Automated Lane Change Behavior Prediction and Environmental Perception Based on SLAM Technology

In addition to environmental perception sensors such as cameras, radars, etc. in the automatic driving system, the external environment of the vehicle is perceived, in fact, there is also a perception sensor that has been silently dedicated in the system, that is, the positioning module. This paper explores the application of SLAM (Simultaneous Localization and Mapping) technology in the context of automatic lane change behavior prediction and environment perception for autonomous vehicles. It discusses the limitations of traditional positioning methods, introduces SLAM technology, and compares LIDAR SLAM with visual SLAM. Real-world examples from companies like Tesla, Waymo, and Mobileye showcase the integration of AI-driven technologies, sensor fusion, and SLAM in autonomous driving systems. The paper then delves into the specifics of SLAM algorithms, sensor technologies, and the importance of automatic lane changes in driving safety and efficiency. It highlights Tesla's recent update to its Autopilot system, which incorporates automatic lane change functionality using SLAM technology. The paper concludes by emphasizing the crucial role of SLAM in enabling accurate environment perception, positioning, and decision-making for autonomous vehicles, ultimately enhancing safety and driving experience.

Finding the Pillars of Strength for Multi-Head Attention

Recent studies have revealed some issues of Multi-Head Attention (MHA), e.g., redundancy and over-parameterization. Specifically, the heads of MHA were originally designed to attend to information from different representation subspaces, whereas prior studies found that some attention heads likely learn similar features and can be pruned without harming performance. Inspired by the minimum-redundancy feature selection, we assume that focusing on the most representative and distinctive features with minimum resources can mitigate the above issues and lead to more effective and efficient MHAs. In particular, we propose Grouped Head Attention, trained with a self-supervised group constraint that group attention heads, where each group focuses on an essential but distinctive feature subset. We additionally propose a Voting-to-Stay procedure to remove redundant heads, thus achieving a transformer with lighter weights. Moreover, our method achieves significant performance gains on three well-established tasks while considerably compressing parameters.

Adaptive Knowledge Distillation between Text and Speech Pre-trained Models

Learning on a massive amount of speech corpus leads to the recent success of many self-supervised speech models. With knowledge distillation, these models may also benefit from the knowledge encoded by language models that are pre-trained on rich sources of texts. The distillation process, however, is challenging due to the modal disparity between textual and speech embedding spaces. This paper studies metric-based distillation to align the embedding space of text and speech with only a small amount of data without modifying the model structure. Since the semantic and granularity gap between text and speech has been omitted in literature, which impairs the distillation, we propose the Prior-informed Adaptive knowledge Distillation (PAD) that adaptively leverages text/speech units of variable granularity and prior distributions to achieve better global and local alignments between text and speech pre-trained models. We evaluate on three spoken language understanding benchmarks to show that PAD is more effective in transferring linguistic knowledge than other metric-based distillation approaches.