Forecasting vehicular motions in autonomous driving requires a deep understanding of agent interactions and the preservation of motion equivariance under Euclidean geometric transformations. Traditional models often lack the sophistication needed to handle the intricate dynamics inherent to autonomous vehicles and the interaction relationships among agents in the scene. As a result, these models have a lower model capacity, which then leads to higher prediction errors and lower training efficiency. In our research, we employ EqMotion, a leading equivariant particle, and human prediction model that also accounts for invariant agent interactions, for the task of multi-agent vehicle motion forecasting. In addition, we use a multi-modal prediction mechanism to account for multiple possible future paths in a probabilistic manner. By leveraging EqMotion, our model achieves state-of-the-art (SOTA) performance with fewer parameters (1.2 million) and a significantly reduced training time (less than 2 hours).
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The predictive brain hypothesis suggests that perception can be interpreted as the process of minimizing the error between predicted perception tokens generated by an internal world model and actual sensory input tokens. When implementing working examples of this hypothesis in the context of in-air sonar, significant difficulties arise due to the sparse nature of the reflection model that governs ultrasonic sensing. Despite these challenges, creating consistent world models using sonar data is crucial for implementing predictive processing of ultrasound data in robotics. In an effort to enable robust robot behavior using ultrasound as the sole exteroceptive sensor modality, this paper introduces EchoPT, a pretrained transformer architecture designed to predict 2D sonar images from previous sensory data and robot ego-motion information. We detail the transformer architecture that drives EchoPT and compare the performance of our model to several state-of-the-art techniques. In addition to presenting and evaluating our EchoPT model, we demonstrate the effectiveness of this predictive perception approach in two robotic tasks.
Video prediction, predicting future frames from the previous ones, has broad applications such as autonomous driving and weather forecasting. Existing state-of-the-art methods typically focus on extracting either spatial, temporal, or spatiotemporal features from videos. Different feature focuses, resulting from different network architectures, may make the resultant models excel at some video prediction tasks but perform poorly on others. Towards a more generic video prediction solution, we explicitly model these features in a unified encoder-decoder framework and propose a novel simple alternating Mixer (SIAM). The novelty of SIAM lies in the design of dimension alternating mixing (DaMi) blocks, which can model spatial, temporal, and spatiotemporal features through alternating the dimensions of the feature maps. Extensive experimental results demonstrate the superior performance of the proposed SIAM on four benchmark video datasets covering both synthetic and real-world scenarios.
This study investigates the use of trajectory and dynamic state information for efficient data curation in autonomous driving machine learning tasks. We propose methods for clustering trajectory-states and sampling strategies in an active learning framework, aiming to reduce annotation and data costs while maintaining model performance. Our approach leverages trajectory information to guide data selection, promoting diversity in the training data. We demonstrate the effectiveness of our methods on the trajectory prediction task using the nuScenes dataset, showing consistent performance gains over random sampling across different data pool sizes, and even reaching sub-baseline displacement errors at just 50% of the data cost. Our results suggest that sampling typical data initially helps overcome the ''cold start problem,'' while introducing novelty becomes more beneficial as the training pool size increases. By integrating trajectory-state-informed active learning, we demonstrate that more efficient and robust autonomous driving systems are possible and practical using low-cost data curation strategies.
The infrequency and heterogeneity of clinical presentations in rare diseases often lead to underdiagnosis and their exclusion from structured datasets. This necessitates the utilization of unstructured text data for comprehensive analysis. However, the manual identification from clinical reports is an arduous and intrinsically subjective task. This study proposes a novel hybrid approach that synergistically combines a traditional dictionary-based natural language processing (NLP) tool with the powerful capabilities of large language models (LLMs) to enhance the identification of rare diseases from unstructured clinical notes. We comprehensively evaluate various prompting strategies on six large language models (LLMs) of varying sizes and domains (general and medical). This evaluation encompasses zero-shot, few-shot, and retrieval-augmented generation (RAG) techniques to enhance the LLMs' ability to reason about and understand contextual information in patient reports. The results demonstrate effectiveness in rare disease identification, highlighting the potential for identifying underdiagnosed patients from clinical notes.
In weakly supervised medical image segmentation, the absence of structural priors and the discreteness of class feature distribution present a challenge, i.e., how to accurately propagate supervision signals from local to global regions without excessively spreading them to other irrelevant regions? To address this, we propose a novel weakly supervised medical image segmentation framework named PCLMix, comprising dynamic mix augmentation, pixel-level contrastive learning, and consistency regularization strategies. Specifically, PCLMix is built upon a heterogeneous dual-decoder backbone, addressing the absence of structural priors through a strategy of dynamic mix augmentation during training. To handle the discrete distribution of class features, PCLMix incorporates pixel-level contrastive learning based on prediction uncertainty, effectively enhancing the model's ability to differentiate inter-class pixel differences and intra-class consistency. Furthermore, to reinforce segmentation consistency and robustness, PCLMix employs an auxiliary decoder for dual consistency regularization. In the inference phase, the auxiliary decoder will be dropped and no computation complexity is increased. Extensive experiments on the ACDC dataset demonstrate that PCLMix appropriately propagates local supervision signals to the global scale, further narrowing the gap between weakly supervised and fully supervised segmentation methods. Our code is available at //github.com/Torpedo2648/PCLMix.
