Neural Motion Planning for Autonomous Parking

This paper presents a hybrid motion planning strategy that combines a deep generative network with a conventional motion planning method. Existing planning methods such as A* and Hybrid A* are widely used in path planning tasks because of their ability to determine feasible paths even in complex environments; however, they have limitations in terms of efficiency. To overcome these limitations, a path planning algorithm based on a neural network, namely the neural Hybrid A*, is introduced. This paper proposes using a conditional variational autoencoder (CVAE) to guide the search algorithm by exploiting the ability of CVAE to learn information about the planning space given the information of the parking environment. A non-uniform expansion strategy is utilized based on a distribution of feasible trajectories learned in the demonstrations. The proposed method effectively learns the representations of a given state, and shows improvement in terms of algorithm performance.

Multi-Head Attention based Probabilistic Vehicle Trajectory Prediction

This paper presents online-capable deep learning model for probabilistic vehicle trajectory prediction. We propose a simple encoder-decoder architecture based on multi-head attention. The proposed model generates the distribution of the predicted trajectories for multiple vehicles in parallel. Our approach to model the interactions can learn to attend to a few influential vehicles in an unsupervised manner, which can improve the interpretability of the network. The experiments using naturalistic trajectories at highway show the clear improvement in terms of positional error on both longitudinal and lateral direction.

Multi-Head Attention-based Probabilistic Vehicle Trajectory Prediction

This paper presents online-capable deep learning model for probabilistic vehicle trajectory prediction. We propose a simple encoder-decoder architecture based on multi-head attention. The proposed model generates the distribution of the predicted trajectories for multiple vehicles in parallel. Our approach to model the interactions can learn to attend to a few influential vehicles in an unsupervised manner, which can improve the interpretability of the network. The experiments using naturalistic trajectories at highway show the clear improvement in terms of positional error on both longitudinal and lateral direction.

Coupled Representation Learning for Domains, Intents and Slots in Spoken Language Understanding

Representation learning is an essential problem in a wide range of applications and it is important for performing downstream tasks successfully. In this paper, we propose a new model that learns coupled representations of domains, intents, and slots by taking advantage of their hierarchical dependency in a Spoken Language Understanding system. Our proposed model learns the vector representation of intents based on the slots tied to these intents by aggregating the representations of the slots. Similarly, the vector representation of a domain is learned by aggregating the representations of the intents tied to a specific domain. To the best of our knowledge, it is the first approach to jointly learning the representations of domains, intents, and slots using their hierarchical relationships. The experimental results demonstrate the effectiveness of the representations learned by our model, as evidenced by improved performance on the contextual cross-domain reranking task.

Efficient Large-Scale Domain Classification with Personalized Attention

In this paper, we explore the task of mapping spoken language utterances to one of thousands of natural language understanding domains in intelligent personal digital assistants (IPDAs). This scenario is observed for many mainstream IPDAs in industry that allow third parties to develop thousands of new domains to augment built-in ones to rapidly increase domain coverage and overall IPDA capabilities. We propose a scalable neural model architecture with a shared encoder, a novel attention mechanism that incorporates personalization information and domain-specific classifiers that solves the problem efficiently. Our architecture is designed to efficiently accommodate new domains that appear in-between full model retraining cycles with a rapid bootstrapping mechanism two orders of magnitude faster than retraining. We account for practical constraints in real-time production systems, and design to minimize memory footprint and runtime latency. We demonstrate that incorporating personalization results in significantly more accurate domain classification in the setting with thousands of overlapping domains.

A Scalable Neural Shortlisting-Reranking Approach for Large-Scale Domain Classification in Natural Language Understanding

Intelligent personal digital assistants (IPDAs), a popular real-life application with spoken language understanding capabilities, can cover potentially thousands of overlapping domains for natural language understanding, and the task of finding the best domain to handle an utterance becomes a challenging problem on a large scale. In this paper, we propose a set of efficient and scalable neural shortlisting-reranking models for large-scale domain classification in IPDAs. The shortlisting stage focuses on efficiently trimming all domains down to a list of k-best candidate domains, and the reranking stage performs a list-wise reranking of the initial k-best domains with additional contextual information. We show the effectiveness of our approach with extensive experiments on 1,500 IPDA domains.