United States

Predicting motions of surrounding vehicles is critically important to help autonomous driving systems plan a safe path and avoid collisions. Although recent social pooling based LSTM models have achieved significant performance gains by considering the motion interactions between vehicles close to each other, vehicle trajectory prediction still remains as a challenging research issue due to the dynamic and high-order interactions in the real complex driving scenarios. To this end, we propose a wave superposition inspired social pooling (Wave-pooling for short) method for dynamically aggregating the high-order interactions from both local and global neighbor vehicles. Through modeling each vehicle as a wave with the amplitude and phase, Wave-pooling can more effectively represent the dynamic motion states of vehicles and capture their high-order dynamic interactions by wave superposition. By integrating Wave-pooling, an encoder-decoder based learning framework named WSiP is also proposed. Extensive experiments conducted on two public highway datasets NGSIM and highD verify the effectiveness of WSiP by comparison with current state-of-the-art baselines. More importantly, the result of WSiP is more interpretable as the interaction strength between vehicles can be intuitively reflected by their phase difference. The code of the work is publicly available at https://github.com/Chopin0123/WSiP.

AAAI 2023

WSiP: Wave Superposition Inspired Pooling for Dynamic Interactions-Aware Trajectory Prediction

behavior learning

mining of spatio-temporal data

motion and tracking

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-23 is the Thirty-Seventh AAAI Conference on Artificial Intelligence. The theme of this conference is to create collaborative bridges within and beyond AI. Like previous AAAI conferences, AAAI-23 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and two new activities: a Bridge Program and a Lab Program. Many of these activities are tailored to the theme of bridges and all are selected according to the highest standards, with additional programs for students and young researchers. 
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The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines.

poster

Partial-label learning is a popular weakly supervised learning setting that allows each training example to be annotated with a set of candidate labels. Previous studies on partial-label learning only focused on the classification setting where candidate labels are all discrete, which cannot handle continuous labels with real values. In this paper, we provide the first attempt to investigate partial-label regression, where each training example is annotated with a set of real-valued candidate labels. To solve this problem, we first propose a simple baseline method that takes the average loss incurred by candidate labels as the predictive loss. The drawback of this method lies in that the loss incurred by the true label may be overwhelmed by other false labels. To overcome this drawback, we propose an identification method that takes the least loss incurred by candidate labels as the predictive loss. We further improve it by proposing a progressive identification method to differentiate candidate labels using progressively updated weights for incurred losses. We prove that the latter two methods are model-consistent and provide convergence analysis showing the optimal parametric convergence rate. Our proposed methods are theoretically grounded and can be compatible with any models, optimizers, and losses. Experiments validate the effectiveness of our proposed methods. 

Partial-Label Regression


Improperly constructed datasets can result in inaccurate inferences. For instance, models trained on biased datasets perform poorly in terms of generalization (i.e., dataset bias). Recent debiasing techniques have successfully achieved generalization performance by underestimating easy-to-learn samples (i.e., bias-aligned samples) and highlighting difficult-to-learn samples (i.e., bias-conflicting samples). However, these techniques may fail owing to noisy labels, because the trained model recognizes noisy labels as difficult-to-learn and thus highlights them. In this study, we find that earlier approaches that used the provided labels to quantify difficulty could be affected by the small proportion of noisy labels. Furthermore, we find that running denoising algorithms before debiasing is ineffective because denoising algorithms reduce the impact of difficult-to-learn samples, including valuable bias-conflicting samples. Therefore, we propose an approach called denoising after entropy-based debiasing, i.e., DENEB, which has three main stages. (1) The prejudice model is trained by emphasizing (bias-aligned, clean) samples, which are selected using a Gaussian Mixture Model. (2) Using the per-sample entropy from the output of the prejudice model, the sampling probability of each sample that is proportional to the entropy is computed. (3) The final model is trained using existing denoising algorithms with the mini-batches constructed by following the computed sampling probability. Compared to existing debiasing and denoising algorithms, our method achieves better debiasing performance on multiple benchmarks.

Denoising after Entropy-based Debiasing A Robust Training Method for Dataset Bias with Noisy Labels

Linear Temporal Logic (LTL) is the de-facto standard temporal logic for system specification, whose foundational properties have been studied for over five decades. Safety and cosafety properties of LTL define notable fragments of LTL, where a prefix of a trace suffices to establish whether a formula is true or not over that trace. In this paper, we study the complexity of the problems of satisfiability, validity, and realizability over infinite and finite traces for the safety and cosafety fragments of LTL. As for satisfiability and validity over infinite traces, we prove that the majority of the fragments have the same complexity as full LTL, that is, they are PSPACE-complete. The picture is radically different for realizability: we find fragments with the same expressive power whose complexity varies from 2EXPTIME-complete (as full LTL) to EXPTIME-complete. Notably, for all cosafety fragments, the complexity of the three problems does not change passing from infinite to finite traces, while for all safety fragments the complexity of satisfiability (resp., realizability) over finite traces drops to NP-complete (resp., Pi^P_2- complete).

