Motion planning for autonomous vehicles sharing the road with human drivers remains challenging. The difficulty arises from three challenging aspects: human drivers are 1) multi-modal, 2) interacting with the autonomous vehicle, and 3) actively making decisions based on the current state of the traffic scene. We propose a motion planning framework based on Branch Model Predictive Control to deal with these challenges. The multi-modality is addressed by considering multiple future outcomes associated with different decisions taken by the human driver. The interactive nature of humans is considered by modeling them as reactive agents impacted by the actions of the autonomous vehicle. Finally, we consider a model developed in human neuroscience studies as a possible way of encoding the decision making process of human drivers. We present simulation results in various scenarios, showing the advantages of the proposed method and its ability to plan assertive maneuvers that convey intent to humans.
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Planning robotic manipulation tasks, especially those that involve interaction between deformable and rigid objects, is challenging due to the complexity in predicting such interactions. We introduce SPONGE, a sequence planning pipeline powered by a deep learning-based contact prediction model for contacts between deformable and rigid bodies under interactions. The contact prediction model is trained on synthetic data generated by a developed simulation environment to learn the mapping from point-cloud observation of a rigid target object and the pose of a deformable tool, to 3D representation of the contact points between the two bodies. We experimentally evaluated the proposed approach for a dish cleaning task both in simulation and on a real \panda with real-world objects. The experimental results demonstrate that in both scenarios the proposed planning pipeline is capable of generating high-quality trajectories that can accomplish the task by achieving more than 90\% area coverage on different objects of varying sizes and curvatures while minimizing travel distance. Code and video are available at: \url{//irobotics.aalto.fi/sponge/}.
Learning-based approaches have achieved impressive performance for autonomous driving and an increasing number of data-driven works are being studied in the decision-making and planning module. However, the reliability and the stability of the neural network is still full of challenges. In this paper, we introduce a hierarchical imitation method including a high-level grid-based behavior planner and a low-level trajectory planner, which is not only an individual data-driven driving policy and can also be easily embedded into the rule-based architecture. We evaluate our method both in closed-loop simulation and real world driving, and demonstrate the neural network planner has outstanding performance in complex urban autonomous driving scenarios.
Motivated by applications in unmanned aerial based ground penetrating radar for detecting buried landmines, we consider the problem of imaging small point like scatterers situated in a lossy medium below a random rough surface. Both the random rough surface and the absorption in the lossy medium significantly impede the target detection and imaging process. Using principal component analysis we effectively remove the reflection from the air-soil interface. We then use a modification of the classical synthetic aperture radar imaging functional to image the targets. This imaging method introduces a user-defined parameter, $\delta$, which scales the resolution by $\sqrt{\delta}$ allowing for target localization with sub wavelength accuracy. Numerical results in two dimensions illustrate the robustness of the approach for imaging multiple targets. However, the depth at which targets are detectable is limited due to the absorption in the lossy medium.
As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's learning capabilities. To address this gap, we propose a comprehensive methodology that accounts for the interplay between the robot's perception, hardware characteristics, and task requirements. Our approach optimizes the robot's morphology holistically, leading to improved learning and task execution proficiency. To achieve this, we introduce a Morphology-AGnostIc Controller (MAGIC), which helps with the rapid assessment of different robot designs. The MAGIC policy is efficiently trained through a novel PRIvileged Single-stage learning via latent alignMent (PRISM) framework, which also encourages behaviors that are typical of robot onboard observation. Our simulation-based results demonstrate that morphologies optimized holistically improve the robot performance by 15-20% on various manipulation tasks, and require 25x less data to match human-expert made morphology performance. In summary, our work contributes to the growing trend of learning-based approaches in robotics and emphasizes the potential in designing robots that facilitate better learning.
Dropped into an unknown environment, what should an agent do to quickly learn about the environment and how to accomplish diverse tasks within it? We address this question within the goal-conditioned reinforcement learning paradigm, by identifying how the agent should set its goals at training time to maximize exploration. We propose "Planning Exploratory Goals" (PEG), a method that sets goals for each training episode to directly optimize an intrinsic exploration reward. PEG first chooses goal commands such that the agent's goal-conditioned policy, at its current level of training, will end up in states with high exploration potential. It then launches an exploration policy starting at those promising states. To enable this direct optimization, PEG learns world models and adapts sampling-based planning algorithms to "plan goal commands". In challenging simulated robotics environments including a multi-legged ant robot in a maze, and a robot arm on a cluttered tabletop, PEG exploration enables more efficient and effective training of goal-conditioned policies relative to baselines and ablations. Our ant successfully navigates a long maze, and the robot arm successfully builds a stack of three blocks upon command. Website: //penn-pal-lab.github.io/peg/
Finding localized correspondences across different images of the same object is crucial to understand its geometry. In recent years, this problem has seen remarkable progress with the advent of deep learning based local image features and learnable matchers. Still, learnable matchers often underperform when there exists only small regions of co-visibility between image pairs (i.e. wide camera baselines). To address this problem, we leverage recent progress in coarse single-view geometry estimation methods. We propose LFM-3D, a Learnable Feature Matching framework that uses models based on graph neural networks, and enhances their capabilities by integrating noisy, estimated 3D signals to boost correspondence estimation. When integrating 3D signals into the matcher model, we show that a suitable positional encoding is critical to effectively make use of the low-dimensional 3D information. We experiment with two different 3D signals - normalized object coordinates and monocular depth estimates - and evaluate our method on large-scale (synthetic and real) datasets containing object-centric image pairs across wide baselines. We observe strong feature matching improvements compared to 2D-only methods, with up to +6% total recall and +28% precision at fixed recall. We additionally demonstrate that the resulting improved correspondences lead to much higher relative posing accuracy for in-the-wild image pairs, with a more than 8% boost compared to the 2D-only approach.
