In autonomous driving, predicting future events in advance and evaluating the foreseeable risks empowers autonomous vehicles to better plan their actions, enhancing safety and efficiency on the road. To this end, we propose Drive-WM, the first driving world model compatible with existing end-to-end planning models. Through a joint spatial-temporal modeling facilitated by view factorization, our model generates high-fidelity multiview videos in driving scenes. Building on its powerful generation ability, we showcase the potential of applying the world model for safe driving planning for the first time. Particularly, our Drive-WM enables driving into multiple futures based on distinct driving maneuvers, and determines the optimal trajectory according to the image-based rewards. Evaluation on real-world driving datasets verifies that our method could generate high-quality, consistent, and controllable multiview videos, opening up possibilities for real-world simulations and safe planning.
相關內容
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。
官網鏈接： ·
Learning
·
Analysis
·
Performer
·
MoDELS
·
Medical imaging analysis has witnessed remarkable advancements even surpassing human-level performance in recent years, driven by the rapid development of advanced deep-learning algorithms. However, when the inference dataset slightly differs from what the model has seen during one-time training, the model performance is greatly compromised. The situation requires restarting the training process using both the old and the new data which is computationally costly, does not align with the human learning process, and imposes storage constraints and privacy concerns. Alternatively, continual learning has emerged as a crucial approach for developing unified and sustainable deep models to deal with new classes, tasks, and the drifting nature of data in non-stationary environments for various application areas. Continual learning techniques enable models to adapt and accumulate knowledge over time, which is essential for maintaining performance on evolving datasets and novel tasks. This systematic review paper provides a comprehensive overview of the state-of-the-art in continual learning techniques applied to medical imaging analysis. We present an extensive survey of existing research, covering topics including catastrophic forgetting, data drifts, stability, and plasticity requirements. Further, an in-depth discussion of key components of a continual learning framework such as continual learning scenarios, techniques, evaluation schemes, and metrics is provided. Continual learning techniques encompass various categories, including rehearsal, regularization, architectural, and hybrid strategies. We assess the popularity and applicability of continual learning categories in various medical sub-fields like radiology and histopathology...
This document offers a critical overview of the emerging trends and significant advancements in artificial intelligence (AI) within the pharmaceutical industry. Detailing its application across key operational areas, including research and development, animal testing, clinical trials, hospital clinical stages, production, regulatory affairs, quality control and other supporting areas, the paper categorically examines AI's role in each sector. Special emphasis is placed on cutting-edge AI technologies like machine learning algorithms and their contributions to various aspects of pharmaceutical operations. Through this comprehensive analysis, the paper highlights the transformative potential of AI in reshaping the pharmaceutical industry's future.
Evaluating Driver Readiness in Conditionally Automated Vehicles from Eye-Tracking Data and Head Pose
As automated driving technology advances, the role of the driver to resume control of the vehicle in conditionally automated vehicles becomes increasingly critical. In the SAE Level 3 or partly automated vehicles, the driver needs to be available and ready to intervene when necessary. This makes it essential to evaluate their readiness accurately. This article presents a comprehensive analysis of driver readiness assessment by combining head pose features and eye-tracking data. The study explores the effectiveness of predictive models in evaluating driver readiness, addressing the challenges of dataset limitations and limited ground truth labels. Machine learning techniques, including LSTM architectures, are utilised to model driver readiness based on the Spatio-temporal status of the driver's head pose and eye gaze. The experiments in this article revealed that a Bidirectional LSTM architecture, combining both feature sets, achieves a mean absolute error of 0.363 on the DMD dataset, demonstrating superior performance in assessing driver readiness. The modular architecture of the proposed model also allows the integration of additional driver-specific features, such as steering wheel activity, enhancing its adaptability and real-world applicability.
In the realm of automatic speech recognition (ASR), the quest for models that not only perform with high accuracy but also offer transparency in their decision-making processes is crucial. The potential of quality estimation (QE) metrics is introduced and evaluated as a novel tool to enhance explainable artificial intelligence (XAI) in ASR systems. Through experiments and analyses, the capabilities of the NoRefER (No Reference Error Rate) metric are explored in identifying word-level errors to aid post-editors in refining ASR hypotheses. The investigation also extends to the utility of NoRefER in the corpus-building process, demonstrating its effectiveness in augmenting datasets with insightful annotations. The diagnostic aspects of NoRefER are examined, revealing its ability to provide valuable insights into model behaviors and decision patterns. This has proven beneficial for prioritizing hypotheses in post-editing workflows and fine-tuning ASR models. The findings suggest that NoRefER is not merely a tool for error detection but also a comprehensive framework for enhancing ASR systems' transparency, efficiency, and effectiveness. To ensure the reproducibility of the results, all source codes of this study are made publicly available.
