eHMIs refers to a novel and explicit communication method for pedestrian-AV negotiation in interactions, such as in encounter scenarios. However, pedestrians with limited experience in negotiating with AVs could lack a comprehensive and correct understanding of the information on driving intentions' meaning as conveyed by AVs through eHMI, particularly in the current contexts where AV and eHMI are not yet mainstream. Consequently, pedestrians who misunderstand the driving intention of the AVs during the encounter may feel threatened and perform unpredictable behaviors. To solve this issue, this study proposes using the pre-instruction on the rationale of eHMI to help pedestrians correctly understand driving intentions and predict AV behavior. Consequently, this can improve their subjective feelings (ie. sense of danger, trust in AV, and sense of relief) and decision-making. In addition, this study suggests that the eHMI could better guide pedestrian behavior through the pre-instruction. The results of interaction experiments in the road crossing scene show that participants found it more difficult to recognize the situation when they encountered an AV without eHMI than when they encountered a manual driving vehicle (MV); in addition, participants' subjective feelings and hesitations while decision-making worsened significantly. After the pre-instruction, the participants could understand the driving intention of an AV with eHMI and predict driving behavior more easily. Furthermore, the participants' subjective feelings and hesitation to make decisions improved, reaching the same criteria used for MV. Moreover, this study found that the information guidance of using eHMI influenced the participants' walking speed, resulting in a small variation over the time horizon via multiple trials when they fully understood the principle of eHMI through the pre-instruction.
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The development of Adaptive Cruise Control (ACC) systems aims to enhance the safety and comfort of vehicles by automatically regulating the speed of the vehicle to ensure a safe gap from the preceding vehicle. However, conventional ACC systems are unable to adapt themselves to changing driving conditions and drivers' behavior. To address this limitation, we propose a Long Short-Term Memory (LSTM) based ACC system that can learn from past driving experiences and adapt and predict new situations in real time. The model is constructed based on the real-world highD dataset, acquired from German highways with the assistance of camera-equipped drones. We evaluated the ACC system under aggressive lane changes when the side lane preceding vehicle cut off, forcing the targeted driver to reduce speed. To this end, the proposed system was assessed on a simulated driving environment and compared with a feedforward Artificial Neural Network (ANN) model and Model Predictive Control (MPC) model. The results show that the LSTM-based system is 19.25% more accurate than the ANN model and 5.9% more accurate than the MPC model in terms of predicting future values of subject vehicle acceleration. The simulation is done in Matlab/Simulink environment.
Prior works for reconstructing hand-held objects from a single image rely on direct 3D shape supervision which is challenging to gather in real world at scale. Consequently, these approaches do not generalize well when presented with novel objects in in-the-wild settings. While 3D supervision is a major bottleneck, there is an abundance of in-the-wild raw video data showing hand-object interactions. In this paper, we automatically extract 3D supervision (via multiview 2D supervision) from such raw video data to scale up the learning of models for hand-held object reconstruction. This requires tackling two key challenges: unknown camera pose and occlusion. For the former, we use hand pose (predicted from existing techniques, e.g. FrankMocap) as a proxy for object pose. For the latter, we learn data-driven 3D shape priors using synthetic objects from the ObMan dataset. We use these indirect 3D cues to train occupancy networks that predict the 3D shape of objects from a single RGB image. Our experiments on the MOW and HO3D datasets show the effectiveness of these supervisory signals at predicting the 3D shape for real-world hand-held objects without any direct real-world 3D supervision.
Artificial neural networks (ANNs) are increasingly used as research models, but questions remain about their generalizability and representational invariance. Biological neural networks under social constraints evolved to enable communicable representations, demonstrating generalization capabilities. This study proposes a communication protocol between cooperative agents to analyze the formation of individual and shared abstractions and their impact on task performance. This communication protocol aims to mimic language features by encoding high-dimensional information through low-dimensional representation. Using grid-world mazes and reinforcement learning, teacher ANNs pass a compressed message to a student ANN for better task completion. Through this, the student achieves a higher goal-finding rate and generalizes the goal location across task worlds. Further optimizing message content to maximize student reward improves information encoding, suggesting that an accurate representation in the space of messages requires bi-directional input. This highlights the role of language as a common representation between agents and its implications on generalization capabilities.
We provide a psychometric-grounded exposition of bias and fairness as applied to a typical machine learning pipeline for affective computing. We expand on an interpersonal communication framework to elucidate how to identify sources of bias that may arise in the process of inferring human emotions and other psychological constructs from observed behavior. Various methods and metrics for measuring fairness and bias are discussed along with pertinent implications within the United States legal context. We illustrate how to measure some types of bias and fairness in a case study involving automatic personality and hireability inference from multimodal data collected in video interviews for mock job applications. We encourage affective computing researchers and practitioners to encapsulate bias and fairness in their research processes and products and to consider their role, agency, and responsibility in promoting equitable and just systems.
During the continuous evolution of one organism's ancestry, its genes accumulate extensive experiences and knowledge, enabling newborn descendants to rapidly adapt to their specific environments. Motivated by this observation, we propose a novel machine learning paradigm \textit{Learngene} to enable learning models to incorporate three key characteristics of genes. (i) Accumulating: the knowledge is accumulated during the continuous learning of an \textbf{ancestry model}. (ii) Condensing: the exhaustive accumulated knowledge is condensed into a much more compact information piece, \ie \textbf{learngene}. (iii): Inheriting: the condensed \textbf{learngene} is inherited to make it easier for \textbf{descendant models} to adapt to new environments. Since accumulating has been studied in some well-developed paradigms like large-scale pre-training and lifelong learning, we focus on condensing and inheriting, which induces three key issues and we provide the preliminary solutions to these issues in this paper: (i) \textit{Learngene} Form: the \textbf{learngene} is set to a few integral layers that can preserve the most commonality. (ii) \textit{Learngene} Condensing: we identify which layers among the ancestry model have the most similarity as one pseudo descendant model. (iii) \textit{Learngene} Inheriting: to construct distinct descendant models for specific downstream tasks, we stack some randomly initialized layers to the \textbf{learngene} layers. Extensive experiments of various settings, including using different network architectures like Vision Transformer (ViT) and Convolutional Neural Networks (CNNs) on different datasets, are carried out to confirm five advantages and two characteristics of \textit{Learngene}.