Fraud detection remains a challenging task due to the complex and deceptive nature of fraudulent activities. Current approaches primarily concentrate on learning only one perspective of the graph: either the topological structure of the graph or the attributes of individual nodes. However, we conduct empirical studies to reveal that these two types of features, while nearly orthogonal, are each independently effective. As a result, previous methods can not fully capture the comprehensive characteristics of the fraud graph. To address this dilemma, we present a novel framework called Relation-Aware GNN with transFormer~(RAGFormer) which simultaneously embeds both semantic and topological features into a target node. The simple yet effective network consists of a semantic encoder, a topology encoder, and an attention fusion module. The semantic encoder utilizes Transformer to learn semantic features and node interactions across different relations. We introduce Relation-Aware GNN as the topology encoder to learn topological features and node interactions within each relation. These two complementary features are interleaved through an attention fusion module to support prediction by both orthogonal features. Extensive experiments on two popular public datasets demonstrate that RAGFormer achieves state-of-the-art performance. The significant improvement of RAGFormer in an industrial credit card fraud detection dataset further validates the applicability of our method in real-world business scenarios.
Value function factorization methods are commonly used in cooperative multi-agent reinforcement learning, with QMIX receiving significant attention. Many QMIX-based methods introduce monotonicity constraints between the joint action value and individual action values to achieve decentralized execution. However, such constraints limit the representation capacity of value factorization, restricting the joint action values it can represent and hindering the learning of the optimal policy. To address this challenge, we propose the Potentially Optimal joint actions Weighted QMIX (POWQMIX) algorithm, which recognizes the potentially optimal joint actions and assigns higher weights to the corresponding losses of these joint actions during training. We theoretically prove that with such a weighted training approach the optimal policy is guaranteed to be recovered. Experiments in matrix games, predator-prey, and StarCraft II Multi-Agent Challenge environments demonstrate that our algorithm outperforms the state-of-the-art value-based multi-agent reinforcement learning methods.
Many aging individuals encounter challenges in effectively tracking their dietary intake, exacerbating their susceptibility to nutrition-related health complications. Self-reporting methods are often inaccurate and suffer from substantial bias; however, leveraging intelligent prediction methods can automate and enhance precision in this process. Recent work has explored using computer vision prediction systems to predict nutritional information from food images. Still, these methods are often tailored to specific situations, require other inputs in addition to a food image, or do not provide comprehensive nutritional information. This paper aims to enhance the efficacy of dietary intake estimation by leveraging various neural network architectures to directly predict a meal's nutritional content from its image. Through comprehensive experimentation and evaluation, we present NutritionVerse-Direct, a model utilizing a vision transformer base architecture with three fully connected layers that lead to five regression heads predicting calories (kcal), mass (g), protein (g), fat (g), and carbohydrates (g) present in a meal. NutritionVerse-Direct yields a combined mean average error score on the NutritionVerse-Real dataset of 412.6, an improvement of 25.5% over the Inception-ResNet model, demonstrating its potential for improving dietary intake estimation accuracy.
Graph workloads pose a particularly challenging problem for query optimizers. They typically feature large queries made up of entirely many-to-many joins with complex correlations. This puts significant stress on traditional cardinality estimation methods which generally see catastrophic errors when estimating the size of queries with only a handful of joins. To overcome this, we propose COLOR, a framework for subgraph cardinality estimation which applies insights from graph compression theory to produce a compact summary that captures the global topology of the data graph. Further, we identify several key optimizations that enable tractable estimation over this summary even for large query graphs. We then evaluate several designs within this framework and find that they improve accuracy by up to 10$^3$x over all competing methods while maintaining fast inference, a small memory footprint, efficient construction, and graceful degradation under updates.
Feedback-driven optimization, such as traditional machine learning training, is a static process that lacks real-time adaptability of hyperparameters. Tuning solutions for optimization require trial and error paired with checkpointing and schedulers, in many cases feedback from the algorithm is overlooked. Adjusting hyperparameters during optimization usually requires the program to be restarted, wasting utilization and time, while placing unnecessary strain on memory and processors. We present LiveTune, a novel framework allowing real-time parameter adjustment of optimization loops through LiveVariables. Live Variables allow for continuous feedback-driven optimization by storing parameters on designated ports on the system, allowing them to be dynamically adjusted. Extensive evaluations of our framework on standard machine learning training pipelines show saving up to 60 seconds and 5.4 Kilojoules of energy per hyperparameter change. We also show the feasibility and value of LiveTune in a reinforcement learning application where the users change the dynamics of the reward structure while the agent is learning showing 5x improvement over the baseline. Finally, we outline a fully automated workflow to provide end-to-end, unsupervised feedback-driven optimization.
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