It is still an open and challenging problem for mobile robots navigating along time-efficient and collision-free paths in a crowd. The main challenge comes from the complex and sophisticated interaction mechanism, which requires the robot to understand the crowd and perform proactive and foresighted behaviors. Deep reinforcement learning is a promising solution to this problem. However, most previous learning methods incur a tremendous computational burden. To address these problems, we propose a graph-based deep reinforcement learning method, SG-DQN, that (i) introduces a social attention mechanism to extract an efficient graph representation for the crowd-robot state; (ii) directly evaluates the coarse q-values of the raw state with a learned dueling deep Q network(DQN); and then (iii) refines the coarse q-values via online planning on possible future trajectories. The experimental results indicate that our model can help the robot better understand the crowd and achieve a high success rate of more than 0.99 in the crowd navigation task. Compared against previous state-of-the-art algorithms, our algorithm achieves an equivalent, if not better, performance while requiring less than half of the computational cost.
We present SimNet, an AI-driven multi-physics simulation framework, to accelerate simulations across a wide range of disciplines in science and engineering. Compared to traditional numerical solvers, SimNet addresses a wide range of use cases - coupled forward simulations without any training data, inverse and data assimilation problems. SimNet offers fast turnaround time by enabling parameterized system representation that solves for multiple configurations simultaneously, as opposed to the traditional solvers that solve for one configuration at a time. SimNet is integrated with parameterized constructive solid geometry as well as STL modules to generate point clouds. Furthermore, it is customizable with APIs that enable user extensions to geometry, physics and network architecture. It has advanced network architectures that are optimized for high-performance GPU computing, and offers scalable performance for multi-GPU and multi-Node implementation with accelerated linear algebra as well as FP32, FP64 and TF32 computations. In this paper we review the neural network solver methodology, the SimNet architecture, and the various features that are needed for effective solution of the PDEs. We present real-world use cases that range from challenging forward multi-physics simulations with turbulence and complex 3D geometries, to industrial design optimization and inverse problems that are not addressed efficiently by the traditional solvers. Extensive comparisons of SimNet results with open source and commercial solvers show good correlation.
We introduce the problem of robust subgroup discovery, i.e., finding a set of interpretable descriptions of subsets that 1) stand out with respect to one or more target attributes, 2) are statistically robust, and 3) non-redundant. Many attempts have been made to mine either locally robust subgroups or to tackle the pattern explosion, but we are the first to address both challenges at the same time from a global perspective. First, we formulate a broad model class of subgroup lists, i.e., ordered sets of subgroups, for univariate and multivariate targets that can consist of nominal or numeric variables. This novel model class allows us to formalize the problem of optimal robust subgroup discovery using the Minimum Description Length (MDL) principle, where we resort to optimal Normalized Maximum Likelihood and Bayesian encodings for nominal and numeric targets, respectively. Notably, we show that our problem definition is equal to mining the top-1 subgroup with an information-theoretic quality measure plus a penalty for complexity. Second, as finding optimal subgroup lists is NP-hard, we propose RSD, a greedy heuristic that finds good subgroup lists and guarantees that the most significant subgroup found according to the MDL criterion is added in each iteration, which is shown to be equivalent to a Bayesian one-sample proportions, multinomial, or t-test between the subgroup and dataset marginal target distributions plus a multiple hypothesis testing penalty. We empirically show on 54 datasets that RSD outperforms previous subgroup set discovery methods in terms of quality and subgroup list size.
Outcome prediction from clinical text can prevent doctors from overlooking possible risks and help hospitals to plan capacities. We simulate patients at admission time, when decision support can be especially valuable, and contribute a novel admission to discharge task with four common outcome prediction targets: Diagnoses at discharge, procedures performed, in-hospital mortality and length-of-stay prediction. The ideal system should infer outcomes based on symptoms, pre-conditions and risk factors of a patient. We evaluate the effectiveness of language models to handle this scenario and propose clinical outcome pre-training to integrate knowledge about patient outcomes from multiple public sources. We further present a simple method to incorporate ICD code hierarchy into the models. We show that our approach improves performance on the outcome tasks against several baselines. A detailed analysis reveals further strengths of the model, including transferability, but also weaknesses such as handling of vital values and inconsistencies in the underlying data.
Phytoparasitic nematodes (or phytonematodes) are causing severe damage to crops and generating large-scale economic losses worldwide. In soybean crops, annual losses are estimated at 10.6% of world production. Besides, identifying these species through microscopic analysis by an expert with taxonomy knowledge is often laborious, time-consuming, and susceptible to failure. In this perspective, robust and automatic approaches are necessary for identifying phytonematodes capable of providing correct diagnoses for the classification of species and subsidizing the taking of all control and prevention measures. This work presents a new public data set called NemaDataset containing 3,063 microscopic images from five nematode species with the most significant damage relevance for the soybean crop. Additionally, we propose a new Convolutional Neural Network (CNN) model defined as NemaNet and a comparative assessment with thirteen popular models of CNNs, all of them representing the state of the art classification and recognition. The general average calculated for each model, on a from-scratch training, the NemaNet model reached 96.99% accuracy, while the best evaluation fold reached 98.03%. In training with transfer learning, the average accuracy reached 98.88\%. The best evaluation fold reached 99.34% and achieve an overall accuracy improvement over 6.83% and 4.1%, for from-scratch and transfer learning training, respectively, when compared to other popular models.
