Quantifying Uncertainty in Motion Prediction with Variational Bayesian Mixture

Safety and robustness are crucial factors in developing trustworthy autonomous vehicles. One essential aspect of addressing these factors is to equip vehicles with the capability to predict future trajectories for all moving objects in the surroundings and quantify prediction uncertainties. In this paper, we propose the Sequential Neural Variational Agent (SeNeVA), a generative model that describes the distribution of future trajectories for a single moving object. Our approach can distinguish Out-of-Distribution data while quantifying uncertainty and achieving competitive performance compared to state-of-the-art methods on the Argoverse 2 and INTERACTION datasets. Specifically, a 0.446 meters minimum Final Displacement Error, a 0.203 meters minimum Average Displacement Error, and a 5.35% Miss Rate are achieved on the INTERACTION test set. Extensive qualitative and quantitative analysis is also provided to evaluate the proposed model. Our open-source code is available at https://github.com/PurdueDigitalTwin/seneva.

GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot

Multi-task robot learning holds significant importance in tackling diverse and complex scenarios. However, current approaches are hindered by performance issues and difficulties in collecting training datasets. In this paper, we propose GeRM (Generalist Robotic Model). We utilize offline reinforcement learning to optimize data utilization strategies to learn from both demonstrations and sub-optimal data, thus surpassing the limitations of human demonstrations. Thereafter, we employ a transformer-based VLA network to process multi-modal inputs and output actions. By introducing the Mixture-of-Experts structure, GeRM allows faster inference speed with higher whole model capacity, and thus resolves the issue of limited RL parameters, enhancing model performance in multi-task learning while controlling computational costs. Through a series of experiments, we demonstrate that GeRM outperforms other methods across all tasks, while also validating its efficiency in both training and inference processes. Additionally, we uncover its potential to acquire emergent skills. Additionally, we contribute the QUARD-Auto dataset, collected automatically to support our training approach and foster advancements in multi-task quadruped robot learning. This work presents a new paradigm for reducing the cost of collecting robot data and driving progress in the multi-task learning community.

Improving Speaker Assignment in Speaker-Attributed ASR for Real Meeting Applications

Past studies on end-to-end meeting transcription have focused on model architecture and have mostly been evaluated on simulated meeting data. We present a novel study aiming to optimize the use of a Speaker-Attributed ASR (SA-ASR) system in real-life scenarios, such as the AMI meeting corpus, for improved speaker assignment of speech segments. First, we propose a pipeline tailored to real-life applications involving Voice Activity Detection (VAD), Speaker Diarization (SD), and SA-ASR. Second, we advocate using VAD output segments to fine-tune the SA-ASR model, considering that it is also applied to VAD segments during test, and show that this results in a relative reduction of Speaker Error Rate (SER) up to 28%. Finally, we explore strategies to enhance the extraction of the speaker embedding templates used as inputs by the SA-ASR system. We show that extracting them from SD output rather than annotated speaker segments results in a relative SER reduction up to 20%.

PrPSeg: Universal Proposition Learning for Panoramic Renal Pathology Segmentation

Understanding the anatomy of renal pathology is crucial for advancing disease diagnostics, treatment evaluation, and clinical research. The complex kidney system comprises various components across multiple levels, including regions (cortex, medulla), functional units (glomeruli, tubules), and cells (podocytes, mesangial cells in glomerulus). Prior studies have predominantly overlooked the intricate spatial interrelations among objects from clinical knowledge. In this research, we introduce a novel universal proposition learning approach, called panoramic renal pathology segmentation (PrPSeg), designed to segment comprehensively panoramic structures within kidney by integrating extensive knowledge of kidney anatomy. In this paper, we propose (1) the design of a comprehensive universal proposition matrix for renal pathology, facilitating the incorporation of classification and spatial relationships into the segmentation process; (2) a token-based dynamic head single network architecture, with the improvement of the partial label image segmentation and capability for future data enlargement; and (3) an anatomy loss function, quantifying the inter-object relationships across the kidney.

