Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page

Interpreting Embedding Models of Knowledge Bases: A Pedagogical Approach

Knowledge bases are employed in a variety of applications from natural language processing to semantic web search; alas, in practice their usefulness is hurt by their incompleteness. Embedding models attain state-of-the-art accuracy in knowledge base completion, but their predictions are notoriously hard to interpret. In this paper, we adapt "pedagogical approaches" (from the literature on neural networks) so as to interpret embedding models by extracting weighted Horn rules from them. We show how pedagogical approaches have to be adapted to take upon the large-scale relational aspects of knowledge bases and show experimentally their strengths and weaknesses.Comment: presented at 2018 ICML Workshop on Human Interpretability in Machine Learning (WHI 2018), Stockholm, Swede

Modeling Relation Paths for Representation Learning of Knowledge Bases

Representation learning of knowledge bases (KBs) aims to embed both entities and relations into a low-dimensional space. Most existing methods only consider direct relations in representation learning. We argue that multiple-step relation paths also contain rich inference patterns between entities, and propose a path-based representation learning model. This model considers relation paths as translations between entities for representation learning, and addresses two key challenges: (1) Since not all relation paths are reliable, we design a path-constraint resource allocation algorithm to measure the reliability of relation paths. (2) We represent relation paths via semantic composition of relation embeddings. Experimental results on real-world datasets show that, as compared with baselines, our model achieves significant and consistent improvements on knowledge base completion and relation extraction from text.Comment: 10 page