We developed and validated RetinaVR, an affordable and immersive virtual reality simulator for vitreoretinal surgery training, using the Meta Quest 2 VR headset. We focused on four core fundamental skills: core vitrectomy, peripheral shaving, membrane peeling, and endolaser application. The validation study involved 10 novice ophthalmology residents and 10 expert vitreoretinal surgeons. We demonstrated construct validity, as shown by the varying user performance in a way that correlates with experimental runs, age, sex, and expertise. RetinaVR shows promise as a portable and affordable simulator, with potential to democratize surgical simulation access, especially in developing countries.
Motion capture systems, used across various domains, make body representations concrete through technical processes. We argue that the measurement of bodies and the validation of measurements for motion capture systems can be understood as social practices. By analyzing the findings of a systematic literature review (N=278) through the lens of social practice theory, we show how these practices, and their varying attention to errors, become ingrained in motion capture design and innovation over time. Moreover, we show how contemporary motion capture systems perpetuate assumptions about human bodies and their movements. We suggest that social practices of measurement and validation are ubiquitous in the development of data- and sensor-driven systems more broadly, and provide this work as a basis for investigating hidden design assumptions and their potential negative consequences in human-computer interaction.
Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system's optimal decision making strategy for mission completion. To model such environments, our work combines the previous notion of Time-Varying Markov Decision Processes (TVMDP) with partial observability and introduces Time-Varying Partially Observable Markov Decision Processes (TV-POMDP). We propose a two-pronged approach to accurately estimate and plan within the TV-POMDP: 1) Memory Prioritized State Estimation (MPSE), which leverages weighted memory to provide more accurate time-varying transition estimates; and 2) an MPSE-integrated planning strategy that optimizes long-term rewards while accounting for temporal constraint. We validate the proposed framework and algorithms using simulations and hardware, with robots exploring a partially observable, time-varying environments. Our results demonstrate superior performance over standard methods, highlighting the framework's effectiveness in stochastic, uncertain, time-varying domains.
The accuracy and fairness of perception systems in autonomous driving are crucial, particularly for vulnerable road users. Mainstream research has looked into improving the performance metrics for classification accuracy. However, the hidden traits of bias inheritance in the AI models, class imbalances and disparities in the datasets are often overlooked. In this context, our study examines the class imbalances for vulnerable road users by focusing on class distribution analysis, performance evaluation, and bias impact assessment. We identify the concern of imbalances in class representation, leading to potential biases in detection accuracy. Utilizing popular CNN models and Vision Transformers (ViTs) with the nuScenes dataset, our performance evaluation reveals detection disparities for underrepresented classes. We propose a methodology for model optimization and bias mitigation, which includes data augmentation, resampling, and metric-specific learning. Using the proposed mitigation approaches, we see improvement in IoU(%) and NDS(%) metrics from 71.3 to 75.6 and 80.6 to 83.7 respectively, for the CNN model. Similarly, for ViT, we observe improvement in IoU and NDS metrics from 74.9 to 79.2 and 83.8 to 87.1 respectively. This research contributes to developing more reliable models and datasets, enhancing inclusiveness for minority classes.
Designing traffic-smoothing cruise controllers that can be deployed onto autonomous vehicles is a key step towards improving traffic flow, reducing congestion, and enhancing fuel efficiency in mixed autonomy traffic. We bypass the common issue of having to carefully fine-tune a large traffic microsimulator by leveraging real-world trajectory data from the I-24 highway in Tennessee, replayed in a one-lane simulation. Using standard deep reinforcement learning methods, we train energy-reducing wave-smoothing policies. As an input to the agent, we observe the speed and distance of only the vehicle in front, which are local states readily available on most recent vehicles, as well as non-local observations about the downstream state of the traffic. We show that at a low 4% autonomous vehicle penetration rate, we achieve significant fuel savings of over 15% on trajectories exhibiting many stop-and-go waves. Finally, we analyze the smoothing effect of the controllers and demonstrate robustness to adding lane-changing into the simulation as well as the removal of downstream information.
Since DARPA Grand Challenges (rural) in 2004/05 and Urban Challenges in 2007, autonomous driving has been the most active field of AI applications. Almost at the same time, deep learning has made breakthrough by several pioneers, three of them (also called fathers of deep learning), Hinton, Bengio and LeCun, won ACM Turin Award in 2019. This is a survey of autonomous driving technologies with deep learning methods. We investigate the major fields of self-driving systems, such as perception, mapping and localization, prediction, planning and control, simulation, V2X and safety etc. Due to the limited space, we focus the analysis on several key areas, i.e. 2D and 3D object detection in perception, depth estimation from cameras, multiple sensor fusion on the data, feature and task level respectively, behavior modelling and prediction of vehicle driving and pedestrian trajectories.
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191