Privacy-preserving and Uncertainty-aware Federated Trajectory Prediction for Connected Autonomous Vehicles

Deep learning is the method of choice for trajectory prediction for autonomous vehicles. Unfortunately, its data-hungry nature implicitly requires the availability of sufficiently rich and high-quality centralized datasets, which easily leads to privacy leakage. Besides, uncertainty-awareness becomes increasingly important for safety-crucial cyber physical systems whose prediction module heavily relies on machine learning tools. In this paper, we relax the data collection requirement and enhance uncertainty-awareness by using Federated Learning on Connected Autonomous Vehicles with an uncertainty-aware global objective. We name our algorithm as FLTP. We further introduce ALFLTP which boosts FLTP via using active learning techniques in adaptatively selecting participating clients. We consider both negative log-likelihood (NLL) and aleatoric uncertainty (AU) as client selection metrics. Experiments on Argoverse dataset show that FLTP significantly outperforms the model trained on local data. In addition, ALFLTP-AU converges faster in training regression loss and performs better in terms of NLL, minADE and MR than FLTP in most rounds, and has more stable round-wise performance than ALFLTP-NLL.

Two-level Attention with Two-stage Multi-task Learning for Facial Emotion Recognition

Compared with facial emotion recognition on categorical model, the dimensional emotion recognition can describe numerous emotions of the real world more accurately. Most prior works of dimensional emotion estimation only considered laboratory data and used video, speech or other multi-modal features. The effect of these methods applied on static images in the real world is unknown. In this paper, a two-level attention with two-stage multi-task learning (2Att-2Mt) framework is proposed for facial emotion estimation on only static images. Firstly, the features of corresponding region(position-level features) are extracted and enhanced automatically by first-level attention mechanism. In the following, we utilize Bi-directional Recurrent Neural Network(Bi-RNN) with self-attention(second-level attention) to make full use of the relationship features of different layers(layer-level features) adaptively. Owing to the inherent complexity of dimensional emotion recognition, we propose a two-stage multi-task learning structure to exploited categorical representations to ameliorate the dimensional representations and estimate valence and arousal simultaneously in view of the correlation of the two targets. The quantitative results conducted on AffectNet dataset show significant advancement on Concordance Correlation Coefficient(CCC) and Root Mean Square Error(RMSE), illustrating the superiority of the proposed framework. Besides, extensive comparative experiments have also fully demonstrated the effectiveness of different components.