Speech AI Technologies are largely trained on publicly available datasets or by the massive web-crawling of speech. In both cases, data acquisition focuses on minimizing collection effort, without necessarily taking the data subjects' protection or user needs into consideration. This results to models that are not robust when used on users who deviate from the dominant demographics in the training set, discriminating individuals having different dialects, accents, speaking styles, and disfluencies. In this talk, we use automatic speech recognition as a case study and examine the properties that ethical speech datasets should possess towards responsible AI applications. We showcase diversity issues, inclusion practices, and necessary considerations that can improve trained models, while facilitating model explainability and protecting users and data subjects. We argue for the legal & privacy protection of data subjects, targeted data sampling corresponding to user demographics & needs, appropriate meta data that ensure explainability & accountability in cases of model failure, and the sociotechnical \& situated model design. We hope this talk can inspire researchers \& practitioners to design and use more human-centric datasets in speech technologies and other domains, in ways that empower and respect users, while improving machine learning models' robustness and utility.
Existing datasets for autonomous driving (AD) often lack diversity and long-range capabilities, focusing instead on 360{\deg} perception and temporal reasoning. To address this gap, we introduce Zenseact Open Dataset (ZOD), a large-scale and diverse multimodal dataset collected over two years in various European countries, covering an area 9x that of existing datasets. ZOD boasts the highest range and resolution sensors among comparable datasets, coupled with detailed keyframe annotations for 2D and 3D objects (up to 245m), road instance/semantic segmentation, traffic sign recognition, and road classification. We believe that this unique combination will facilitate breakthroughs in long-range perception and multi-task learning. The dataset is composed of Frames, Sequences, and Drives, designed to encompass both data diversity and support for spatio-temporal learning, sensor fusion, localization, and mapping. Frames consist of 100k curated camera images with two seconds of other supporting sensor data, while the 1473 Sequences and 29 Drives include the entire sensor suite for 20 seconds and a few minutes, respectively. ZOD is the only large-scale AD dataset released under a permissive license, allowing for both research and commercial use. The dataset is accompanied by an extensive development kit. Data and more information are available online (//zod.zenseact.com).
Although many fairness criteria have been proposed to ensure that machine learning algorithms do not exhibit or amplify our existing social biases, these algorithms are trained on datasets that can themselves be statistically biased. In this paper, we investigate the robustness of a number of existing (demographic) fairness criteria when the algorithm is trained on biased data. We consider two forms of dataset bias: errors by prior decision makers in the labeling process, and errors in measurement of the features of disadvantaged individuals. We analytically show that some constraints (such as Demographic Parity) can remain robust when facing certain statistical biases, while others (such as Equalized Odds) are significantly violated if trained on biased data. We also analyze the sensitivity of these criteria and the decision maker's utility to biases. We provide numerical experiments based on three real-world datasets (the FICO, Adult, and German credit score datasets) supporting our analytical findings. Our findings present an additional guideline for choosing among existing fairness criteria, or for proposing new criteria, when available datasets may be biased.
Current state-of-the-art semantic role labeling (SRL) uses a deep neural network with no explicit linguistic features. However, prior work has shown that gold syntax trees can dramatically improve SRL decoding, suggesting the possibility of increased accuracy from explicit modeling of syntax. In this work, we present linguistically-informed self-attention (LISA): a neural network model that combines multi-head self-attention with multi-task learning across dependency parsing, part-of-speech tagging, predicate detection and SRL. Unlike previous models which require significant pre-processing to prepare linguistic features, LISA can incorporate syntax using merely raw tokens as input, encoding the sequence only once to simultaneously perform parsing, predicate detection and role labeling for all predicates. Syntax is incorporated by training one attention head to attend to syntactic parents for each token. Moreover, if a high-quality syntactic parse is already available, it can be beneficially injected at test time without re-training our SRL model. In experiments on CoNLL-2005 SRL, LISA achieves new state-of-the-art performance for a model using predicted predicates and standard word embeddings, attaining 2.5 F1 absolute higher than the previous state-of-the-art on newswire and more than 3.5 F1 on out-of-domain data, nearly 10% reduction in error. On ConLL-2012 English SRL we also show an improvement of more than 2.5 F1. LISA also out-performs the state-of-the-art with contextually-encoded (ELMo) word representations, by nearly 1.0 F1 on news and more than 2.0 F1 on out-of-domain text.
We propose a novel approach to multimodal sentiment analysis using deep neural networks combining visual analysis and natural language processing. Our goal is different than the standard sentiment analysis goal of predicting whether a sentence expresses positive or negative sentiment; instead, we aim to infer the latent emotional state of the user. Thus, we focus on predicting the emotion word tags attached by users to their Tumblr posts, treating these as "self-reported emotions." We demonstrate that our multimodal model combining both text and image features outperforms separate models based solely on either images or text. Our model's results are interpretable, automatically yielding sensible word lists associated with emotions. We explore the structure of emotions implied by our model and compare it to what has been posited in the psychology literature, and validate our model on a set of images that have been used in psychology studies. Finally, our work also provides a useful tool for the growing academic study of images - both photographs and memes - on social networks.
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