Augmenting Reinforcement Learning with Transformer-based Scene Representation Learning for Decision-making of Autonomous Driving

Decision-making for urban autonomous driving is challenging due to the stochastic nature of interactive traffic participants and the complexity of road structures. Although reinforcement learning (RL)-based decision-making scheme is promising to handle urban driving scenarios, it suffers from low sample efficiency and poor adaptability. In this paper, we propose Scene-Rep Transformer to improve the RL decision-making capabilities with better scene representation encoding and sequential predictive latent distillation. Specifically, a multi-stage Transformer (MST) encoder is constructed to model not only the interaction awareness between the ego vehicle and its neighbors but also intention awareness between the agents and their candidate routes. A sequential latent Transformer (SLT) with self-supervised learning objectives is employed to distill the future predictive information into the latent scene representation, in order to reduce the exploration space and speed up training. The final decision-making module based on soft actor-critic (SAC) takes as input the refined latent scene representation from the Scene-Rep Transformer and outputs driving actions. The framework is validated in five challenging simulated urban scenarios with dense traffic, and its performance is manifested quantitatively by the substantial improvements in data efficiency and performance in terms of success rate, safety, and efficiency. The qualitative results reveal that our framework is able to extract the intentions of neighbor agents to help make decisions and deliver more diversified driving behaviors.

STrajNet: Occupancy Flow Prediction via Multi-modal Swin Transformer

Making an accurate prediction of occupancy and flow is essential to enable better safety and interaction for autonomous vehicles under complex traffic scenarios. This work proposes STrajNet: a multi-modal Swin Transformerbased framework for effective scene occupancy and flow predictions. We employ Swin Transformer to encode the image and interaction-aware motion representations and propose a cross-attention module to inject motion awareness into grid cells across different time steps. Flow and occupancy predictions are then decoded through temporalsharing Pyramid decoders. The proposed method shows competitive prediction accuracy and other evaluation metrics in the Waymo Open Dataset benchmark.

Differentiable Integrated Motion Prediction and Planning with Learnable Cost Function for Autonomous Driving

Predicting the future states of surrounding traffic participants and planning a safe, smooth, and socially compliant trajectory accordingly is crucial for autonomous vehicles. There are two major issues with the current autonomous driving system: the prediction module is often decoupled from the planning module and the cost function for planning is hard to specify and tune. To tackle these issues, we propose an end-to-end differentiable framework that integrates prediction and planning modules and is able to learn the cost function from data. Specifically, we employ a differentiable nonlinear optimizer as the motion planner, which takes the predicted trajectories of surrounding agents given by the neural network as input and optimizes the trajectory for the autonomous vehicle, thus enabling all operations in the framework to be differentiable including the cost function weights. The proposed framework is trained on a large-scale real-world driving dataset to imitate human driving trajectories in the entire driving scene and validated in both open-loop and closed-loop manners. The open-loop testing results reveal that the proposed method outperforms the baseline methods across a variety of metrics and delivers planning-centric prediction results, allowing the planning module to output close-to-human trajectories. In closed-loop testing, the proposed method shows the ability to handle complex urban driving scenarios and robustness against the distributional shift that imitation learning methods suffer from. Importantly, we find that joint training of planning and prediction modules achieves better performance than planning with a separate trained prediction module in both open-loop and closed-loop tests. Moreover, the ablation study indicates that the learnable components in the framework are essential to ensure planning stability and performance.

Toward Annotator Group Bias in Crowdsourcing

Crowdsourcing has emerged as a popular approach for collecting annotated data to train supervised machine learning models. However, annotator bias can lead to defective annotations. Though there are a few works investigating individual annotator bias, the group effects in annotators are largely overlooked. In this work, we reveal that annotators within the same demographic group tend to show consistent group bias in annotation tasks and thus we conduct an initial study on annotator group bias. We first empirically verify the existence of annotator group bias in various real-world crowdsourcing datasets. Then, we develop a novel probabilistic graphical framework GroupAnno to capture annotator group bias with a new extended Expectation Maximization (EM) training algorithm. We conduct experiments on both synthetic and real-world datasets. Experimental results demonstrate the effectiveness of our model in modeling annotator group bias in label aggregation and model learning over competitive baselines.