Nucleus subtype classification using inter-modality learning

Understanding the way cells communicate, co-locate, and interrelate is essential to understanding human physiology. Hematoxylin and eosin (H&E) staining is ubiquitously available both for clinical studies and research. The Colon Nucleus Identification and Classification (CoNIC) Challenge has recently innovated on robust artificial intelligence labeling of six cell types on H&E stains of the colon. However, this is a very small fraction of the number of potential cell classification types. Specifically, the CoNIC Challenge is unable to classify epithelial subtypes (progenitor, endocrine, goblet), lymphocyte subtypes (B, helper T, cytotoxic T), or connective subtypes (fibroblasts, stromal). In this paper, we propose to use inter-modality learning to label previously un-labelable cell types on virtual H&E. We leveraged multiplexed immunofluorescence (MxIF) histology imaging to identify 14 subclasses of cell types. We performed style transfer to synthesize virtual H&E from MxIF and transferred the higher density labels from MxIF to these virtual H&E images. We then evaluated the efficacy of learning in this approach. We identified helper T and progenitor nuclei with positive predictive values of $0.34 \pm 0.15$ (prevalence $0.03 \pm 0.01$) and $0.47 \pm 0.1$ (prevalence $0.07 \pm 0.02$) respectively on virtual H&E. This approach represents a promising step towards automating annotation in digital pathology.

Large Language Models for Autonomous Driving: Real-World Experiments

Autonomous driving systems are increasingly popular in today's technological landscape, where vehicles with partial automation have already been widely available on the market, and the full automation era with ``driverless'' capabilities is near the horizon. However, accurately understanding humans' commands, particularly for autonomous vehicles that have only passengers instead of drivers, and achieving a high level of personalization remain challenging tasks in the development of autonomous driving systems. In this paper, we introduce a Large Language Model (LLM)-based framework Talk-to-Drive (Talk2Drive) to process verbal commands from humans and make autonomous driving decisions with contextual information, satisfying their personalized preferences for safety, efficiency, and comfort. First, a speech recognition module is developed for Talk2Drive to interpret verbal inputs from humans to textual instructions, which are then sent to LLMs for reasoning. Then, appropriate commands for the Electrical Control Unit (ECU) are generated, achieving a 100\% success rate in executing codes. Real-world experiments show that our framework can substantially reduce the takeover rate for a diverse range of drivers by up to 90.1\%. To the best of our knowledge, Talk2Drive marks the first instance of employing an LLM-based system in a real-world autonomous driving environment.

LaMPilot: An Open Benchmark Dataset for Autonomous Driving with Language Model Programs

We present LaMPilot, a novel framework for planning in the field of autonomous driving, rethinking the task as a code-generation process that leverages established behavioral primitives. This approach aims to address the challenge of interpreting and executing spontaneous user instructions such as "overtake the car ahead," which have typically posed difficulties for existing frameworks. We introduce the LaMPilot benchmark specifically designed to quantitatively evaluate the efficacy of Large Language Models (LLMs) in translating human directives into actionable driving policies. We then evaluate a wide range of state-of-the-art code generation language models on tasks from the LaMPilot Benchmark. The results of the experiments showed that GPT-4, with human feedback, achieved an impressive task completion rate of 92.7% and a minimal collision rate of 0.9%. To encourage further investigation in this area, our code and dataset will be made available.

End-to-end Joint Rich and Normalized ASR with a limited amount of rich training data

Joint rich and normalized automatic speech recognition (ASR), that produces transcriptions both with and without punctuation and capitalization, remains a challenge. End-to-end (E2E) ASR models offer both convenience and the ability to perform such joint transcription of speech. Training such models requires paired speech and rich text data, which is not widely available. In this paper, we compare two different approaches to train a stateless Transducer-based E2E joint rich and normalized ASR system, ready for streaming applications, with a limited amount of rich labeled data. The first approach uses a language model to generate pseudo-rich transcriptions of normalized training data. The second approach uses a single decoder conditioned on the type of the output. The first approach leads to E2E rich ASR which perform better on out-of-domain data, with up to 9% relative reduction in errors. The second approach demonstrates the feasibility of an E2E joint rich and normalized ASR system using as low as 5% rich training data with moderate (2.42% absolute) increase in errors.

A Survey on Multimodal Large Language Models for Autonomous Driving

With the emergence of Large Language Models (LLMs) and Vision Foundation Models (VFMs), multimodal AI systems benefiting from large models have the potential to equally perceive the real world, make decisions, and control tools as humans. In recent months, LLMs have shown widespread attention in autonomous driving and map systems. Despite its immense potential, there is still a lack of a comprehensive understanding of key challenges, opportunities, and future endeavors to apply in LLM driving systems. In this paper, we present a systematic investigation in this field. We first introduce the background of Multimodal Large Language Models (MLLMs), the multimodal models development using LLMs, and the history of autonomous driving. Then, we overview existing MLLM tools for driving, transportation, and map systems together with existing datasets and benchmarks. Moreover, we summarized the works in The 1st WACV Workshop on Large Language and Vision Models for Autonomous Driving (LLVM-AD), which is the first workshop of its kind regarding LLMs in autonomous driving. To further promote the development of this field, we also discuss several important problems regarding using MLLMs in autonomous driving systems that need to be solved by both academia and industry.