25,336 research outputs found
Stochastic Sampling Simulation for Pedestrian Trajectory Prediction
Urban environments pose a significant challenge for autonomous vehicles (AVs)
as they must safely navigate while in close proximity to many pedestrians. It
is crucial for the AV to correctly understand and predict the future
trajectories of pedestrians to avoid collision and plan a safe path. Deep
neural networks (DNNs) have shown promising results in accurately predicting
pedestrian trajectories, relying on large amounts of annotated real-world data
to learn pedestrian behavior. However, collecting and annotating these large
real-world pedestrian datasets is costly in both time and labor. This paper
describes a novel method using a stochastic sampling-based simulation to train
DNNs for pedestrian trajectory prediction with social interaction. Our novel
simulation method can generate vast amounts of automatically-annotated,
realistic, and naturalistic synthetic pedestrian trajectories based on small
amounts of real annotation. We then use such synthetic trajectories to train an
off-the-shelf state-of-the-art deep learning approach Social GAN (Generative
Adversarial Network) to perform pedestrian trajectory prediction. Our proposed
architecture, trained only using synthetic trajectories, achieves better
prediction results compared to those trained on human-annotated real-world data
using the same network. Our work demonstrates the effectiveness and potential
of using simulation as a substitution for human annotation efforts to train
high-performing prediction algorithms such as the DNNs.Comment: 8 pages, 6 figures and 2 table
Stochastic Sampling Simulation for Pedestrian Trajectory Prediction
Urban environments pose a significant challenge for autonomous vehicles (AVs)
as they must safely navigate while in close proximity to many pedestrians. It
is crucial for the AV to correctly understand and predict the future
trajectories of pedestrians to avoid collision and plan a safe path. Deep
neural networks (DNNs) have shown promising results in accurately predicting
pedestrian trajectories, relying on large amounts of annotated real-world data
to learn pedestrian behavior. However, collecting and annotating these large
real-world pedestrian datasets is costly in both time and labor. This paper
describes a novel method using a stochastic sampling-based simulation to train
DNNs for pedestrian trajectory prediction with social interaction. Our novel
simulation method can generate vast amounts of automatically-annotated,
realistic, and naturalistic synthetic pedestrian trajectories based on small
amounts of real annotation. We then use such synthetic trajectories to train an
off-the-shelf state-of-the-art deep learning approach Social GAN (Generative
Adversarial Network) to perform pedestrian trajectory prediction. Our proposed
architecture, trained only using synthetic trajectories, achieves better
prediction results compared to those trained on human-annotated real-world data
using the same network. Our work demonstrates the effectiveness and potential
of using simulation as a substitution for human annotation efforts to train
high-performing prediction algorithms such as the DNNs.Comment: 8 pages, 6 figures and 2 table
Imitating Driver Behavior with Generative Adversarial Networks
The ability to accurately predict and simulate human driving behavior is
critical for the development of intelligent transportation systems. Traditional
modeling methods have employed simple parametric models and behavioral cloning.
This paper adopts a method for overcoming the problem of cascading errors
inherent in prior approaches, resulting in realistic behavior that is robust to
trajectory perturbations. We extend Generative Adversarial Imitation Learning
to the training of recurrent policies, and we demonstrate that our model
outperforms rule-based controllers and maximum likelihood models in realistic
highway simulations. Our model both reproduces emergent behavior of human
drivers, such as lane change rate, while maintaining realistic control over
long time horizons.Comment: 8 pages, 6 figure
Practical Attacks Against Graph-based Clustering
Graph modeling allows numerous security problems to be tackled in a general
way, however, little work has been done to understand their ability to
withstand adversarial attacks. We design and evaluate two novel graph attacks
against a state-of-the-art network-level, graph-based detection system. Our
work highlights areas in adversarial machine learning that have not yet been
addressed, specifically: graph-based clustering techniques, and a global
feature space where realistic attackers without perfect knowledge must be
accounted for (by the defenders) in order to be practical. Even though less
informed attackers can evade graph clustering with low cost, we show that some
practical defenses are possible.Comment: ACM CCS 201
Physical Primitive Decomposition
Objects are made of parts, each with distinct geometry, physics,
functionality, and affordances. Developing such a distributed, physical,
interpretable representation of objects will facilitate intelligent agents to
better explore and interact with the world. In this paper, we study physical
primitive decomposition---understanding an object through its components, each
with physical and geometric attributes. As annotated data for object parts and
physics are rare, we propose a novel formulation that learns physical
primitives by explaining both an object's appearance and its behaviors in
physical events. Our model performs well on block towers and tools in both
synthetic and real scenarios; we also demonstrate that visual and physical
observations often provide complementary signals. We further present ablation
and behavioral studies to better understand our model and contrast it with
human performance.Comment: ECCV 2018. Project page: http://ppd.csail.mit.edu
Lifelong Generative Modeling
Lifelong learning is the problem of learning multiple consecutive tasks in a
sequential manner, where knowledge gained from previous tasks is retained and
used to aid future learning over the lifetime of the learner. It is essential
towards the development of intelligent machines that can adapt to their
surroundings. In this work we focus on a lifelong learning approach to
unsupervised generative modeling, where we continuously incorporate newly
observed distributions into a learned model. We do so through a student-teacher
Variational Autoencoder architecture which allows us to learn and preserve all
the distributions seen so far, without the need to retain the past data nor the
past models. Through the introduction of a novel cross-model regularizer,
inspired by a Bayesian update rule, the student model leverages the information
learned by the teacher, which acts as a probabilistic knowledge store. The
regularizer reduces the effect of catastrophic interference that appears when
we learn over sequences of distributions. We validate our model's performance
on sequential variants of MNIST, FashionMNIST, PermutedMNIST, SVHN and Celeb-A
and demonstrate that our model mitigates the effects of catastrophic
interference faced by neural networks in sequential learning scenarios.Comment: 32 page
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