Reinforcement Learning and Distributed Model Predictive Control for Conflict Resolution in Highly Constrained Spaces

This work presents a distributed algorithm for resolving cooperative multi-vehicle conflicts in highly constrained spaces. By formulating the conflict resolution problem as a Multi-Agent Reinforcement Learning (RL) problem, we can train a policy offline to drive the vehicles towards their destinations safely and efficiently in a simplified discrete environment. During the online execution, each vehicle first simulates the interaction among vehicles with the trained policy to obtain its strategy, which is used to guide the computation of a reference trajectory. A distributed Model Predictive Controller (MPC) is then proposed to track the reference while avoiding collisions. The preliminary results show that the combination of RL and distributed MPC has the potential to guide vehicles to resolve conflicts safely and smoothly while being less computationally demanding than the centralized approach.

Multi-vehicle Conflict Resolution in Highly Constrained Spaces by Merging Optimal Control and Reinforcement Learning

We present a novel method to address the problem of multi-vehicle conflict resolution in highly constrained spaces. An optimal control problem is formulated to incorporate nonlinear, non-holonomic vehicle dynamics and exact collision avoidance constraints. A solution to the problem can be obtained by first learning configuration strategies with reinforcement learning (RL) in a simplified discrete environment, and then using these strategies to shape the constraint space of the original problem. Simulation results show that our method can explore efficient actions to resolve conflicts in confined space and generate dexterous maneuvers that are both collision-free and kinematically feasible.

ParkPredict+: Multimodal Intent and Motion Prediction for Vehicles in Parking Lots with CNN and Transformer

The problem of multimodal intent and trajectory prediction for human-driven vehicles in parking lots is addressed in this paper. Using models designed with CNN and Transformer networks, we extract temporal-spatial and contextual information from trajectory history and local bird's eye view (BEV) semantic images, and generate predictions about intent distribution and future trajectory sequences. Our methods outperforms existing models in accuracy, while allowing an arbitrary number of modes, encoding complex multi-agent scenarios, and adapting to different parking maps. In addition, we present the first public human driving dataset in parking lot with high resolution and rich traffic scenarios for relevant research in this field.

Meta Clustering Learning for Large-scale Unsupervised Person Re-identification

Unsupervised Person Re-identification (U-ReID) with pseudo labeling recently reaches a competitive performance compared to fully-supervised ReID methods based on modern clustering algorithms. However, such clustering-based scheme becomes computationally prohibitive for large-scale datasets. How to efficiently leverage endless unlabeled data with limited computing resources for better U-ReID is under-explored. In this paper, we make the first attempt to the large-scale U-ReID and propose a "small data for big task" paradigm dubbed Meta Clustering Learning (MCL). MCL only pseudo-labels a subset of the entire unlabeled data via clustering to save computing for the first-phase training. After that, the learned cluster centroids, termed as meta-prototypes in our MCL, are regarded as a proxy annotator to softly annotate the rest unlabeled data for further polishing the model. To alleviate the potential noisy labeling issue in the polishment phase, we enforce two well-designed loss constraints to promise intra-identity consistency and inter-identity strong correlation. For multiple widely-used U-ReID benchmarks, our method significantly saves computational cost while achieving a comparable or even better performance compared to prior works.

Revisiting Knowledge Distillation: An Inheritance and Exploration Framework

Knowledge Distillation (KD) is a popular technique to transfer knowledge from a teacher model or ensemble to a student model. Its success is generally attributed to the privileged information on similarities/consistency between the class distributions or intermediate feature representations of the teacher model and the student model. However, directly pushing the student model to mimic the probabilities/features of the teacher model to a large extent limits the student model in learning undiscovered knowledge/features. In this paper, we propose a novel inheritance and exploration knowledge distillation framework (IE-KD), in which a student model is split into two parts - inheritance and exploration. The inheritance part is learned with a similarity loss to transfer the existing learned knowledge from the teacher model to the student model, while the exploration part is encouraged to learn representations different from the inherited ones with a dis-similarity loss. Our IE-KD framework is generic and can be easily combined with existing distillation or mutual learning methods for training deep neural networks. Extensive experiments demonstrate that these two parts can jointly push the student model to learn more diversified and effective representations, and our IE-KD can be a general technique to improve the student network to achieve SOTA performance. Furthermore, by applying our IE-KD to the training of two networks, the performance of both can be improved w.r.t. deep mutual learning. The code and models of IE-KD will be make publicly available at https://github.com/yellowtownhz/IE-KD.

