Model-Assisted Learning for Adaptive Cooperative Perception of Connected Autonomous Vehicles

Cooperative perception (CP) is a key technology to facilitate consistent and accurate situational awareness for connected and autonomous vehicles (CAVs). To tackle the network resource inefficiency issue in traditional broadcast-based CP, unicast-based CP has been proposed to associate CAV pairs for cooperative perception via vehicle-to-vehicle transmission. In this paper, we investigate unicast-based CP among CAV pairs. With the consideration of dynamic perception workloads and channel conditions due to vehicle mobility and dynamic radio resource availability, we propose an adaptive cooperative perception scheme for CAV pairs in a mixed-traffic autonomous driving scenario with both CAVs and human-driven vehicles. We aim to determine when to switch between cooperative perception and stand-alone perception for each CAV pair, and allocate communication and computing resources to cooperative CAV pairs for maximizing the computing efficiency gain under perception task delay requirements. A model-assisted multi-agent reinforcement learning (MARL) solution is developed, which integrates MARL for an adaptive CAV cooperation decision and an optimization model for communication and computing resource allocation. Simulation results demonstrate the effectiveness of the proposed scheme in achieving high computing efficiency gain, as compared with benchmark schemes.

SCP-GAN: Self-Correcting Discriminator Optimization for Training Consistency Preserving Metric GAN on Speech Enhancement Tasks

In recent years, Generative Adversarial Networks (GANs) have produced significantly improved results in speech enhancement (SE) tasks. They are difficult to train, however. In this work, we introduce several improvements to the GAN training schemes, which can be applied to most GAN-based SE models. We propose using consistency loss functions, which target the inconsistency in time and time-frequency domains caused by Fourier and Inverse Fourier Transforms. We also present self-correcting optimization for training a GAN discriminator on SE tasks, which helps avoid "harmful" training directions for parts of the discriminator loss function. We have tested our proposed methods on several state-of-the-art GAN-based SE models and obtained consistent improvements, including new state-of-the-art results for the Voice Bank+DEMAND dataset.

Breaking Time Invariance: Assorted-Time Normalization for RNNs

Methods such as Layer Normalization (LN) and Batch Normalization (BN) have proven to be effective in improving the training of Recurrent Neural Networks (RNNs). However, existing methods normalize using only the instantaneous information at one particular time step, and the result of the normalization is a preactivation state with a time-independent distribution. This implementation fails to account for certain temporal differences inherent in the inputs and the architecture of RNNs. Since these networks share weights across time steps, it may also be desirable to account for the connections between time steps in the normalization scheme. In this paper, we propose a normalization method called Assorted-Time Normalization (ATN), which preserves information from multiple consecutive time steps and normalizes using them. This setup allows us to introduce longer time dependencies into the traditional normalization methods without introducing any new trainable parameters. We present theoretical derivations for the gradient propagation and prove the weight scaling invariance property. Our experiments applying ATN to LN demonstrate consistent improvement on various tasks, such as Adding, Copying, and Denoise Problems and Language Modeling Problems.

Orthogonal Gated Recurrent Unit with Neumann-Cayley Transformation

In recent years, using orthogonal matrices has been shown to be a promising approach in improving Recurrent Neural Networks (RNNs) with training, stability, and convergence, particularly, to control gradients. While Gated Recurrent Unit (GRU) and Long Short Term Memory (LSTM) architectures address the vanishing gradient problem by using a variety of gates and memory cells, they are still prone to the exploding gradient problem. In this work, we analyze the gradients in GRU and propose the usage of orthogonal matrices to prevent exploding gradient problems and enhance long-term memory. We study where to use orthogonal matrices and we propose a Neumann series-based Scaled Cayley transformation for training orthogonal matrices in GRU, which we call Neumann-Cayley Orthogonal GRU, or simply NC-GRU. We present detailed experiments of our model on several synthetic and real-world tasks, which show that NC-GRU significantly outperforms GRU as well as several other RNNs.

AUTM Flow: Atomic Unrestricted Time Machine for Monotonic Normalizing Flows

Nonlinear monotone transformations are used extensively in normalizing flows to construct invertible triangular mappings from simple distributions to complex ones. In existing literature, monotonicity is usually enforced by restricting function classes or model parameters and the inverse transformation is often approximated by root-finding algorithms as a closed-form inverse is unavailable. In this paper, we introduce a new integral-based approach termed "Atomic Unrestricted Time Machine (AUTM)", equipped with unrestricted integrands and easy-to-compute explicit inverse. AUTM offers a versatile and efficient way to the design of normalizing flows with explicit inverse and unrestricted function classes or parameters. Theoretically, we present a constructive proof that AUTM is universal: all monotonic normalizing flows can be viewed as limits of AUTM flows. We provide a concrete example to show how to approximate any given monotonic normalizing flow using AUTM flows with guaranteed convergence. The result implies that AUTM can be used to transform an existing flow into a new one equipped with explicit inverse and unrestricted parameters. The performance of the new approach is evaluated on high dimensional density estimation, variational inference and image generation. Experiments demonstrate superior speed and memory efficiency of AUTM.

