Spatiotemporal Attention Enhances Lidar-Based Robot Navigation in Dynamic Environments

Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking is a pivotal aspect of foresighted navigation among pedestrians. In this paper, we introduce a spatiotemporal attention pipeline for enhanced navigation based on 2D lidar sensor readings. This pipeline is complemented by a novel lidar-state representation that emphasizes dynamic obstacles over static ones. Subsequently, the attention mechanism enables selective scene perception across both space and time, resulting in improved overall navigation performance within dynamic scenarios. We thoroughly evaluated the approach in different scenarios and simulators, finding good generalization to unseen environments. The results demonstrate outstanding performance compared to state-of-the-art methods, thereby enabling the seamless deployment of the learned controller on a real robot.

Understanding AI Cognition: A Neural Module for Inference Inspired by Human Memory Mechanisms

How humans and machines make sense of current inputs for relation reasoning and question-answering while putting the perceived information into context of our past memories, has been a challenging conundrum in cognitive science and artificial intelligence. Inspired by human brain's memory system and cognitive architectures, we propose a PMI framework that consists of perception, memory and inference components. Notably, the memory module comprises working and long-term memory, with the latter endowed with a higher-order structure to retain more accumulated knowledge and experiences. Through a differentiable competitive write access, current perceptions update working memory, which is later merged with long-term memory via outer product associations, averting memory overflow and minimizing information conflicts. In the inference module, relevant information is retrieved from two separate memory origins and associatively integrated to attain a more comprehensive and precise interpretation of current perceptions. We exploratively apply our PMI to improve prevailing Transformers and CNN models on question-answering tasks like bAbI-20k and Sort-of-CLEVR datasets, as well as relation calculation and image classification tasks, and in each case, our PMI enhancements consistently outshine their original counterparts significantly. Visualization analyses reveal that memory consolidation, along with the interaction and integration of information from diverse memory sources, substantially contributes to the model effectiveness on inference tasks.

Subgoal-Driven Navigation in Dynamic Environments Using Attention-Based Deep Reinforcement Learning

Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In this paper, we therefore propose a subgoal-driven hierarchical navigation architecture that is trained with deep reinforcement learning and decouples obstacle avoidance and motor control. In particular, we separate the navigation task into the prediction of the next subgoal position for avoiding collisions while moving toward the final target position, and the prediction of the robot's velocity controls. By relying on 2D lidar, our method learns to avoid obstacles while still achieving goal-directed behavior as well as to generate low-level velocity control commands to reach the subgoals. In our architecture, we apply the attention mechanism on the robot's 2D lidar readings and compute the importance of lidar scan segments for avoiding collisions. As we show in simulated and real-world experiments with a Turtlebot robot, our proposed method leads to smooth and safe trajectories among humans and significantly outperforms a state-of-the-art approach in terms of success rate. A supplemental video describing our approach is available online.

Single View Physical Distance Estimation using Human Pose

We propose a fully automated system that simultaneously estimates the camera intrinsics, the ground plane, and physical distances between people from a single RGB image or video captured by a camera viewing a 3-D scene from a fixed vantage point. To automate camera calibration and distance estimation, we leverage priors about human pose and develop a novel direct formulation for pose-based auto-calibration and distance estimation, which shows state-of-the-art performance on publicly available datasets. The proposed approach enables existing camera systems to measure physical distances without needing a dedicated calibration process or range sensors, and is applicable to a broad range of use cases such as social distancing and workplace safety. Furthermore, to enable evaluation and drive research in this area, we contribute to the publicly available MEVA dataset with additional distance annotations, resulting in MEVADA -- the first evaluation benchmark in the world for the pose-based auto-calibration and distance estimation problem.

User Information Augmented Semantic Frame Parsing using Coarse-to-Fine Neural Networks

Semantic frame parsing is a crucial component in spoken language understanding (SLU) to build spoken dialog systems. It has two main tasks: intent detection and slot filling. Although state-of-the-art approaches showed good results, they require large annotated training data and long training time. In this paper, we aim to alleviate these drawbacks for semantic frame parsing by utilizing the ubiquitous user information. We design a novel coarse-to-fine deep neural network model to incorporate prior knowledge of user information intermediately to better and quickly train a semantic frame parser. Due to the lack of benchmark dataset with real user information, we synthesize the simplest type of user information (location and time) on ATIS benchmark data. The results show that our approach leverages such simple user information to outperform state-of-the-art approaches by 0.25% for intent detection and 0.31% for slot filling using standard training data. When using smaller training data, the performance improvement on intent detection and slot filling reaches up to 1.35% and 1.20% respectively. We also show that our approach can achieve similar performance as state-of-the-art approaches by using less than 80% annotated training data. Moreover, the training time to achieve the similar performance is also reduced by over 60%.

Learning Speech Rate in Speech Recognition

A significant performance reduction is often observed in speech recognition when the rate of speech (ROS) is too low or too high. Most of present approaches to addressing the ROS variation focus on the change of speech signals in dynamic properties caused by ROS, and accordingly modify the dynamic model, e.g., the transition probabilities of the hidden Markov model (HMM). However, an abnormal ROS changes not only the dynamic but also the static property of speech signals, and thus can not be compensated for purely by modifying the dynamic model. This paper proposes an ROS learning approach based on deep neural networks (DNN), which involves an ROS feature as the input of the DNN model and so the spectrum distortion caused by ROS can be learned and compensated for. The experimental results show that this approach can deliver better performance for too slow and too fast utterances, demonstrating our conjecture that ROS impacts both the dynamic and the static property of speech. In addition, the proposed approach can be combined with the conventional HMM transition adaptation method, offering additional performance gains.