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Drones have the potential to revolutionize power line inspection by increasing productivity, reducing inspection time, improving data quality, and eliminating the risks for human operators. Current state-of-the-art systems for power line inspection have two shortcomings: (i) control is decoupled from perception and needs accurate information about the location of the power lines and masts; (ii) obstacle avoidance is decoupled from the power line tracking, which results in poor tracking in the vicinity of the power masts, and, consequently, in decreased data quality for visual inspection. In this work, we propose a model predictive controller (MPC) that overcomes these limitations by tightly coupling perception and action. Our controller generates commands that maximize the visibility of the power lines while, at the same time, safely avoiding the power masts. For power line detection, we propose a lightweight learning-based detector that is trained only on synthetic data and is able to transfer zero-shot to real-world power line images. We validate our system in simulation and real-world experiments on a mock-up power line infrastructure. We release our code and datasets to the public.

The abilities to understand the social interaction behaviors between a vehicle and its surroundings while predicting its trajectory in an urban environment are critical for road safety in autonomous driving. Social interactions are hard to explain because of their uncertainty. In recent years, neural network-based methods have been widely used for trajectory prediction and have been shown to outperform hand-crafted methods. However, these methods suffer from their lack of interpretability. In order to overcome this limitation, we combine the interpretability of a discrete choice model with the high accuracy of a neural network-based model for the task of vehicle trajectory prediction in an interactive environment. We implement and evaluate our model using the INTERACTION dataset and demonstrate the effectiveness of our proposed architecture to explain its predictions without compromising the accuracy.

Data-driven approaches have been proven effective in solving combinatorial optimization problems over graphs such as the traveling salesman problems and the vehicle routing problem. The rationale behind such methods is that the input instances may follow distributions with salient patterns that can be leveraged to overcome the worst-case computational hardness. For optimization problems over graphs, the common practice of neural combinatorial solvers consumes the inputs in the form of adjacency matrices. In this paper, we explore a vision-based method that is conceptually novel: can neural models solve graph optimization problems by \textit{taking a look at the graph pattern}? Our results suggest that the performance of such vision-based methods is not only non-trivial but also comparable to the state-of-the-art matrix-based methods, which opens a new avenue for developing data-driven optimization solvers.

Although AI systems have been applied in various fields and achieved impressive performance, their safety and reliability are still a big concern. This is especially important for safety-critical tasks. One shared characteristic of these critical tasks is their risk sensitivity, where small mistakes can cause big consequences and even endanger life. There are several factors that could be guidelines for the successful deployment of AI systems in sensitive tasks: (i) failure detection and out-of-distribution (OOD) detection; (ii) overfitting identification; (iii) uncertainty quantification for predictions; (iv) robustness to data perturbations. These factors are also challenges of current AI systems, which are major blocks for building safe and reliable AI. Specifically, the current AI algorithms are unable to identify common causes for failure detection. Furthermore, additional techniques are required to quantify the quality of predictions. All these contribute to inaccurate uncertainty quantification, which lowers trust in predictions. Hence obtaining accurate model uncertainty quantification and its further improvement are challenging. To address these issues, many techniques have been proposed, such as regularization methods and learning strategies. As vision and language are the most typical data type and have many open source benchmark datasets, this thesis will focus on vision-language data processing for tasks like classification, image captioning, and vision question answering. In this thesis, we aim to build a safeguard by further developing current techniques to ensure the accurate model uncertainty for safety-critical tasks.

The detection of disfluencies such as hesitations, repetitions and false starts commonly found in speech is a widely studied area of research. With a standardised process for evaluation using the Switchboard Corpus, model performance can be easily compared across approaches. This is not the case for disfluency detection research on learner speech, however, where such datasets have restricted access policies, making comparison and subsequent development of improved models more challenging. To address this issue, this paper describes the adaptation of the NICT-JLE corpus, containing approximately 300 hours of English learners' oral proficiency tests, to a format that is suitable for disfluency detection model training and evaluation. Points of difference between the NICT-JLE and Switchboard corpora are explored, followed by a detailed overview of adaptations to the tag set and meta-features of the NICT-JLE corpus. The result of this work provides a standardised train, heldout and test set for use in future research on disfluency detection for learner speech.

