20,245 research outputs found
Unsupervised Sampling Promoting for Stochastic Human Trajectory Prediction
The indeterminate nature of human motion requires trajectory prediction
systems to use a probabilistic model to formulate the multi-modality phenomenon
and infer a finite set of future trajectories. However, the inference processes
of most existing methods rely on Monte Carlo random sampling, which is
insufficient to cover the realistic paths with finite samples, due to the long
tail effect of the predicted distribution. To promote the sampling process of
stochastic prediction, we propose a novel method, called BOsampler, to
adaptively mine potential paths with Bayesian optimization in an unsupervised
manner, as a sequential design strategy in which new prediction is dependent on
the previously drawn samples. Specifically, we model the trajectory sampling as
a Gaussian process and construct an acquisition function to measure the
potential sampling value. This acquisition function applies the original
distribution as prior and encourages exploring paths in the long-tail region.
This sampling method can be integrated with existing stochastic predictive
models without retraining. Experimental results on various baseline methods
demonstrate the effectiveness of our method
The path inference filter: model-based low-latency map matching of probe vehicle data
We consider the problem of reconstructing vehicle trajectories from sparse
sequences of GPS points, for which the sampling interval is between 10 seconds
and 2 minutes. We introduce a new class of algorithms, called altogether path
inference filter (PIF), that maps GPS data in real time, for a variety of
trade-offs and scenarios, and with a high throughput. Numerous prior approaches
in map-matching can be shown to be special cases of the path inference filter
presented in this article. We present an efficient procedure for automatically
training the filter on new data, with or without ground truth observations. The
framework is evaluated on a large San Francisco taxi dataset and is shown to
improve upon the current state of the art. This filter also provides insights
about driving patterns of drivers. The path inference filter has been deployed
at an industrial scale inside the Mobile Millennium traffic information system,
and is used to map fleets of data in San Francisco, Sacramento, Stockholm and
Porto.Comment: Preprint, 23 pages and 23 figure
Deep Unsupervised Learning using Nonequilibrium Thermodynamics
A central problem in machine learning involves modeling complex data-sets
using highly flexible families of probability distributions in which learning,
sampling, inference, and evaluation are still analytically or computationally
tractable. Here, we develop an approach that simultaneously achieves both
flexibility and tractability. The essential idea, inspired by non-equilibrium
statistical physics, is to systematically and slowly destroy structure in a
data distribution through an iterative forward diffusion process. We then learn
a reverse diffusion process that restores structure in data, yielding a highly
flexible and tractable generative model of the data. This approach allows us to
rapidly learn, sample from, and evaluate probabilities in deep generative
models with thousands of layers or time steps, as well as to compute
conditional and posterior probabilities under the learned model. We
additionally release an open source reference implementation of the algorithm
Intrinsically Motivated Goal Exploration Processes with Automatic Curriculum Learning
Intrinsically motivated spontaneous exploration is a key enabler of
autonomous lifelong learning in human children. It enables the discovery and
acquisition of large repertoires of skills through self-generation,
self-selection, self-ordering and self-experimentation of learning goals. We
present an algorithmic approach called Intrinsically Motivated Goal Exploration
Processes (IMGEP) to enable similar properties of autonomous or self-supervised
learning in machines. The IMGEP algorithmic architecture relies on several
principles: 1) self-generation of goals, generalized as fitness functions; 2)
selection of goals based on intrinsic rewards; 3) exploration with incremental
goal-parameterized policy search and exploitation of the gathered data with a
batch learning algorithm; 4) systematic reuse of information acquired when
targeting a goal for improving towards other goals. We present a particularly
efficient form of IMGEP, called Modular Population-Based IMGEP, that uses a
population-based policy and an object-centered modularity in goals and
mutations. We provide several implementations of this architecture and
demonstrate their ability to automatically generate a learning curriculum
within several experimental setups including a real humanoid robot that can
explore multiple spaces of goals with several hundred continuous dimensions.
While no particular target goal is provided to the system, this curriculum
allows the discovery of skills that act as stepping stone for learning more
complex skills, e.g. nested tool use. We show that learning diverse spaces of
goals with intrinsic motivations is more efficient for learning complex skills
than only trying to directly learn these complex skills
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