Symmetry Structured Convolutional Neural Networks

We consider Convolutional Neural Networks (CNNs) with 2D structured features that are symmetric in the spatial dimensions. Such networks arise in modeling pairwise relationships for a sequential recommendation problem, as well as secondary structure inference problems of RNA and protein sequences. We develop a CNN architecture that generates and preserves the symmetry structure in the network's convolutional layers. We present parameterizations for the convolutional kernels that produce update rules to maintain symmetry throughout the training. We apply this architecture to the sequential recommendation problem, the RNA secondary structure inference problem, and the protein contact map prediction problem, showing that the symmetric structured networks produce improved results using fewer numbers of machine parameters.

Batch Normalization Preconditioning for Neural Network Training

Batch normalization (BN) is a popular and ubiquitous method in deep learning that has been shown to decrease training time and improve generalization performance of neural networks. Despite its success, BN is not theoretically well understood. It is not suitable for use with very small mini-batch sizes or online learning. In this paper, we propose a new method called Batch Normalization Preconditioning (BNP). Instead of applying normalization explicitly through a batch normalization layer as is done in BN, BNP applies normalization by conditioning the parameter gradients directly during training. This is designed to improve the Hessian matrix of the loss function and hence convergence during training. One benefit is that BNP is not constrained on the mini-batch size and works in the online learning setting. Furthermore, its connection to BN provides theoretical insights on how BN improves training and how BN is applied to special architectures such as convolutional neural networks.

Adaptive Weighted Discriminator for Training Generative Adversarial Networks

Generative adversarial network (GAN) has become one of the most important neural network models for classical unsupervised machine learning. A variety of discriminator loss functions have been developed to train GAN's discriminators and they all have a common structure: a sum of real and fake losses that only depends on the actual and generated data respectively. One challenge associated with an equally weighted sum of two losses is that the training may benefit one loss but harm the other, which we show causes instability and mode collapse. In this paper, we introduce a new family of discriminator loss functions that adopts a weighted sum of real and fake parts, which we call adaptive weighted loss functions or aw-loss functions. Using the gradients of the real and fake parts of the loss, we can adaptively choose weights to train a discriminator in the direction that benefits the GAN's stability. Our method can be potentially applied to any discriminator model with a loss that is a sum of the real and fake parts. Experiments validated the effectiveness of our loss functions on an unconditional image generation task, improving the baseline results by a significant margin on CIFAR-10, STL-10, and CIFAR-100 datasets in Inception Scores and FID.

Stochastic Gradient Descent with Nonlinear Conjugate Gradient-Style Adaptive Momentum

Momentum plays a crucial role in stochastic gradient-based optimization algorithms for accelerating or improving training deep neural networks (DNNs). In deep learning practice, the momentum is usually weighted by a well-calibrated constant. However, tuning hyperparameters for momentum can be a significant computational burden. In this paper, we propose a novel \emph{adaptive momentum} for improving DNNs training; this adaptive momentum, with no momentum related hyperparameter required, is motivated by the nonlinear conjugate gradient (NCG) method. Stochastic gradient descent (SGD) with this new adaptive momentum eliminates the need for the momentum hyperparameter calibration, allows a significantly larger learning rate, accelerates DNN training, and improves final accuracy and robustness of the trained DNNs. For instance, SGD with this adaptive momentum reduces classification errors for training ResNet110 for CIFAR10 and CIFAR100 from $5.25\%$ to $4.64\%$ and $23.75\%$ to $20.03\%$, respectively. Furthermore, SGD with the new adaptive momentum also benefits adversarial training and improves adversarial robustness of the trained DNNs.

A two-stage framework for short-term wind power forecasting using different feature-learning models

With the growing dependence on wind power generation, improving the accuracy of short-term forecasting has become increasingly important for ensuring continued economical and reliable system operations. In the wind power forecasting field, ensemble-based forecasting models have been studied extensively; however, few of them considered learning the features from both historical wind data and NWP data. In addition, the exploration of the multiple-input and multiple-output learning structures is lacking in the wind power forecasting literature. Therefore, this study exploits the NWP and historical wind data as input and proposes a two-stage forecasting framework on the shelf of moving window algorithm. Specifically, at the first stage, four forecasting models are constructed with deep neural networks considering the multiple-input and multiple-output structures; at the second stage, an ensemble model is developed using ridge regression method for reducing the extrapolation error. The experiments are conducted on three existing wind farms for examining the 2-h ahead forecasting point. The results demonstrate that 1) the single-input-multiple-output (SIMO) structure leads to a better forecasting accuracy than the other threes; 2) ridge regression method results in a better ensemble model that is able to further improve the forecasting accuracy, than the other machine learning methods; 3) the proposed two-stage forecasting framework is likely to generate more accurate and stable results than the other existing algorithms.