Excessive alcohol consumption causes disability and death. Digital interventions are promising means to promote behavioral change and thus prevent alcohol-related harm, especially in critical moments such as driving. This requires real-time information on a person's blood alcohol concentration (BAC). Here, we develop an in-vehicle machine learning system to predict critical BAC levels. Our system leverages driver monitoring cameras mandated in numerous countries worldwide. We evaluate our system with n=30 participants in an interventional simulator study. Our system reliably detects driving under any alcohol influence (area under the receiver operating characteristic curve [AUROC] 0.88) and driving above the WHO recommended limit of 0.05g/dL BAC (AUROC 0.79). Model inspection reveals reliance on pathophysiological effects associated with alcohol consumption. To our knowledge, we are the first to rigorously evaluate the use of driver monitoring cameras for detecting drunk driving. Our results highlight the potential of driver monitoring cameras and enable next-generation drunk driver interaction preventing alcohol-related harm.
Accurate and robust trajectory prediction of neighboring agents is critical for autonomous vehicles traversing in complex scenes. Most methods proposed in recent years are deep learning-based due to their strength in encoding complex interactions. However, unplausible predictions are often generated since they rely heavily on past observations and cannot effectively capture the transient and contingency interactions from sparse samples. In this paper, we propose a hierarchical hybrid framework of deep learning (DL) and reinforcement learning (RL) for multi-agent trajectory prediction, to cope with the challenge of predicting motions shaped by multi-scale interactions. In the DL stage, the traffic scene is divided into multiple intermediate-scale heterogenous graphs based on which Transformer-style GNNs are adopted to encode heterogenous interactions at intermediate and global levels. In the RL stage, we divide the traffic scene into local sub-scenes utilizing the key future points predicted in the DL stage. To emulate the motion planning procedure so as to produce trajectory predictions, a Transformer-based Proximal Policy Optimization (PPO) incorporated with a vehicle kinematics model is devised to plan motions under the dominant influence of microscopic interactions. A multi-objective reward is designed to balance between agent-centric accuracy and scene-wise compatibility. Experimental results show that our proposal matches the state-of-the-arts on the Argoverse forecasting benchmark. It's also revealed by the visualized results that the hierarchical learning framework captures the multi-scale interactions and improves the feasibility and compliance of the predicted trajectories.
Machine learning is completely changing the trends in the fashion industry. From big to small every brand is using machine learning techniques in order to improve their revenue, increase customers and stay ahead of the trend. People are into fashion and they want to know what looks best and how they can improve their style and elevate their personality. Using Deep learning technology and infusing it with Computer Vision techniques one can do so by utilizing Brain-inspired Deep Networks, and engaging into Neuroaesthetics, working with GANs and Training them, playing around with Unstructured Data,and infusing the transformer architecture are just some highlights which can be touched with the Fashion domain. Its all about designing a system that can tell us information regarding the fashion aspect that can come in handy with the ever growing demand. Personalization is a big factor that impacts the spending choices of customers.The survey also shows remarkable approaches that encroach the subject of achieving that by divulging deep into how visual data can be interpreted and leveraged into different models and approaches. Aesthetics play a vital role in clothing recommendation as users' decision depends largely on whether the clothing is in line with their aesthetics, however the conventional image features cannot portray this directly. For that the survey also highlights remarkable models like tensor factorization model, conditional random field model among others to cater the need to acknowledge aesthetics as an important factor in Apparel recommendation.These AI inspired deep models can pinpoint exactly which certain style resonates best with their customers and they can have an understanding of how the new designs will set in with the community. With AI and machine learning your businesses can stay ahead of the fashion trends.
In multi-turn dialog, utterances do not always take the full form of sentences \cite{Carbonell1983DiscoursePA}, which naturally makes understanding the dialog context more difficult. However, it is essential to fully grasp the dialog context to generate a reasonable response. Hence, in this paper, we propose to improve the response generation performance by examining the model's ability to answer a reading comprehension question, where the question is focused on the omitted information in the dialog. Enlightened by the multi-task learning scheme, we propose a joint framework that unifies these two tasks, sharing the same encoder to extract the common and task-invariant features with different decoders to learn task-specific features. To better fusing information from the question and the dialog history in the encoding part, we propose to augment the Transformer architecture with a memory updater, which is designed to selectively store and update the history dialog information so as to support downstream tasks. For the experiment, we employ human annotators to write and examine a large-scale dialog reading comprehension dataset. Extensive experiments are conducted on this dataset, and the results show that the proposed model brings substantial improvements over several strong baselines on both tasks. In this way, we demonstrate that reasoning can indeed help better response generation and vice versa. We release our large-scale dataset for further research.
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