The pedestrian crossing intention prediction problem is to estimate whether or not the target pedestrian will cross the street. State-of-the-art techniques heavily depend on visual data acquired through the front camera of the ego-vehicle to make a prediction of the pedestrian's crossing intention. Hence, the efficiency of current methodologies tends to decrease notably in situations where visual input is imprecise, for instance, when the distance between the pedestrian and ego-vehicle is considerable or the illumination levels are inadequate. To address the limitation, in this paper, we present the design, implementation, and evaluation of the first-of-its-kind pedestrian crossing intention prediction model based on integration of motion sensor data gathered through the smartwatch (or smartphone) of the pedestrian. We propose an innovative machine learning framework that effectively integrates motion sensor data with visual input to enhance the predictive accuracy significantly, particularly in scenarios where visual data may be unreliable. Moreover, we perform an extensive data collection process and introduce the first pedestrian intention prediction dataset that features synchronized motion sensor data. The dataset comprises 255 video clips that encompass diverse distances and lighting conditions. We trained our model using the widely-used JAAD and our own datasets and compare the performance with a state-of-the-art model. The results demonstrate that our model outperforms the current state-of-the-art method, particularly in cases where the distance between the pedestrian and the observer is considerable (more than 70 meters) and the lighting conditions are inadequate.
相關內容
It is critical for vehicles to prevent any collisions with pedestrians. Current methods for pedestrian collision prevention focus on integrating visual pedestrian detectors with Automatic Emergency Braking (AEB) systems which can trigger warnings and apply brakes as a pedestrian enters a vehicle's path. Unfortunately, pedestrian-detection-based systems can be hindered in certain situations such as night-time or when pedestrians are occluded. Our system addresses such issues using an online, map-based pedestrian detection aggregation system where common pedestrian locations are learned after repeated passes of locations. Using a carefully collected and annotated dataset in La Jolla, CA, we demonstrate the system's ability to learn pedestrian zones and generate advisory notices when a vehicle is approaching a pedestrian despite challenges like dark lighting or pedestrian occlusion. Using the number of correct advisories, false advisories, and missed advisories to define precision and recall performance metrics, we evaluate our system and discuss future positive effects with further data collection. We have made our code available at //github.com/s7desai/ped-mapping, and a video demonstration of the CHAMP system at //youtu.be/dxeCrS_Gpkw.
Clustering is a powerful and extensively used data science tool. While clustering is generally thought of as an unsupervised learning technique, there are also supervised variations such as Spath's clusterwise regression that attempt to find clusters of data that yield low regression error on a supervised target. We believe that clusterwise regression is just a single vertex of a largely unexplored design space of supervised clustering models. In this article, we define a generalized optimization framework for predictive clustering that admits different cluster definitions (arbitrary point assignment, closest center, and bounding box) and both regression and classification objectives. We then present a joint optimization strategy that exploits mixed-integer linear programming (MILP) for global optimization in this generalized framework. To alleviate scalability concerns for large datasets, we also provide highly scalable greedy algorithms inspired by the Majorization-Minimization (MM) framework. Finally, we demonstrate the ability of our models to uncover different interpretable discrete cluster structures in data by experimenting with four real-world datasets.
We give a simple characterization of which functions can be computed deterministically by anonymous processes in dynamic networks, depending on the number of leaders in the network. In addition, we provide efficient distributed algorithms for computing all such functions assuming minimal or no knowledge about the network. Each of our algorithms comes in two versions: one that terminates with the correct output and a faster one that stabilizes on the correct output without explicit termination. Notably, these are the first deterministic algorithms whose running times scale linearly with both the number of processes and a parameter of the network which we call "dynamic disconnectivity" (meaning that our dynamic networks do not necessarily have to be connected at all times). We also provide matching lower bounds, showing that all our algorithms are asymptotically optimal for any fixed number of leaders. While most of the existing literature on anonymous dynamic networks relies on classical mass-distribution techniques, our work makes use of a recently introduced combinatorial structure called "history tree", also developing its theory in new directions. Among other contributions, our results make definitive progress on two popular fundamental problems for anonymous dynamic networks: leaderless Average Consensus (i.e., computing the mean value of input numbers distributed among the processes) and multi-leader Counting (i.e., determining the exact number of processes in the network). In fact, our approach unifies and improves upon several independent lines of research on anonymous networks, including Nedic et al., IEEE Trans. Automat. Contr. 2009; Olshevsky, SIAM J. Control Optim. 2017; Kowalski-Mosteiro, ICALP 2019, SPAA 2021; Di Luna-Viglietta, FOCS 2022.
Recently, a series of pioneer studies have shown the potency of pre-trained models in sequential recommendation, illuminating the path of building an omniscient unified pre-trained recommendation model for different downstream recommendation tasks. Despite these advancements, the vulnerabilities of classical recommender systems also exist in pre-trained recommendation in a new form, while the security of pre-trained recommendation model is still unexplored, which may threaten its widely practical applications. In this study, we propose a novel framework for backdoor attacking in pre-trained recommendation. We demonstrate the provider of the pre-trained model can easily insert a backdoor in pre-training, thereby increasing the exposure rates of target items to target user groups. Specifically, we design two novel and effective backdoor attacks: basic replacement and prompt-enhanced, under various recommendation pre-training usage scenarios. Experimental results on real-world datasets show that our proposed attack strategies significantly improve the exposure rates of target items to target users by hundreds of times in comparison to the clean model.
