In this paper we consider autonomous driving of miniature race cars. The viability kernel is used to efficiently generate finite look-ahead trajectories that maximize progress while remaining recursively feasible with respect to static obstacles (e.g., stay inside the track). Together with a low-level model predictive controller, this method makes real-time autonomous racing possible. The viability kernel computation is based on space discretization. To make the calculation robust against discretization errors, we propose a novel numerical scheme based on game theoretical methods, in particular the discriminating kernel. We show that the resulting algorithm provides an inner approximation of the viability kernel and guarantees that, for all states in the cell surrounding a viable grid point, there exists a control that keeps the system within the kernel. The performance of the proposed control method is studied in simulation where we determine the effects of various design choices and parameters and in experiments on an autonomous racing set-up maintained at the Automatic Control Laboratory of ETH Zurich. Both simulation and experimental results suggest that the more conservative approximation using the discriminating kernel results in safer driving style at the cost of a small increase in lap time.
Large-scale interactive web services and advanced AI applications make sophisticated decisions in real-time, based on executing a massive amount of computation tasks on thousands of servers. Task schedulers, which often operate in heterogeneous and volatile environments, require high throughput, i.e., scheduling millions of tasks per second, and low latency, i.e., incurring minimal scheduling delays for millisecond-level tasks. Scheduling is further complicated by other users' workloads in a shared system, other background activities, and the diverse hardware configurations inside datacenters. We present Rosella, a new self-driving, distributed approach for task scheduling in heterogeneous clusters. Our system automatically learns the compute environment and adjust its scheduling policy in real-time. The solution provides high throughput and low latency simultaneously, because it runs in parallel on multiple machines with minimum coordination and only performs simple operations for each scheduling decision. Our learning module monitors total system load, and uses the information to dynamically determine optimal estimation strategy for the backends' compute-power. Our scheduling policy generalizes power-of-two-choice algorithms to handle heterogeneous workers, reducing the max queue length of $O(\log n)$ obtained by prior algorithms to $O(\log \log n)$. We implement a Rosella prototype and evaluate it with a variety of workloads. Experimental results show that Rosella significantly reduces task response times, and adapts to environment changes quickly.
This work studies the robust subspace tracking (ST) problem. Robust ST can be simply understood as a (slow) time-varying subspace extension of robust PCA. It assumes that the true data lies in a low-dimensional subspace that is either fixed or changes slowly with time. The goal is to track the changing subspaces over time in the presence of additive sparse outliers and to do this quickly (with a short delay). We introduce a ``fast'' mini-batch robust ST solution that is provably correct under mild assumptions. Here ``fast'' means two things: (i) the subspace changes can be detected and the subspaces can be tracked with near-optimal delay, and (ii) the time complexity of doing this is the same as that of simple (non-robust) PCA. Our main result assumes piecewise constant subspaces (needed for identifiability), but we also provide a corollary for the case when there is a little change at each time. A second contribution is a novel non-asymptotic guarantee for PCA in linearly data-dependent noise. An important setting where this result is useful is for linearly data-dependent noise that is sparse with enough support changes over time. The subspace update step of our proposed robust ST solution uses this result.
Analyzing disease progression patterns can provide useful insights into the disease processes of many chronic conditions. These analyses may help inform recruitment for prevention trials or the development and personalization of treatments for those affected. We learn disease progression patterns using Hidden Markov Models (HMM) and distill them into distinct trajectories using visualization methods. We apply it to the domain of Type 1 Diabetes (T1D) using large longitudinal observational data from the T1DI study group. Our method discovers distinct disease progression trajectories that corroborate with recently published findings. In this paper, we describe the iterative process of developing the model. These methods may also be applied to other chronic conditions that evolve over time.
In this paper, a novel learning-based network, named DeepDT, is proposed to reconstruct the surface from Delaunay triangulation of point cloud. DeepDT learns to predict inside/outside labels of Delaunay tetrahedrons directly from a point cloud and corresponding Delaunay triangulation. The local geometry features are first extracted from the input point cloud and aggregated into a graph deriving from the Delaunay triangulation. Then a graph filtering is applied on the aggregated features in order to add structural regularization to the label prediction of tetrahedrons. Due to the complicated spatial relations between tetrahedrons and the triangles, it is impossible to directly generate ground truth labels of tetrahedrons from ground truth surface. Therefore, we propose a multilabel supervision strategy which votes for the label of a tetrahedron with labels of sampling locations inside it. The proposed DeepDT can maintain abundant geometry details without generating overly complex surfaces , especially for inner surfaces of open scenes. Meanwhile, the generalization ability and time consumption of the proposed method is acceptable and competitive compared with the state-of-the-art methods. Experiments demonstrate the superior performance of the proposed DeepDT.
