Vehicle light detection is required for important downstream safe autonomous driving tasks, such as predicting a vehicle's light state to determine if the vehicle is making a lane change or turning. Currently, many vehicle light detectors use single-stage detectors which predict bounding boxes to identify a vehicle light, in a manner decoupled from vehicle instances. In this paper, we present a method for detecting a vehicle light given an upstream vehicle detection and approximation of a visible light's center. Our method predicts four approximate corners associated with each vehicle light. We experiment with CNN architectures, data augmentation, and contextual preprocessing methods designed to reduce surrounding-vehicle confusion. We achieve an average distance error from the ground truth corner of 5.09 pixels, about 17.24% of the size of the vehicle light on average. We train and evaluate our model on the LISA Lights dataset, allowing us to thoroughly evaluate our vehicle light corner detection model on a large variety of vehicle light shapes and lighting conditions. We propose that this model can be integrated into a pipeline with vehicle detection and vehicle light center detection to make a fully-formed vehicle light detection network, valuable to identifying trajectory-informative signals in driving scenes.
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The advent of autonomous vehicles (AVs) alongside human-driven vehicles (HVs) has ushered in an era of mixed traffic flow, presenting a significant challenge: the intricate interaction between these entities within complex driving environments. AVs are expected to have human-like driving behavior to seamlessly integrate into human-dominated traffic systems. To address this issue, we propose a reinforcement learning framework that considers driving priors and Social Coordination Awareness (SCA) to optimize the behavior of AVs. The framework integrates a driving prior learning (DPL) model based on a variational autoencoder to infer the driver's driving priors from human drivers' trajectories. A policy network based on a multi-head attention mechanism is designed to effectively capture the interactive dependencies between AVs and other traffic participants to improve decision-making quality. The introduction of SCA into the autonomous driving decision-making system, and the use of Coordination Tendency (CT) to quantify the willingness of AVs to coordinate the traffic system is explored. Simulation results show that the proposed framework can not only improve the decision-making quality of AVs but also motivate them to produce social behaviors, with potential benefits for the safety and traffic efficiency of the entire transportation system.
Theory and application of stochastic approximation (SA) has grown within the control systems community since the earliest days of adaptive control. This paper takes a new look at the topic, motivated by recent results establishing remarkable performance of SA with (sufficiently small) constant step-size $\alpha>0$. If averaging is implemented to obtain the final parameter estimate, then the estimates are asymptotically unbiased with nearly optimal asymptotic covariance. These results have been obtained for random linear SA recursions with i.i.d. coefficients. This paper obtains very different conclusions in the more common case of geometrically ergodic Markovian disturbance: (i) The $\textit{target bias}$ is identified, even in the case of non-linear SA, and is in general non-zero. The remaining results are established for linear SA recursions: (ii) the bivariate parameter-disturbance process is geometrically ergodic in a topological sense; (iii) the representation for bias has a simpler form in this case, and cannot be expected to be zero if there is multiplicative noise; (iv) the asymptotic covariance of the averaged parameters is within $O(\alpha)$ of optimal. The error term is identified, and may be massive if mean dynamics are not well conditioned. The theory is illustrated with application to TD-learning.
As a promising technique, extremely large-scale (XL)-arrays offer potential solutions for overcoming the severe path loss in millimeter-wave (mmWave) and TeraHertz (THz) channels, crucial for enabling 6G. Nevertheless, XL-arrays introduce deviations in electromagnetic propagation compared to traditional arrays, fundamentally challenging the assumption with the planar-wave model. Instead, it ushers in the spherical-wave (SW) model to accurately represent the near-field propagation characteristics, significantly increasing signal processing complexity. Fortunately, the SW model shows remarkable benefits on sensing and communications (S\&C), e.g., improving communication multiplexing capability, spatial resolution, and degrees of freedom. In this context, this article first overviews hardware/algorithm challenges, fundamental potentials, promising applications of near-field S\&C enabled by XL-arrays. To overcome the limitations of existing XL-arrays with dense uniform array layouts and improve S\&C applications, we introduce sparse arrays (SAs). Exploring their potential, we propose XL-SAs for mmWave/THz systems using multi-subarray designs. Finally, several applications, challenges and resarch directions are identified.
Accurate pedestrian trajectory prediction is of great importance for downstream tasks such as autonomous driving and mobile robot navigation. Fully investigating the social interactions within the crowd is crucial for accurate pedestrian trajectory prediction. However, most existing methods do not capture group level interactions well, focusing only on pairwise interactions and neglecting group-wise interactions. In this work, we propose a hierarchical graph convolutional network, HGCN-GJS, for trajectory prediction which well leverages group level interactions within the crowd. Furthermore, we introduce a novel joint sampling scheme for modeling the joint distribution of multiple pedestrians in the future trajectories. Based on the group information, this scheme associates the trajectory of one person with the trajectory of other people in the group, but maintains the independence of the trajectories of outsiders. We demonstrate the performance of our network on several trajectory prediction datasets, achieving state-of-the-art results on all datasets considered.
