Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an autonomous vehicle is that of identifying a target trajectory - or, in the case of a competition vehicle, the racing line. Many existing approaches to finding the racing line are either not time-optimal solutions, or are computationally expensive - rendering them unsuitable for real-time application using on-board processing hardware. This study describes a machine learning approach to generating an accurate prediction of the racing line in real-time on desktop processing hardware. The proposed algorithm is a feed-forward neural network, trained using a dataset comprising racing lines for a large number of circuits calculated via traditional optimal control lap time simulation. The network predicts the racing line with a mean absolute error of +/-0.27m, and just +/-0.11m at corner apex - comparable to human drivers, and autonomous vehicle control subsystems. The approach generates predictions within 33ms, making it over 9,000 times faster than traditional methods of finding the optimal trajectory. Results suggest that for certain applications data-driven approaches to find near-optimal racing lines may be favourable to traditional computational methods.
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Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan, are available. Previous work has demonstrated efficient learning by hierarchal approaches consisting of path planning in the HL representation and using sub-goals derived from the plan to guide the RL policy in the source task. However, these approaches usually neglect the complex dynamics and sub-optimal sub-goal-reaching capabilities of the robot during planning. This work overcomes these limitations by proposing a novel hierarchical framework that utilizes a trainable planning policy for the HL representation. Thereby robot capabilities and environment conditions can be learned utilizing collected rollout data. We specifically introduce a planning policy based on value iteration with a learned transition model (VI-RL). In simulated robotic navigation tasks, VI-RL results in consistent strong improvement over vanilla RL, is on par with vanilla hierarchal RL on single layouts but more broadly applicable to multiple layouts, and is on par with trainable HL path planning baselines except for a parking task with difficult non-holonomic dynamics where it shows marked improvements.
Unmanned aerial vehicles (UAVs), especially fixed-wing ones that withstand strong winds, have great potential for oceanic exploration and research. This paper studies a UAV-aided maritime data collection system with a fixed-wing UAV dispatched to collect data from marine buoys. We aim to minimize the UAV's energy consumption in completing the task by jointly optimizing the communication time scheduling among the buoys and the UAV's flight trajectory subject to wind effect, which is a non-convex problem and difficult to solve optimally. Existing techniques such as the successive convex approximation (SCA) method provide efficient sub-optimal solutions for collecting small/moderate data volume, whereas the solution heavily relies on the trajectory initialization and has not explicitly considered the wind effect, while the computational complexity and resulted trajectory complexity both become prohibitive for the task with large data volume. To this end, we propose a new cyclical trajectory design framework that can handle arbitrary data volume efficiently subject to wind effect. Specifically, the proposed UAV trajectory comprises multiple cyclical laps, each responsible for collecting only a subset of data and thereby significantly reducing the computational/trajectory complexity, which allows searching for better trajectory initialization that fits the buoys' topology and the wind. Numerical results show that the proposed cyclical scheme outperforms the benchmark one-flight-only scheme in general. Moreover, the optimized cyclical 8-shape trajectory can proactively exploit the wind and achieve lower energy consumption compared with the case without wind.
Large-scale ride-hailing systems often combine real-time routing at the individual request level with a macroscopic Model Predictive Control (MPC) optimization for dynamic pricing and vehicle relocation. The MPC relies on a demand forecast and optimizes over a longer time horizon to compensate for the myopic nature of the routing optimization. However, the longer horizon increases computational complexity and forces the MPC to operate at coarser spatial-temporal granularity, degrading the quality of its decisions. This paper addresses these computational challenges by learning the MPC optimization. The resulting machine-learning model then serves as the optimization proxy and predicts its optimal solutions. This makes it possible to use the MPC at higher spatial-temporal fidelity, since the optimizations can be solved and learned offline. Experimental results show that the proposed approach improves quality of service on challenging instances from the New York City dataset.
PDE discovery shows promise for uncovering predictive models for complex physical systems but has difficulty when measurements are sparse and noisy. We introduce a new approach for PDE discovery that uses two Rational Neural Networks and a principled sparse regression algorithm to identify the hidden dynamics that govern a system's response. The first network learns the system response function, while the second learns a hidden PDE which drives the system's evolution. We then use a parameter-free sparse regression algorithm to extract a human-readable form of the hidden PDE from the second network. We implement our approach in an open-source library called PDE-READ. Our approach successfully identifies the Heat, Burgers, and Korteweg-De Vries equations with remarkable consistency. We demonstrate that our approach is unprecedentedly robust to both sparsity and noise and is, therefore, applicable to real-world observational data.