Perceiving and interacting with 3D articulated objects, such as cabinets, doors, and faucets, pose particular challenges for future home-assistant robots performing daily tasks in human environments. Besides parsing the articulated parts and joint parameters, researchers recently advocate learning manipulation affordance over the input shape geometry which is more task-aware and geometrically fine-grained. However, taking only passive observations as inputs, these methods ignore many hidden but important kinematic constraints (e.g., joint location and limits) and dynamic factors (e.g., joint friction and restitution), therefore losing significant accuracy for test cases with such uncertainties. In this paper, we propose a novel framework, named AdaAfford, that learns to perform very few test-time interactions for quickly adapting the affordance priors to more accurate instance-specific posteriors. We conduct large-scale experiments using the PartNet-Mobility dataset and prove that our system performs better than baselines.
This work is dedicated to the study of how uncertainty estimation of the human motion prediction can be embedded into constrained optimization techniques, such as Model Predictive Control (MPC) for the social robot navigation. We propose several cost objectives and constraint functions obtained from the uncertainty of predicting pedestrian positions and related to the probability of the collision that can be applied to the MPC, and all the different variants are compared in challenging scenes with multiple agents. The main question this paper tries to answer is: what are the most important uncertainty-based criteria for social MPC? For that, we evaluate the proposed approaches with several social navigation metrics in an extensive set of scenarios of different complexity in reproducible synthetic environments. The main outcome of our study is a foundation for a practical guide on when and how to use uncertainty-aware approaches for social robot navigation in practice and what are the most effective criteria.
The Blahut-Arimoto (BA) algorithm has played a fundamental role in the numerical computation of rate-distortion (RD) functions. This algorithm possesses a desirable monotonic convergence property by alternatively minimizing its Lagrangian with a fixed multiplier. In this paper, we propose a novel modification of the BA algorithm, letting the multiplier be updated in each iteration via a one-dimensional root-finding step with respect to a monotonic univariate function, which can be efficiently implemented by Newton's method. This allows the multiplier to be updated in a flexible and efficient manner, overcoming a major drawback of the original BA algorithm wherein the multiplier is fixed throughout iterations. Consequently, the modified algorithm is capable of directly computing the RD function for a given target distortion, without exploring the entire RD curve as in the original BA algorithm. A theoretical analysis shows that the modified algorithm still converges to the RD function and the convergence rate is $\Theta(1/n)$, where $n$ denotes the number of iterations. Numerical experiments demonstrate that the modified algorithm directly computes the RD function with a given target distortion, and it significantly accelerates the original BA algorithm.
Logic is the main formal language to perform automated reasoning, and it is further a human-interpretable language, at least for small formulae. Learning and optimising logic requirements and rules has always been an important problem in Artificial Intelligence. State of the art Machine Learning (ML) approaches are mostly based on gradient descent optimisation in continuous spaces, while learning logic is framed in the discrete syntactic space of formulae. Using continuous optimisation to learn logic properties is a challenging problem, requiring to embed formulae in a continuous space in a meaningful way, i.e. preserving the semantics. Current methods are able to construct effective semantic-preserving embeddings via kernel methods (for linear temporal logic), but the map they define is not invertible. In this work we address this problem, learning how to invert such an embedding leveraging deep architectures based on the Graph Variational Autoencoder framework. We propose a novel model specifically designed for this setting, justifying our design choices through an extensive experimental evaluation. Reported results in the context of propositional logic are promising, and several challenges regarding learning invertible embeddings of formulae are highlighted and addressed.
Recommender systems (RSs) have been the most important technology for increasing the business in Taobao, the largest online consumer-to-consumer (C2C) platform in China. The billion-scale data in Taobao creates three major challenges to Taobao's RS: scalability, sparsity and cold start. In this paper, we present our technical solutions to address these three challenges. The methods are based on the graph embedding framework. We first construct an item graph from users' behavior history. Each item is then represented as a vector using graph embedding. The item embeddings are employed to compute pairwise similarities between all items, which are then used in the recommendation process. To alleviate the sparsity and cold start problems, side information is incorporated into the embedding framework. We propose two aggregation methods to integrate the embeddings of items and the corresponding side information. Experimental results from offline experiments show that methods incorporating side information are superior to those that do not. Further, we describe the platform upon which the embedding methods are deployed and the workflow to process the billion-scale data in Taobao. Using online A/B test, we show that the online Click-Through-Rate (CTRs) are improved comparing to the previous recommendation methods widely used in Taobao, further demonstrating the effectiveness and feasibility of our proposed methods in Taobao's live production environment.
Multi-view networks are ubiquitous in real-world applications. In order to extract knowledge or business value, it is of interest to transform such networks into representations that are easily machine-actionable. Meanwhile, network embedding has emerged as an effective approach to generate distributed network representations. Therefore, we are motivated to study the problem of multi-view network embedding, with a focus on the characteristics that are specific and important in embedding this type of networks. In our practice of embedding real-world multi-view networks, we identify two such characteristics, which we refer to as preservation and collaboration. We then explore the feasibility of achieving better embedding quality by simultaneously modeling preservation and collaboration, and propose the mvn2vec algorithms. With experiments on a series of synthetic datasets, an internal Snapchat dataset, and two public datasets, we further confirm the presence and importance of preservation and collaboration. These experiments also demonstrate that better embedding can be obtained by simultaneously modeling the two characteristics, while not over-complicating the model or requiring additional supervision.
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