Predictive Collision Management for Time and Risk Dependent Path Planning

Autonomous agents such as self-driving cars or parcel robots need to recognize and avoid possible collisions with obstacles in order to move successfully in their environment. Humans, however, have learned to predict movements intuitively and to avoid obstacles in a forward-looking way. The task of collision avoidance can be divided into a global and a local level. Regarding the global level, we propose an approach called "Predictive Collision Management Path Planning" (PCMP). At the local level, solutions for collision avoidance are used that prevent an inevitable collision. Therefore, the aim of PCMP is to avoid unnecessary local collision scenarios using predictive collision management. PCMP is a graph-based algorithm with a focus on the time dimension consisting of three parts: (1) movement prediction, (2) integration of movement prediction into a time-dependent graph, and (3) time and risk-dependent path planning. The algorithm combines the search for a shortest path with the question: is the detour worth avoiding a possible collision scenario? We evaluate the evasion behavior in different simulation scenarios and the results show that a risk-sensitive agent can avoid 47.3% of the collision scenarios while making a detour of 1.3%. A risk-averse agent avoids up to 97.3% of the collision scenarios with a detour of 39.1%. Thus, an agent's evasive behavior can be controlled actively and risk-dependent using PCMP.Comment: Extended version of the SIGSPATIAL '20 pape

Point-based Path Prediction from Polar Histograms

We address the problem of modeling complex target behavior using a stochastic model that integrates object dynamics, statistics gathered from the environment and semantic knowledge about the scene. The method exploits prior knowledge to build point-wise polar histograms that provide the ability to forecast target motion to the most likely paths. Physical constraints are included in the model through a ray-launching procedure, while semantic scene segmentation is used to provide a coarser representation of the most likely crossable areas. The model is enhanced with statistics extracted from previously observed trajectories and with nearly-constant velocity dynamics. Information regarding the target's destination may also be included steering the prediction to a predetermined area. Our experimental results, validated in comparison to actual targets' trajectories, demonstrate that our approach can be effective in forecasting objects' behavior in structured scenes

Urine cell-free DNA multi-omics to detect MRD and predict survival in bladder cancer patients

Circulating tumor DNA (ctDNA) sensitivity remains subpar for molecular residual disease (MRD) detection in bladder cancer patients. To remedy this problem, we focused on the biofluid most proximal to the disease, urine, and analyzed urine tumor DNA in 74 localized bladder cancer patients. We integrated ultra-low-pass whole genome sequencing (ULP-WGS) with urine cancer personalized profiling by deep sequencing (uCAPP-Seq) to achieve sensitive MRD detection and predict overall survival. Variant allele frequency, inferred tumor mutational burden, and copy number-derived tumor fraction levels in urine cell-free DNA (cfDNA) significantly predicted pathologic complete response status, far better than plasma ctDNA was able to. A random forest model incorporating these urine cfDNA-derived factors with leave-one-out cross-validation was 87% sensitive for predicting residual disease in reference to gold-standard surgical pathology. Both progression-free survival (HR = 3.00, p = 0.01) and overall survival (HR = 4.81, p = 0.009) were dramatically worse by Kaplan-Meier analysis for patients predicted by the model to have MRD, which was corroborated by Cox regression analysis. Additional survival analyses performed on muscle-invasive, neoadjuvant chemotherapy, and held-out validation subgroups corroborated these findings. In summary, we profiled urine samples from 74 patients with localized bladder cancer and used urine cfDNA multi-omics to detect MRD sensitively and predict survival accurately

Towards Viewpoint Invariant 3D Human Pose Estimation

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task learning problem, our model is able to selectively predict partial poses in the presence of noise and occlusion. Our approach leverages a convolutional and recurrent network architecture with a top-down error feedback mechanism to self-correct previous pose estimates in an end-to-end manner. We evaluate our model on a previously published depth dataset and a newly collected human pose dataset containing 100 K annotated depth images from extreme viewpoints. Experiments show that our model achieves competitive performance on frontal views while achieving state-of-the-art performance on alternate viewpoints