For nearly six decades, the central open question in the study of hash tables has been to determine the optimal achievable tradeoff curve between time and space. State-of-the-art hash tables offer the following guarantee: If keys/values are Theta(log n) bits each, then it is possible to achieve constant-time insertions/deletions/queries while wasting only O(loglog n) bits of space per key when compared to the information-theoretic optimum. Even prior to this bound being achieved, the target of O(loglog n) wasted bits per key was known to be a natural end goal, and was proven to be optimal for a number of closely related problems (e.g., stable hashing, dynamic retrieval, and dynamically-resized filters). This paper shows that O(loglog n) wasted bits per key is not the end of the line for hashing. In fact, for any k \in [log* n], it is possible to achieve O(k)-time insertions/deletions, O(1)-time queries, and O(\log^{(k)} n) wasted bits per key (all with high probability in n). This means that, each time we increase insertion/deletion time by an \emph{additive constant}, we reduce the wasted bits per key \emph{exponentially}. We further show that this tradeoff curve is the best achievable by any of a large class of hash tables, including any hash table designed using the current framework for making constant-time hash tables succinct.
Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of such perception system especially for the sake of path planning, motion prediction, collision avoidance, etc. Generally, stereo or monocular images with corresponding 3D point clouds are already standard layout for 3D object detection, out of which point clouds are increasingly prevalent with accurate depth information being provided. Despite existing efforts, 3D object detection on point clouds is still in its infancy due to high sparseness and irregularity of point clouds by nature, misalignment view between camera view and LiDAR bird's eye of view for modality synergies, occlusions and scale variations at long distances, etc. Recently, profound progress has been made in 3D object detection, with a large body of literature being investigated to address this vision task. As such, we present a comprehensive review of the latest progress in this field covering all the main topics including sensors, fundamentals, and the recent state-of-the-art detection methods with their pros and cons. Furthermore, we introduce metrics and provide quantitative comparisons on popular public datasets. The avenues for future work are going to be judiciously identified after an in-deep analysis of the surveyed works. Finally, we conclude this paper.
Recent advances in sensor and mobile devices have enabled an unprecedented increase in the availability and collection of urban trajectory data, thus increasing the demand for more efficient ways to manage and analyze the data being produced. In this survey, we comprehensively review recent research trends in trajectory data management, ranging from trajectory pre-processing, storage, common trajectory analytic tools, such as querying spatial-only and spatial-textual trajectory data, and trajectory clustering. We also explore four closely related analytical tasks commonly used with trajectory data in interactive or real-time processing. Deep trajectory learning is also reviewed for the first time. Finally, we outline the essential qualities that a trajectory management system should possess in order to maximize flexibility.
3D vehicle detection and tracking from a monocular camera requires detecting and associating vehicles, and estimating their locations and extents together. It is challenging because vehicles are in constant motion and it is practically impossible to recover the 3D positions from a single image. In this paper, we propose a novel framework that jointly detects and tracks 3D vehicle bounding boxes. Our approach leverages 3D pose estimation to learn 2D patch association overtime and uses temporal information from tracking to obtain stable 3D estimation. Our method also leverages 3D box depth ordering and motion to link together the tracks of occluded objects. We train our system on realistic 3D virtual environments, collecting a new diverse, large-scale and densely annotated dataset with accurate 3D trajectory annotations. Our experiments demonstrate that our method benefits from inferring 3D for both data association and tracking robustness, leveraging our dynamic 3D tracking dataset.
To solve complex real-world problems with reinforcement learning, we cannot rely on manually specified reward functions. Instead, we can have humans communicate an objective to the agent directly. In this work, we combine two approaches to learning from human feedback: expert demonstrations and trajectory preferences. We train a deep neural network to model the reward function and use its predicted reward to train an DQN-based deep reinforcement learning agent on 9 Atari games. Our approach beats the imitation learning baseline in 7 games and achieves strictly superhuman performance on 2 games without using game rewards. Additionally, we investigate the goodness of fit of the reward model, present some reward hacking problems, and study the effects of noise in the human labels.
We propose an algorithm for real-time 6DOF pose tracking of rigid 3D objects using a monocular RGB camera. The key idea is to derive a region-based cost function using temporally consistent local color histograms. While such region-based cost functions are commonly optimized using first-order gradient descent techniques, we systematically derive a Gauss-Newton optimization scheme which gives rise to drastically faster convergence and highly accurate and robust tracking performance. We furthermore propose a novel complex dataset dedicated for the task of monocular object pose tracking and make it publicly available to the community. To our knowledge, It is the first to address the common and important scenario in which both the camera as well as the objects are moving simultaneously in cluttered scenes. In numerous experiments - including our own proposed data set - we demonstrate that the proposed Gauss-Newton approach outperforms existing approaches, in particular in the presence of cluttered backgrounds, heterogeneous objects and partial occlusions.
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