Predicting Future Occupancy Grids in Dynamic Environment with Spatio-Temporal Learning

Reliably predicting future occupancy of highly dynamic urban environments is an important precursor for safe autonomous navigation. Common challenges in the prediction include forecasting the relative position of other vehicles, modelling the dynamics of vehicles subjected to different traffic conditions, and vanishing surrounding objects. To tackle these challenges, we propose a spatio-temporal prediction network pipeline that takes the past information from the environment and semantic labels separately for generating future occupancy predictions. Compared to the current SOTA, our approach predicts occupancy for a longer horizon of 3 seconds and in a relatively complex environment from the nuScenes dataset. Our experimental results demonstrate the ability of spatio-temporal networks to understand scene dynamics without the need for HD-Maps and explicit modeling dynamic objects. We publicly release our occupancy grid dataset based on nuScenes to support further research.

Estimating the State of Epidemics Spreading with Graph Neural Networks

When an epidemic spreads into a population, it is often unpractical or impossible to have a continuous monitoring of all subjects involved. As an alternative, algorithmic solutions can be used to infer the state of the whole population from a limited amount of measures. We analyze the capability of deep neural networks to solve this challenging task. Our proposed architecture is based on Graph Convolutional Neural Networks. As such it can reason on the effect of the underlying social network structure, which is recognized as the main component in the spreading of an epidemic. We test the proposed architecture with two scenarios modeled on the CoVid-19 pandemic: a generic homogeneous population, and a toy model of Boston metropolitan area.