Improving Deep Dynamics Models for Autonomous Vehicles with Multimodal Latent Mapping of Surfaces

The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To address this issue we propose a new approach that learns a surface-aware dynamics model by conditioning it on a latent variable vector storing surface information about the current location. A latent mapper is trained to update these latent variables during inference from multiple modalities on every traversal of the corresponding locations and stores them in a map. By training everything end-to-end with the loss of the dynamics model, we enforce the latent mapper to learn an update rule for the latent map that is useful for the subsequent dynamics model. We implement and evaluate our approach on a real miniature electric car. The results show that the latent map is updated to allow more accurate predictions of the dynamics model compared to a model without this information. We further show that by using this model, the driving performance can be improved on varying and challenging surfaces.

SPARTan: Scalable PARAFAC2 for Large & Sparse Data

In exploratory tensor mining, a common problem is how to analyze a set of variables across a set of subjects whose observations do not align naturally. For example, when modeling medical features across a set of patients, the number and duration of treatments may vary widely in time, meaning there is no meaningful way to align their clinical records across time points for analysis purposes. To handle such data, the state-of-the-art tensor model is the so-called PARAFAC2, which yields interpretable and robust output and can naturally handle sparse data. However, its main limitation up to now has been the lack of efficient algorithms that can handle large-scale datasets. In this work, we fill this gap by developing a scalable method to compute the PARAFAC2 decomposition of large and sparse datasets, called SPARTan. Our method exploits special structure within PARAFAC2, leading to a novel algorithmic reformulation that is both fast (in absolute time) and more memory-efficient than prior work. We evaluate SPARTan on both synthetic and real datasets, showing 22X performance gains over the best previous implementation and also handling larger problem instances for which the baseline fails. Furthermore, we are able to apply SPARTan to the mining of temporally-evolving phenotypes on data taken from real and medically complex pediatric patients. The clinical meaningfulness of the phenotypes identified in this process, as well as their temporal evolution over time for several patients, have been endorsed by clinical experts.