Pedestrian Trajectory Prediction with Structured Memory Hierarchies

This paper presents a novel framework for human trajectory prediction based on multimodal data (video and radar). Motivated by recent neuroscience discoveries, we propose incorporating a structured memory component in the human trajectory prediction pipeline to capture historical information to improve performance. We introduce structured LSTM cells for modelling the memory content hierarchically, preserving the spatiotemporal structure of the information and enabling us to capture both short-term and long-term context. We demonstrate how this architecture can be extended to integrate salient information from multiple modalities to automatically store and retrieve important information for decision making without any supervision. We evaluate the effectiveness of the proposed models on a novel multimodal dataset that we introduce, consisting of 40,000 pedestrian trajectories, acquired jointly from a radar system and a CCTV camera system installed in a public place. The performance is also evaluated on the publicly available New York Grand Central pedestrian database. In both settings, the proposed models demonstrate their capability to better anticipate future pedestrian motion compared to existing state of the art.Comment: To appear in ECML-PKDD 201

Entrograms and coarse graining of dynamics on complex networks

Using an information theoretic point of view, we investigate how a dynamics acting on a network can be coarse grained through the use of graph partitions. Specifically, we are interested in how aggregating the state space of a Markov process according to a partition impacts on the thus obtained lower-dimensional dynamics. We highlight that for a dynamics on a particular graph there may be multiple coarse grained descriptions that capture different, incomparable features of the original process. For instance, a coarse graining induced by one partition may be commensurate with a time-scale separation in the dynamics, while another coarse graining may correspond to a different lower-dimensional dynamics that preserves the Markov property of the original process. Taking inspiration from the literature of Computational Mechanics, we find that a convenient tool to summarise and visualise such dynamical properties of a coarse grained model (partition) is the entrogram. The entrogram gathers certain information-theoretic measures, which quantify how information flows across time steps. These information theoretic quantities include the entropy rate, as well as a measure for the memory contained in the process, i.e., how well the dynamics can be approximated by a first order Markov process. We use the entrogram to investigate how specific macro-scale connection patterns in the state-space transition graph of the original dynamics result in desirable properties of coarse grained descriptions. We thereby provide a fresh perspective on the interplay between structure and dynamics in networks, and the process of partitioning from an information theoretic perspective. We focus on networks that may be approximated by both a core-periphery or a clustered organization, and highlight that each of these coarse grained descriptions can capture different aspects of a Markov process acting on the network.Comment: 17 pages, 6 figue

Applied type system

We present a type system that can effectively facilitate the use of types in capturing invariants in stateful programs that may involve (sophisticated) pointer manipulation. With its root in a recently developed framework Applied Type System (ATS), the type system imposes a level of abstraction on program states by introducing a novel notion of recursive stateful views and then relies on a form of linear logic to reason about such views. We consider the design and then the formalization of the type system to constitute the primary contribution of the paper. In addition, we mention a prototype implementation of the type system and then give a variety of examples that attests to the practicality of programming with recursive stateful views.National Science Foundation (CCR-0224244, CCR-0229480