Modern self-driving autonomy systems heavily rely on deep learning. As a consequence, their performance is influenced significantly by the quality and richness of the training data. Data collecting platforms can generate many hours of raw data in a daily basis, however, it is not feasible to label everything. It is thus of key importance to have a mechanism to identify "what to label". Active learning approaches identify examples to label, but their interestingness is tied to a fixed model performing a particular task. These assumptions are not valid in self-driving, where we have to solve a diverse set of tasks (i.e., perception, and motion forecasting) and our models evolve over time frequently. In this paper we introduce a novel approach and propose a new data selection method that exploits a diverse set of criteria that quantize interestingness of traffic scenes. Our experiments on a wide range of tasks and models show that the proposed curation pipeline is able to select datasets that lead to better generalization and higher performance.
With the promise of reliability in cloud, more enterprises are migrating to cloud. The process of continuous integration/deployment (CICD) in cloud connects developers who need to deliver value faster and more transparently with site reliability engineers (SREs) who need to manage applications reliably. SREs feed back development issues to developers, and developers commit fixes and trigger CICD to redeploy. The release cycle is more continuous than ever, thus the code to production is faster and more automated. To provide this higher level agility, the cloud platforms become more complex in the face of flexibility with deeper layers of virtualization. However, reliability does not come for free with all these complexities. Software engineers and SREs need to deal with wider information spectrum from virtualized layers. Therefore, providing correlated information with true positive evidences is critical to identify the root cause of issues quickly in order to reduce mean time to recover (MTTR), performance metrics for SREs. Similarity, knowledge, or statistics driven approaches have been effective, but with increasing data volume and types, an individual approach is limited to correlate semantic relations of different data sources. In this paper, we introduce FIXME to enhance software reliability with hybrid diagnosis approaches for enterprises. Our evaluation results show using hybrid diagnosis approach is about 17% better in precision. The results are helpful for both practitioners and researchers to develop hybrid diagnosis in the highly dynamic cloud environment.
Developers from different teams or organizations, co-located or distributed, making changes to the same source code files or areas, through pull requests that are active in the same time period, is an essential part of developing complex software systems. With such a dynamically changing environment spanning several boundaries, geographic and organizational, there is little awareness about the changes that are flowing in through other active pull requests in the system leading to complex merge conflicts, hard-to-detect logical bugs or duplication of work and wasted developer productivity. In order to address this problem, we studied changes produced in eight very large repositories, in Microsoft to understand the extent of concurrent edits and their relation to subsequent bugs and bug fixes. Motivated by our findings, we developed a system called ConE (Concurrent Edit Detector) that proactively detects concurrent edits to help mitigate the problems caused by them. We present the results of ConE's deployment through early intervention techniques such as pull request notifications, by which ConE facilitates better communication among all the stakeholders participating in collaborative software development, helping avoid future problems.
Security inspection is X-ray scanning for personal belongings in suitcases, which is significantly important for the public security but highly time-consuming for human inspectors. Fortunately, deep learning has greatly promoted the development of computer vision, offering a possible way of automatic security inspection. However, items within a luggage are randomly overlapped resulting in noisy X-ray images with heavy occlusions. Thus, traditional CNN-based models trained through common image recognition datasets fail to achieve satisfactory performance in this scenario. To address these problems, we contribute the first high-quality prohibited X-ray object detection dataset named OPIXray, which contains 8885 X-ray images from 5 categories of the widely-occurred prohibited item ``cutters''. The images are gathered from an airport and these prohibited items are annotated manually by professional inspectors, which can be used as a benchmark for model training and further facilitate future research. To better improve occluded X-ray object detection, we further propose an over-sampling de-occlusion attention network (DOAM-O), which consists of a novel de-occlusion attention module and a new over-sampling training strategy. Specifically, our de-occlusion module, namely DOAM, simultaneously leverages the different appearance information of the prohibited items; the over-sampling training strategy forces the model to put more emphasis on these hard samples consisting these items of high occlusion levels, which is more suitable for this scenario. We comprehensively evaluated DOAM-O on the OPIXray dataset, which proves that our model can stably improve the performance of the famous detection models such as SSD, YOLOv3, and FCOS, and outperform many extensively-used attention mechanisms.
Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem because of the high computational cost. Supervised learning methods such as Imitation Learning lack generalization and safety guarantees. To address these problems and in order to ensure a robust framework, we propose a Hierarchical Reinforcement Learning (HRL) structure combined with a Proportional-Integral-Derivative (PID) controller for trajectory planning. HRL helps divide the task of autonomous vehicle driving into sub-goals and supports the network to learn policies for both high-level options and low-level trajectory planner choices. The introduction of sub-goals decreases convergence time and enables the policies learned to be reused for other scenarios. In addition, the proposed planner is made robust by guaranteeing smooth trajectories and by handling the noisy perception system of the ego-car. The PID controller is used for tracking the waypoints, which ensures smooth trajectories and reduces jerk. The problem of incomplete observations is handled by using a Long-Short-Term-Memory (LSTM) layer in the network. Results from the high-fidelity CARLA simulator indicate that the proposed method reduces convergence time, generates smoother trajectories, and is able to handle dynamic surroundings and noisy observations.