methods on four datasets of 3D vascular segmentation tasks, both effectively reducing vessel broken and increasing vessel branch richness, yielding blood vessels with a more precise topological structure.

In this paper, we propose a generic approach to perform global sensitivity analysis (GSA) for compartmental models based on continuous-time Markov chains (CTMC). This approach enables a complete GSA for epidemic models, in which not only the effects of uncertain parameters such as epidemic parameters (transmission rate, mean sojourn duration in compartments) are quantified, but also those of intrinsic randomness and interactions between the two. The main step in our approach is to build a deterministic representation of the underlying continuous-time Markov chain by controlling the latent variables modeling intrinsic randomness. Then, model output can be written as a deterministic function of both uncertain parameters and controlled latent variables, so that it becomes possible to compute standard variance-based sensitivity indices, e.g. the so-called Sobol' indices. However, different simulation algorithms lead to different representations. We exhibit in this work three different representations for CTMC stochastic compartmental models and discuss the results obtained by implementing and comparing GSAs based on each of these representations on a SARS-CoV-2 epidemic model.

Although measuring held-out accuracy has been the primary approach to evaluate generalization, it often overestimates the performance of NLP models, while alternative approaches for evaluating models either focus on individual tasks or on specific behaviors. Inspired by principles of behavioral testing in software engineering, we introduce CheckList, a task-agnostic methodology for testing NLP models. CheckList includes a matrix of general linguistic capabilities and test types that facilitate comprehensive test ideation, as well as a software tool to generate a large and diverse number of test cases quickly. We illustrate the utility of CheckList with tests for three tasks, identifying critical failures in both commercial and state-of-art models. In a user study, a team responsible for a commercial sentiment analysis model found new and actionable bugs in an extensively tested model. In another user study, NLP practitioners with CheckList created twice as many tests, and found almost three times as many bugs as users without it.

Nowadays, the Convolutional Neural Networks (CNNs) have achieved impressive performance on many computer vision related tasks, such as object detection, image recognition, image retrieval, etc. These achievements benefit from the CNNs outstanding capability to learn the input features with deep layers of neuron structures and iterative training process. However, these learned features are hard to identify and interpret from a human vision perspective, causing a lack of understanding of the CNNs internal working mechanism. To improve the CNN interpretability, the CNN visualization is well utilized as a qualitative analysis method, which translates the internal features into visually perceptible patterns. And many CNN visualization works have been proposed in the literature to interpret the CNN in perspectives of network structure, operation, and semantic concept. In this paper, we expect to provide a comprehensive survey of several representative CNN visualization methods, including Activation Maximization, Network Inversion, Deconvolutional Neural Networks (DeconvNet), and Network Dissection based visualization. These methods are presented in terms of motivations, algorithms, and experiment results. Based on these visualization methods, we also discuss their practical applications to demonstrate the significance of the CNN interpretability in areas of network design, optimization, security enhancement, etc.

Recent advances in 3D fully convolutional networks (FCN) have made it feasible to produce dense voxel-wise predictions of volumetric images. In this work, we show that a multi-class 3D FCN trained on manually labeled CT scans of several anatomical structures (ranging from the large organs to thin vessels) can achieve competitive segmentation results, while avoiding the need for handcrafting features or training class-specific models. To this end, we propose a two-stage, coarse-to-fine approach that will first use a 3D FCN to roughly define a candidate region, which will then be used as input to a second 3D FCN. This reduces the number of voxels the second FCN has to classify to ~10% and allows it to focus on more detailed segmentation of the organs and vessels. We utilize training and validation sets consisting of 331 clinical CT images and test our models on a completely unseen data collection acquired at a different hospital that includes 150 CT scans, targeting three anatomical organs (liver, spleen, and pancreas). In challenging organs such as the pancreas, our cascaded approach improves the mean Dice score from 68.5 to 82.2%, achieving the highest reported average score on this dataset. We compare with a 2D FCN method on a separate dataset of 240 CT scans with 18 classes and achieve a significantly higher performance in small organs and vessels. Furthermore, we explore fine-tuning our models to different datasets. Our experiments illustrate the promise and robustness of current 3D FCN based semantic segmentation of medical images, achieving state-of-the-art results. Our code and trained models are available for download: //github.com/holgerroth/3Dunet_abdomen_cascade.