Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations

Robots and autonomous systems must interact with one another and their environment to provide high-quality services to their users. Dynamic game theory provides an expressive theoretical framework for modeling scenarios involving multiple agents with differing objectives interacting over time. A core challenge when formulating a dynamic game is designing objectives for each agent that capture desired behavior. In this paper, we propose a method for inferring parametric objective models of multiple agents based on observed interactions. Our inverse game solver jointly optimizes player objectives and continuous-state estimates by coupling them through Nash equilibrium constraints. Hence, our method is able to directly maximize the observation likelihood rather than other non-probabilistic surrogate criteria. Our method does not require full observations of game states or player strategies to identify player objectives. Instead, it robustly recovers this information from noisy, partial state observations. As a byproduct of estimating player objectives, our method computes a Nash equilibrium trajectory corresponding to those objectives. Thus, it is suitable for downstream trajectory forecasting tasks. We demonstrate our method in several simulated traffic scenarios. Results show that it reliably estimates player objectives from single short sequences of noisy, partially observed interactions. Furthermore, using the estimated objectives, our method makes accurate predictions of each player's trajectory.

Parallel Tacotron 2: A Non-Autoregressive Neural TTS Model with Differentiable Duration Modeling

This paper introduces Parallel Tacotron 2, a non-autoregressive neural text-to-speech model with a fully differentiable duration model which does not require supervised duration signals. The duration model is based on a novel attention mechanism and an iterative reconstruction loss based on Soft Dynamic Time Warping, this model can learn token-frame alignments as well as token durations automatically. Experimental results show that Parallel Tacotron 2 outperforms baselines in subjective naturalness in several diverse multi speaker evaluations. Its duration control capability is also demonstrated.

Interpreting Depression From Question-wise Long-term Video Recording of SDS Evaluation

Self-Rating Depression Scale (SDS) questionnaire has frequently been used for efficient depression preliminary screening. However, the uncontrollable self-administered measure can be easily affected by insouciantly or deceptively answering, and producing the different results with the clinician-administered Hamilton Depression Rating Scale (HDRS) and the final diagnosis. Clinically, facial expression (FE) and actions play a vital role in clinician-administered evaluation, while FE and action are underexplored for self-administered evaluations. In this work, we collect a novel dataset of 200 subjects to evidence the validity of self-rating questionnaires with their corresponding question-wise video recording. To automatically interpret depression from the SDS evaluation and the paired video, we propose an end-to-end hierarchical framework for the long-term variable-length video, which is also conditioned on the questionnaire results and the answering time. Specifically, we resort to a hierarchical model which utilizes a 3D CNN for local temporal pattern exploration and a redundancy-aware self-attention (RAS) scheme for question-wise global feature aggregation. Targeting for the redundant long-term FE video processing, our RAS is able to effectively exploit the correlations of each video clip within a question set to emphasize the discriminative information and eliminate the redundancy based on feature pair-wise affinity. Then, the question-wise video feature is concatenated with the questionnaire scores for final depression detection. Our thorough evaluations also show the validity of fusing SDS evaluation and its video recording, and the superiority of our framework to the conventional state-of-the-art temporal modeling methods.

Belief Space Planning: A Covariance Steering Approach

A new belief space planning algorithm, called covariance steering Belief RoadMap (CS-BRM), is introduced, which is a multi-query algorithm for motion planning of dynamical systems under simultaneous motion and observation uncertainties. CS-BRM extends the probabilistic roadmap (PRM) approach to belief spaces and is based on the recently developed theory of covariance steering (CS) that enables guaranteed satisfaction of terminal belief constraints in finite-time. The nodes in the CS-BRM are sampled in belief space and represent distributions of the system states. A covariance steering controller steers the system from one BRM node to another, thus acting as an edge controller of the corresponding belief graph that ensures belief constraint satisfaction. After the edge controller is computed, a specific edge cost is assigned to that edge. The CS-BRM algorithm allows the sampling of non-stationary belief nodes, and thus is able to explore the velocity space and find efficient motion plans. The performance of CS-BRM is evaluated and compared to a previous belief space planning method, demonstrating the benefits of the proposed approach.

RadArnomaly: Protecting Radar Systems from Data Manipulation Attacks

Radar systems are mainly used for tracking aircraft, missiles, satellites, and watercraft. In many cases, information regarding the objects detected by the radar system is sent to, and used by, a peripheral consuming system, such as a missile system or a graphical user interface used by an operator. Those systems process the data stream and make real-time, operational decisions based on the data received. Given this, the reliability and availability of information provided by radar systems has grown in importance. Although the field of cyber security has been continuously evolving, no prior research has focused on anomaly detection in radar systems. In this paper, we present a deep learning-based method for detecting anomalies in radar system data streams. We propose a novel technique which learns the correlation between numerical features and an embedding representation of categorical features in an unsupervised manner. The proposed technique, which allows the detection of malicious manipulation of critical fields in the data stream, is complemented by a timing-interval anomaly detection mechanism proposed for the detection of message dropping attempts. Real radar system data is used to evaluate the proposed method. Our experiments demonstrate the method's high detection accuracy on a variety of data stream manipulation attacks (average detection rate of 88% with 1.59% false alarms) and message dropping attacks (average detection rate of 92% with 2.2% false alarms).