Time-domain audio separation network (TasNet) has achieved remarkable performance in blind source separation (BSS). With signals captured by a microphone array, the spatial information remains to be explored to assist the BSS task. In this paper, we study a 2-stage framework to iteratively refine the estimated signals by combing multi-channel convolutional TasNets (MC-Conv-TasNets) and classic minimum variance distortionless response (MVDR) beamformers. The first stage uses Beam-TasNet to generate estimated single-speaker signals, while the second stage performs guided source separation by additionally using the output from the first stage. The design of the whole framework as well as each stage follows the principle of ``multi-channel input, multi-channel multi-source output'' (MIMMO), which facilitates iterative signal refinement. Experimental results on the spatialized WSJ0-2MIX demonstrate that the proposed framework has achieved an SDR of 20.7 dB, which exceeded the baseline Beam-TasNet by 4.2 dB and narrowed the gap with the oracle signal-based MVDR to 2.9 dB.
Image clustering is a particularly challenging computer vision task, which aims to generate annotations without human supervision. Recent advances focus on the use of self-supervised learning strategies in image clustering, by first learning valuable semantics and then clustering the image representations. These multiple-phase algorithms, however, increase the computational time and their final performance is reliant on the first stage. By extending the self-supervised approach, we propose a novel single-phase clustering method that simultaneously learns meaningful representations and assigns the corresponding annotations. This is achieved by integrating a discrete representation into the self-supervised paradigm through a classifier net. Specifically, the proposed clustering objective employs mutual information, and maximizes the dependency between the integrated discrete representation and a discrete probability distribution. The discrete probability distribution is derived though the self-supervised process by comparing the learnt latent representation with a set of trainable prototypes. To enhance the learning performance of the classifier, we jointly apply the mutual information across multi-crop views. Our empirical results show that the proposed framework outperforms state-of-the-art techniques with the average accuracy of 89.1% and 49.0%, respectively, on CIFAR-10 and CIFAR-100/20 datasets. Finally, the proposed method also demonstrates attractive robustness to parameter settings, making it ready to be applicable to other datasets.
A reliable and accurate 3D tracking framework is essential for predicting future locations of surrounding objects and planning the observer's actions in numerous applications such as autonomous driving. We propose a framework that can effectively associate moving objects over time and estimate their full 3D bounding box information from a sequence of 2D images captured on a moving platform. The object association leverages quasi-dense similarity learning to identify objects in various poses and viewpoints with appearance cues only. After initial 2D association, we further utilize 3D bounding boxes depth-ordering heuristics for robust instance association and motion-based 3D trajectory prediction for re-identification of occluded vehicles. In the end, an LSTM-based object velocity learning module aggregates the long-term trajectory information for more accurate motion extrapolation. Experiments on our proposed simulation data and real-world benchmarks, including KITTI, nuScenes, and Waymo datasets, show that our tracking framework offers robust object association and tracking on urban-driving scenarios. On the Waymo Open benchmark, we establish the first camera-only baseline in the 3D tracking and 3D detection challenges. Our quasi-dense 3D tracking pipeline achieves impressive improvements on the nuScenes 3D tracking benchmark with near five times tracking accuracy of the best vision-only submission among all published methods. Our code, data and trained models are available at https://github.com/SysCV/qd-3dt.
System design tools are often only available as blackboxes with complex nonlinear relationships between inputs and outputs. Blackboxes typically run in the forward direction: for a given design as input they compute an output representing system behavior. Most cannot be run in reverse to produce an input from requirements on output. Thus, finding a design satisfying a requirement is often a trial-and-error process without assurance of optimality. Finding designs concurrently satisfying multiple requirements is harder because designs satisfying individual requirements may conflict with each other. Compounding the hardness are the facts that blackbox evaluations can be expensive and sometimes fail to produce an output due to non-convergence of underlying numerical algorithms. This paper presents CNMA (Constrained optimization with Neural networks, MILP solvers and Active Learning), a new optimization method for blackboxes. It is conservative in the number of blackbox evaluations. Any designs it finds are guaranteed to satisfy all requirements. It is resilient to the failure of blackboxes to compute outputs. It tries to sample only the part of the design space relevant to solving the design problem, leveraging the power of neural networks, MILPs, and a new learning-from-failure feedback loop. The paper also presents parallel CNMA that improves the efficiency and quality of solutions over the sequential version, and tries to steer it away from local optima. CNMA's performance is evaluated for seven nonlinear design problems of 8 (2 problems), 10, 15, 36 and 60 real-valued dimensions and one with 186 binary dimensions. It is shown that CNMA improves the performance of stable, off-the-shelf implementations of Bayesian Optimization and Nelder Mead and Random Search by 1%-87% for a given fixed time and function evaluation budget. Note, that these implementations did not always return solutions.
Competition between times series arises naturally in sales forecasting or in population modelisation. In this article, a model for the behavior of such high-dimensional time series is proposed. This model is based on the prerequisite that the total sum of the time series is distributed between its component following a 'competitiveness' factor inherent to each component. A confidence bound is proposed for the estimation of this model. Then, this model is applied to real-world E-commerce data using a recurrent neural network architecture to compute the model. It improves the results of standard RNN models in most cases.