Cloth-Changing Person Re-identification from A Single Image with Gait Prediction and Regularization

Cloth-Changing person re-identification (CC-ReID) aims at matching the same person across different locations over a long-duration, e.g., over days, and therefore inevitably meets challenge of changing clothing. In this paper, we focus on handling well the CC-ReID problem under a more challenging setting, i.e., just from a single image, which enables high-efficiency and latency-free pedestrian identify for real-time surveillance applications. Specifically, we introduce Gait recognition as an auxiliary task to drive the Image ReID model to learn cloth-agnostic representations by leveraging personal unique and cloth-independent gait information, we name this framework as GI-ReID. GI-ReID adopts a two-stream architecture that consists of a image ReID-Stream and an auxiliary gait recognition stream (Gait-Stream). The Gait-Stream, that is discarded in the inference for high computational efficiency, acts as a regulator to encourage the ReID-Stream to capture cloth-invariant biometric motion features during the training. To get temporal continuous motion cues from a single image, we design a Gait Sequence Prediction (GSP) module for Gait-Stream to enrich gait information. Finally, a high-level semantics consistency over two streams is enforced for effective knowledge regularization. Experiments on multiple image-based Cloth-Changing ReID benchmarks, e.g., LTCC, PRCC, Real28, and VC-Clothes, demonstrate that GI-ReID performs favorably against the state-of-the-arts. Codes are available at https://github.com/jinx-USTC/GI-ReID.

Dense Interaction Learning for Video-based Person Re-identification

Video-based person re-identification (re-ID) aims at matching the same person across video clips. Efficiently exploiting multi-scale fine-grained features while building the structural interaction among them is pivotal for its success. In this paper, we propose a hybrid framework, Dense Interaction Learning (DenseIL), that takes the principal advantages of both CNN-based and Attention-based architectures to tackle video-based person re-ID difficulties. DenseIL contains a CNN encoder and a Dense Interaction (DI) decoder. The CNN encoder is responsible for efficiently extracting discriminative spatial features while the DI decoder is designed to densely model spatial-temporal inherent interaction across frames. Different from previous works, we additionally let the DI decoder densely attends to intermediate fine-grained CNN features and that naturally yields multi-grained spatial-temporal representation for each video clip. Moreover, we introduce Spatio-TEmporal Positional Embedding (STEP-Emb) into the DI decoder to investigate the positional relation among the spatial-temporal inputs. Our experiments consistently and significantly outperform all the state-of-the-art methods on multiple standard video-based re-ID datasets.

Spatio-Temporal Inception Graph Convolutional Networks for Skeleton-Based Action Recognition

Skeleton-based human action recognition has attracted much attention with the prevalence of accessible depth sensors. Recently, graph convolutional networks (GCNs) have been widely used for this task due to their powerful capability to model graph data. The topology of the adjacency graph is a key factor for modeling the correlations of the input skeletons. Thus, previous methods mainly focus on the design/learning of the graph topology. But once the topology is learned, only a single-scale feature and one transformation exist in each layer of the networks. Many insights, such as multi-scale information and multiple sets of transformations, that have been proven to be very effective in convolutional neural networks (CNNs), have not been investigated in GCNs. The reason is that, due to the gap between graph-structured skeleton data and conventional image/video data, it is very challenging to embed these insights into GCNs. To overcome this gap, we reinvent the split-transform-merge strategy in GCNs for skeleton sequence processing. Specifically, we design a simple and highly modularized graph convolutional network architecture for skeleton-based action recognition. Our network is constructed by repeating a building block that aggregates multi-granularity information from both the spatial and temporal paths. Extensive experiments demonstrate that our network outperforms state-of-the-art methods by a significant margin with only 1/5 of the parameters and 1/10 of the FLOPs.