The Early Bird Catches the Worm: Better Early Life Cycle Defect Predictors

Before researchers rush to reason across all available data, they should first check if the information is densest within some small region. We say this since, in 240 GitHub projects, we find that the information in that data ``clumps'' towards the earliest parts of the project. In fact, a defect prediction model learned from just the first 150 commits works as well, or better than state-of-the-art alternatives. Using just this early life cycle data, we can build models very quickly (using weeks, not months, of CPU time). Also, we can find simple models (with just two features) that generalize to hundreds of software projects. Based on this experience, we warn that prior work on generalizing software engineering defect prediction models may have needlessly complicated an inherently simple process. Further, prior work that focused on later-life cycle data now needs to be revisited since their conclusions were drawn from relatively uninformative regions. Replication note: all our data and scripts are online at https://github.com/snaraya7/early-defect-prediction-tse.

Using Diachronic Distributed Word Representations as Models of Lexical Development in Children

Recent work has shown that distributed word representations can encode abstract semantic and syntactic information from child-directed speech. In this paper, we use diachronic distributed word representations to perform temporal modeling and analysis of lexical development in children. Unlike all previous work, we use temporally sliced speech corpus to learn distributed word representations of child and child-directed speech. Through our modeling experiments, we demonstrate the dynamics of growing lexical knowledge in children over time, as compared against a saturated level of lexical knowledge in child-directed adult speech. We also fit linear mixed-effects models with the rate of semantic change in the diachronic representations and word frequencies. This allows us to inspect the role of word frequencies towards lexical development in children. Further, we perform a qualitative analysis of the diachronic representations from our model, which reveals the categorization and word associations in the mental lexicon of children.

Self-supervised Depth Estimation Leveraging Global Perception and Geometric Smoothness Using On-board Videos

Self-supervised depth estimation has drawn much attention in recent years as it does not require labeled data but image sequences. Moreover, it can be conveniently used in various applications, such as autonomous driving, robotics, realistic navigation, and smart cities. However, extracting global contextual information from images and predicting a geometrically natural depth map remain challenging. In this paper, we present DLNet for pixel-wise depth estimation, which simultaneously extracts global and local features with the aid of our depth Linformer block. This block consists of the Linformer and innovative soft split multi-layer perceptron blocks. Moreover, a three-dimensional geometry smoothness loss is proposed to predict a geometrically natural depth map by imposing the second-order smoothness constraint on the predicted three-dimensional point clouds, thereby realizing improved performance as a byproduct. Finally, we explore the multi-scale prediction strategy and propose the maximum margin dual-scale prediction strategy for further performance improvement. In experiments on the KITTI and Make3D benchmarks, the proposed DLNet achieves performance competitive to those of the state-of-the-art methods, reducing time and space complexities by more than $62\%$ and $56\%$, respectively. Extensive testing on various real-world situations further demonstrates the strong practicality and generalization capability of the proposed model.

1D CNN Architectures for Music Genre Classification

This paper proposes a 1D residual convolutional neural network (CNN) architecture for music genre classification and compares it with other recent 1D CNN architectures. The 1D CNNs learn a representation and a discriminant directly from the raw audio signal. Several convolutional layers capture the time-frequency characteristics of the audio signal and learn various filters relevant to the music genre recognition task. The proposed approach splits the audio signal into overlapped segments using a sliding window to comply with the fixed-length input constraint of the 1D CNNs. As a result, music genre classification can be carried out on a single audio segment or on the aggregation of the predictions on several audio segments, which improves the final accuracy. The performance of the proposed 1D residual CNN is assessed on a public dataset of 1,000 audio clips. The experimental results have shown that it achieves 80.93% of mean accuracy in classifying music genres and outperforms other 1D CNN architectures.

Multi-Phase Locking Value: A Generalized Method for Determining Instantaneous Multi-frequency Phase Coupling

Many physical, biological and neural systems behave as coupled oscillators, with characteristic phase coupling across different frequencies. Methods such as $n:m$ phase locking value and bi-phase locking value have previously been proposed to quantify phase coupling between two resonant frequencies (e.g. $f$, $2f/3$) and across three frequencies (e.g. $f_1$, $f_2$, $f_1+f_2$), respectively. However, the existing phase coupling metrics have their limitations and limited applications. They cannot be used to detect or quantify phase coupling across multiple frequencies (e.g. $f_1$, $f_2$, $f_3$, $f_4$, $f_1+f_2+f_3-f_4$), or coupling that involves non-integer multiples of the frequencies (e.g. $f_1$, $f_2$, $2f_1/3+f_2/3$). To address the gap, this paper proposes a generalized approach, named multi-phase locking value (M-PLV), for the quantification of various types of instantaneous multi-frequency phase coupling. Different from most instantaneous phase coupling metrics that measure the simultaneous phase coupling, the proposed M-PLV method also allows the detection of delayed phase coupling and the associated time lag between coupled oscillators. The M-PLV has been tested on cases where synthetic coupled signals are generated using white Gaussian signals, and a system comprised of multiple coupled R\"ossler oscillators. Results indicate that the M-PLV can provide a reliable estimation of the time window and frequency combination where the phase coupling is significant, as well as a precise determination of time lag in the case of delayed coupling. This method has the potential to become a powerful new tool for exploring phase coupling in complex nonlinear dynamic systems.