Utility Analysis of Network Architectures for 3D Point Cloud Processing

In this paper, we diagnose deep neural networks for 3D point cloud processing to explore utilities of different network architectures. We propose a number of hypotheses on the effects of specific network architectures on the representation capacity of DNNs. In order to prove the hypotheses, we design five metrics to diagnose various types of DNNs from the following perspectives, information discarding, information concentration, rotation robustness, adversarial robustness, and neighborhood inconsistency. We conduct comparative studies based on such metrics to verify the hypotheses. We further use the verified hypotheses to revise architectures of existing DNNs to improve their utilities. Experiments demonstrate the effectiveness of our method.

3D-Rotation-Equivariant Quaternion Neural Networks

This paper proposes a set of rules to revise various neural networks for 3D point cloud processing to rotation-equivariant quaternion neural networks (REQNNs). We find that when a neural network uses quaternion features under certain conditions, the network feature naturally has the rotation-equivariance property. Rotation equivariance means that applying a specific rotation transformation to the input point cloud is equivalent to applying the same rotation transformation to all intermediate-layer quaternion features. Besides, the REQNN also ensures that the intermediate-layer features are invariant to the permutation of input points. Compared with the original neural network, the REQNN exhibits higher rotation robustness.

Information Design in Crowdfunding under Thresholding Policies

Crowdfunding has emerged as a prominent way for entrepreneurs to secure funding without sophisticated intermediation. In crowdfunding, an entrepreneur often has to decide how to disclose the campaign status in order to collect as many contributions as possible. Such decisions are difficult to make primarily due to incomplete information. We propose information design as a tool to help the entrepreneur to improve revenue by influencing backers' beliefs. We introduce a heuristic algorithm to dynamically compute information-disclosure policies for the entrepreneur, followed by an empirical evaluation to demonstrate its competitiveness over the widely-adopted immediate-disclosure policy. Our results demonstrate that the immediate-disclosure policy is not optimal when backers follow thresholding policies despite its ease of implementation. With appropriate heuristics, an entrepreneur can benefit from dynamic information disclosure. Our work sheds light on information design in a dynamic setting where agents make decisions using thresholding policies.

Regulating Highly Automated Robot Ecologies: Insights from Three User Studies

Highly automated robot ecologies (HARE), or societies of independent autonomous robots or agents, are rapidly becoming an important part of much of the world's critical infrastructure. As with human societies, regulation, wherein a governing body designs rules and processes for the society, plays an important role in ensuring that HARE meet societal objectives. However, to date, a careful study of interactions between a regulator and HARE is lacking. In this paper, we report on three user studies which give insights into how to design systems that allow people, acting as the regulatory authority, to effectively interact with HARE. As in the study of political systems in which governments regulate human societies, our studies analyze how interactions between HARE and regulators are impacted by regulatory power and individual (robot or agent) autonomy. Our results show that regulator power, decision support, and adaptive autonomy can each diminish the social welfare of HARE, and hint at how these seemingly desirable mechanisms can be designed so that they become part of successful HARE.

An Online Mechanism for Ridesharing in Autonomous Mobility-on-Demand Systems

With proper management, Autonomous Mobility-on-Demand (AMoD) systems have great potential to satisfy the transport demands of urban populations by providing safe, convenient, and affordable ridesharing services. Meanwhile, such systems can substantially decrease private car ownership and use, and thus significantly reduce traffic congestion, energy consumption, and carbon emissions. To achieve this objective, an AMoD system requires private information about the demand from passengers. However, due to self-interestedness, passengers are unlikely to cooperate with the service providers in this regard. Therefore, an online mechanism is desirable if it incentivizes passengers to truthfully report their actual demand. For the purpose of promoting ridesharing, we hereby introduce a posted-price, integrated online ridesharing mechanism (IORS) that satisfies desirable properties such as ex-post incentive compatibility, individual rationality, and budget-balance. Numerical results indicate the competitiveness of IORS compared with two benchmarks, namely the optimal assignment and an offline, auction-based mechanism.

Managing Autonomous Mobility on Demand Systems for Better Passenger Experience

Autonomous mobility on demand systems, though still in their infancy, have very promising prospects in providing urban population with sustainable and safe personal mobility in the near future. While much research has been conducted on both autonomous vehicles and mobility on demand systems, to the best of our knowledge, this is the first work that shows how to manage autonomous mobility on demand systems for better passenger experience. We introduce the Expand and Target algorithm which can be easily integrated with three different scheduling strategies for dispatching autonomous vehicles. We implement an agent-based simulation platform and empirically evaluate the proposed approaches with the New York City taxi data. Experimental results demonstrate that the algorithm significantly improve passengers' experience by reducing the average passenger waiting time by up to 29.82% and increasing the trip success rate by up to 7.65%.