Optimizing traffic dynamics in an evolving transportation landscape is crucial, particularly in scenarios where autonomous vehicles (AVs) with varying levels of autonomy coexist with human-driven cars. This paper presents a novel approach to optimizing choices of AVs using Proximal Policy Optimization (PPO), a reinforcement learning algorithm. We learned a policy to minimize traffic jams (i.e., minimize the time to cross the scenario) and to minimize pollution in a roundabout in Milan, Italy. Through empirical analysis, we demonstrate that our approach can reduce time and pollution levels. Furthermore, we qualitatively evaluate the learned policy using a cutting-edge cockpit to assess its performance in near-real-world conditions. To gauge the practicality and acceptability of the policy, we conducted evaluations with human participants using the simulator, focusing on a range of metrics like traffic smoothness and safety perception. In general, our findings show that human-driven vehicles benefit from optimizing AVs dynamics. Also, participants in the study highlighted that the scenario with 80\% AVs is perceived as safer than the scenario with 20\%. The same result is obtained for traffic smoothness perception.
Evaluating the quality of videos generated from text-to-video (T2V) models is important if they are to produce plausible outputs that convince a viewer of their authenticity. We examine some of the metrics used in this area and highlight their limitations. The paper presents a dataset of more than 1,000 generated videos from 5 very recent T2V models on which some of those commonly used quality metrics are applied. We also include extensive human quality evaluations on those videos, allowing the relative strengths and weaknesses of metrics, including human assessment, to be compared. The contribution is an assessment of commonly used quality metrics, and a comparison of their performances and the performance of human evaluations on an open dataset of T2V videos. Our conclusion is that naturalness and semantic matching with the text prompt used to generate the T2V output are important but there is no single measure to capture these subtleties in assessing T2V model output.
Most of the existing work in one-stage referring expression comprehension (REC) mainly focuses on multi-modal fusion and reasoning, while the influence of other factors in this task lacks in-depth exploration. To fill this gap, we conduct an empirical study in this paper. Concretely, we first build a very simple REC network called SimREC, and ablate 42 candidate designs/settings, which covers the entire process of one-stage REC from network design to model training. Afterwards, we conduct over 100 experimental trials on three benchmark datasets of REC. The extensive experimental results not only show the key factors that affect REC performance in addition to multi-modal fusion, e.g., multi-scale features and data augmentation, but also yield some findings that run counter to conventional understanding. For example, as a vision and language (V&L) task, REC does is less impacted by language prior. In addition, with a proper combination of these findings, we can improve the performance of SimREC by a large margin, e.g., +27.12% on RefCOCO+, which outperforms all existing REC methods. But the most encouraging finding is that with much less training overhead and parameters, SimREC can still achieve better performance than a set of large-scale pre-trained models, e.g., UNITER and VILLA, portraying the special role of REC in existing V&L research.
The ability to learn new tasks and quickly adapt to different variations or dimensions is an important attribute in agile robotics. In our previous work, we have explored Behavior Trees and Motion Generators (BTMGs) as a robot arm policy representation to facilitate the learning and execution of assembly tasks. The current implementation of the BTMGs for a specific task may not be robust to the changes in the environment and may not generalize well to different variations of tasks. We propose to extend the BTMG policy representation with a module that predicts BTMG parameters for a new task variation. To achieve this, we propose a model that combines a Gaussian process and a weighted support vector machine classifier. This model predicts the performance measure and the feasibility of the predicted policy with BTMG parameters and task variations as inputs. Using the outputs of the model, we then construct a surrogate reward function that is utilized within an optimizer to maximize the performance of a task over BTMG parameters for a fixed task variation. To demonstrate the effectiveness of our proposed approach, we conducted experimental evaluations on push and obstacle avoidance tasks in simulation and with a real KUKA iiwa robot. Furthermore, we compared the performance of our approach with four baseline methods.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Since hardware resources are limited, the objective of training deep learning models is typically to maximize accuracy subject to the time and memory constraints of training and inference. We study the impact of model size in this setting, focusing on Transformer models for NLP tasks that are limited by compute: self-supervised pretraining and high-resource machine translation. We first show that even though smaller Transformer models execute faster per iteration, wider and deeper models converge in significantly fewer steps. Moreover, this acceleration in convergence typically outpaces the additional computational overhead of using larger models. Therefore, the most compute-efficient training strategy is to counterintuitively train extremely large models but stop after a small number of iterations. This leads to an apparent trade-off between the training efficiency of large Transformer models and the inference efficiency of small Transformer models. However, we show that large models are more robust to compression techniques such as quantization and pruning than small models. Consequently, one can get the best of both worlds: heavily compressed, large models achieve higher accuracy than lightly compressed, small models.
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