Trustworthy AI: A Computational Perspective

In the past few decades, artificial intelligence (AI) technology has experienced swift developments, changing everyone's daily life and profoundly altering the course of human society. The intention of developing AI is to benefit humans, by reducing human labor, bringing everyday convenience to human lives, and promoting social good. However, recent research and AI applications show that AI can cause unintentional harm to humans, such as making unreliable decisions in safety-critical scenarios or undermining fairness by inadvertently discriminating against one group. Thus, trustworthy AI has attracted immense attention recently, which requires careful consideration to avoid the adverse effects that AI may bring to humans, so that humans can fully trust and live in harmony with AI technologies. Recent years have witnessed a tremendous amount of research on trustworthy AI. In this survey, we present a comprehensive survey of trustworthy AI from a computational perspective, to help readers understand the latest technologies for achieving trustworthy AI. Trustworthy AI is a large and complex area, involving various dimensions. In this work, we focus on six of the most crucial dimensions in achieving trustworthy AI: (i) Safety & Robustness, (ii) Non-discrimination & Fairness, (iii) Explainability, (iv) Privacy, (v) Accountability & Auditability, and (vi) Environmental Well-Being. For each dimension, we review the recent related technologies according to a taxonomy and summarize their applications in real-world systems. We also discuss the accordant and conflicting interactions among different dimensions and discuss potential aspects for trustworthy AI to investigate in the future.

AutoLoss: Automated Loss Function Search in Recommendations

Designing an effective loss function plays a crucial role in training deep recommender systems. Most existing works often leverage a predefined and fixed loss function that could lead to suboptimal recommendation quality and training efficiency. Some recent efforts rely on exhaustively or manually searched weights to fuse a group of candidate loss functions, which is exceptionally costly in computation and time. They also neglect the various convergence behaviors of different data examples. In this work, we propose an AutoLoss framework that can automatically and adaptively search for the appropriate loss function from a set of candidates. To be specific, we develop a novel controller network, which can dynamically adjust the loss probabilities in a differentiable manner. Unlike existing algorithms, the proposed controller can adaptively generate the loss probabilities for different data examples according to their varied convergence behaviors. Such design improves the model's generalizability and transferability between deep recommender systems and datasets. We evaluate the proposed framework on two benchmark datasets. The results show that AutoLoss outperforms representative baselines. Further experiments have been conducted to deepen our understandings of AutoLoss, including its transferability, components and training efficiency.

The Authors Matter: Understanding and Mitigating Implicit Bias in Deep Text Classification

It is evident that deep text classification models trained on human data could be biased. In particular, they produce biased outcomes for texts that explicitly include identity terms of certain demographic groups. We refer to this type of bias as explicit bias, which has been extensively studied. However, deep text classification models can also produce biased outcomes for texts written by authors of certain demographic groups. We refer to such bias as implicit bias of which we still have a rather limited understanding. In this paper, we first demonstrate that implicit bias exists in different text classification tasks for different demographic groups. Then, we build a learning-based interpretation method to deepen our knowledge of implicit bias. Specifically, we verify that classifiers learn to make predictions based on language features that are related to the demographic attributes of the authors. Next, we propose a framework Debiased-TC to train deep text classifiers to make predictions on the right features and consequently mitigate implicit bias. We conduct extensive experiments on three real-world datasets. The results show that the text classification models trained under our proposed framework outperform traditional models significantly in terms of fairness, and also slightly in terms of classification performance.

Improved Deep Reinforcement Learning with Expert Demonstrations for Urban Autonomous Driving

Currently, urban autonomous driving remains challenging because of the complexity of the driving environment. Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches, showing great potential to make decisions intelligently, but they still do not work well in urban driving situations. To better tackle this problem, this paper proposes a novel learning-based method that combines deep reinforcement learning with expert demonstrations, focusing on longitudinal motion control in autonomous driving. Our proposed method employs the actor-critic structure and modifies the learning process of the policy network to incorporate both the goals of maximizing reward and imitating the expert. Moreover, an adaptive prioritized experience replay is designed to sample experience from both the agent's self-exploration and expert demonstration, so as to improve the sample efficiency. The proposed method is validated in a simulated urban roundabout scenario and compared with various prevailing RL and IL baseline approaches. The results manifest that the proposed method has a faster training speed, as well as better performance in navigating safely and efficiently.

Personalized Multimodal Feedback Generation in Education

The automatic evaluation for school assignments is an important application of AI in the education field. In this work, we focus on the task of personalized multimodal feedback generation, which aims to generate personalized feedback for various teachers to evaluate students' assignments involving multimodal inputs such as images, audios, and texts. This task involves the representation and fusion of multimodal information and natural language generation, which presents the challenges from three aspects: 1) how to encode and integrate multimodal inputs; 2) how to generate feedback specific to each modality; and 3) how to realize personalized feedback generation. In this paper, we propose a novel Personalized Multimodal Feedback Generation Network (PMFGN) armed with a modality gate mechanism and a personalized bias mechanism to address these challenges. The extensive experiments on real-world K-12 education data show that our model significantly outperforms several baselines by generating more accurate and diverse feedback. In addition, detailed ablation experiments are conducted to deepen our understanding of the proposed framework.