Accurate load forecasting plays a vital role in numerous sectors, but accurately capturing the complex dynamics of dynamic power systems remains a challenge for traditional statistical models. For these reasons, time-series models (ARIMA) and deep-learning models (ANN, LSTM, GRU, etc.) are commonly deployed and often experience higher success. In this paper, we analyze the efficacy of the recently developed Transformer-based Neural Network model in Load forecasting. Transformer models have the potential to improve Load forecasting because of their ability to learn long-range dependencies derived from their Attention Mechanism. We apply several metaheuristics namely Differential Evolution to find the optimal hyperparameters of the Transformer-based Neural Network to produce accurate forecasts. Differential Evolution provides scalable, robust, global solutions to non-differentiable, multi-objective, or constrained optimization problems. Our work compares the proposed Transformer based Neural Network model integrated with different metaheuristic algorithms by their performance in Load forecasting based on numerical metrics such as Mean Squared Error (MSE) and Mean Absolute Percentage Error (MAPE). Our findings demonstrate the potential of metaheuristic-enhanced Transformer-based Neural Network models in Load forecasting accuracy and provide optimal hyperparameters for each model.

Recommender systems that include some reliability measure of their predictions tend to be more conservative in forecasting, due to their constraint to preserve reliability. This leads to a significant drop in the coverage and novelty that these systems can provide. In this paper, we propose the inclusion of a new term in the learning process of matrix factorization-based recommender systems, called recklessness, which enables the control of the risk level desired when making decisions about the reliability of a prediction. Experimental results demonstrate that recklessness not only allows for risk regulation but also improves the quantity and quality of predictions provided by the recommender system.

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.

With the rapid development of facial forgery techniques, forgery detection has attracted more and more attention due to security concerns. Existing approaches attempt to use frequency information to mine subtle artifacts under high-quality forged faces. However, the exploitation of frequency information is coarse-grained, and more importantly, their vanilla learning process struggles to extract fine-grained forgery traces. To address this issue, we propose a progressive enhancement learning framework to exploit both the RGB and fine-grained frequency clues. Specifically, we perform a fine-grained decomposition of RGB images to completely decouple the real and fake traces in the frequency space. Subsequently, we propose a progressive enhancement learning framework based on a two-branch network, combined with self-enhancement and mutual-enhancement modules. The self-enhancement module captures the traces in different input spaces based on spatial noise enhancement and channel attention. The Mutual-enhancement module concurrently enhances RGB and frequency features by communicating in the shared spatial dimension. The progressive enhancement process facilitates the learning of discriminative features with fine-grained face forgery clues. Extensive experiments on several datasets show that our method outperforms the state-of-the-art face forgery detection methods.

Graph Convolutional Network (GCN) has been widely applied in transportation demand prediction due to its excellent ability to capture non-Euclidean spatial dependence among station-level or regional transportation demands. However, in most of the existing research, the graph convolution was implemented on a heuristically generated adjacency matrix, which could neither reflect the real spatial relationships of stations accurately, nor capture the multi-level spatial dependence of demands adaptively. To cope with the above problems, this paper provides a novel graph convolutional network for transportation demand prediction. Firstly, a novel graph convolution architecture is proposed, which has different adjacency matrices in different layers and all the adjacency matrices are self-learned during the training process. Secondly, a layer-wise coupling mechanism is provided, which associates the upper-level adjacency matrix with the lower-level one. It also reduces the scale of parameters in our model. Lastly, a unitary network is constructed to give the final prediction result by integrating the hidden spatial states with gated recurrent unit, which could capture the multi-level spatial dependence and temporal dynamics simultaneously. Experiments have been conducted on two real-world datasets, NYC Citi Bike and NYC Taxi, and the results demonstrate the superiority of our model over the state-of-the-art ones.