Complexity of Safety and coSafety Fragments of Linear Temporal Logic

The Abstraction and Reasoning Corpus (ARC) aims at benchmarking the performance of general artificial intelligence algorithms. The ARC's focus on broad generalization and few-shot learning has made it impossible to solve using pure machine learning. A more promising approach has been to perform program synthesis within an appropriately designed Domain Specific Language (DSL). However, these too have seen limited success. We propose Abstract Reasoning with Graph Abstractions (ARGA), a new object-centric framework that first represents images using graphs and then performs a search for a correct program in a DSL that is based on the abstracted graph space. The complexity of this combinatorial search is tamed through the use of constraint acquisition, state hashing, and Tabu search. An extensive set of experiments demonstrates the promise of ARGA in tackling some of the complicated tasks of the ARC rather efficiently, producing programs that are correct and easy to understand.

Graphs, Constraints, and Search for the Abstraction and Reasoning Corpus

Conversations emerge as the primary media for exchanging ideas and conceptions. From the listener’s perspective, identifying various affective qualities, such as sarcasm, humour, and emotions, is paramount for comprehending the true connotation of the emitted utterance. However, one of the major hurdles faced in learning these affect dimensions is the presence of figurative language, viz. irony, metaphor, or sarcasm. We hypothesize that any detection system constituting the exhaustive and explicit presentation of the emitted utterance would improve the overall comprehension of the dialogue. To this end, we explore the task of Sarcasm Explanation in Dialogues, which aims to unfold the hidden irony behind sarcastic utterances. We propose MOSES, a deep neural network which takes a multimodal (sarcastic) dialogue instance as an input and generates a natural language sentence as its explanation. Subsequently, we leverage the generated explanation for various natural language understanding tasks in a conversational dialogue setup, such as sarcasm detection, humour identification, and emotion recognition. Our evaluation shows that MOSES outperforms the state-of-the-art system for SED by an average of ∼2% on different evaluation metrics, such as ROUGE, BLEU, and METEOR. Further, we observe that leveraging the generated explanation advances three downstream tasks for affect classification – an average improvement of ~14% F1-score in the sarcasm detection task and ∼2% in the humour identification and emotion recognition task. We also perform extensive analyses to assess the quality of the results.

Explaining (Sarcastic) Utterances to Enhance Affect Understanding in Multimodal Dialogues

We study model-based reinforcement learning (RL) for episodic Markov decision processes (MDP) whose transition probability is parametrized by an unknown transition core with features of state and action. 
Despite much recent progress in analyzing algorithms in the linear MDP setting, the understanding of more general transition models is very restrictive. 
In this paper, we establish a provably efficient RL algorithm for the MDP 
whose state transition is given by a multinomial logistic model. 
To balance the exploration-exploitation trade-off, we propose an upper confidence bound-based algorithm.
We show that our proposed algorithm achieves $\tilde{\mathcal{O}}(d \sqrt{H^3 T})$ regret bound where $d$ is the dimension of the transition core, $H$ is the horizon, and $T$ is the total number of steps. 
To the best of our knowledge, this is the first model-based RL algorithm with multinomial logistic function approximation with provable guarantees.
We also comprehensively evaluate our proposed algorithm numerically and show that it consistently outperforms the existing methods, hence achieving both provable efficiency and practical superior performance.

Model-Based Reinforcement Learning with Multinomial Logistic Function Approximation

3D object detection in autonomous driving aims to reason “what” and “where” the objects of interest present in a 3D world. Following the conventional wisdom of previous 2D object detection, existing methods often adopt the canonical Cartesian coordinate system with perpendicular axis. However, we conjugate that this does not fit the nature of the ego car’s perspective, as each onboard camera perceives the world in shape of wedge intrinsic to the imaging geometry with radical (non perpendicular) axis. Hence, in this paper we advocate the exploitation of the Polar coordinate system and propose a new Polar Transformer (PolarFormer) for more accurate 3D object detection in the bird’s-eye-view (BEV) taking as input only multi-camera 2D images. Specifically, we design a cross-attention based Polar detection head without restriction to the shape of input structure to deal with irregular Polar grids. For tackling the unconstrained object scale variations along Polar’s distance dimension, we further introduce a multi-scale Polar representation learning strategy. As a result, our model can make best use of the Polar representation rasterized via attending to the corresponding image observation in a sequence-to-sequence fashion subject to the geometric constraints. Thorough experiments on the nuScenes dataset demonstrate that our PolarFormer outperforms significantly state-of-the-art 3D object detection alternatives.

PolarFormer: Multi-camera 3D Object Detection with Polar Transformer

We study the problem of training and certifying adversarially robust quantized neural networks (QNNs). Quantization is a technique for making neural networks more efficient by running them using low-bit integer arithmetic and is therefore commonly adopted in industry. Recent work has shown that floating-point neural networks that have been verified to be robust can become vulnerable to adversarial attacks after quantization, and certification of the quantized representation is necessary to guarantee robustness.
In this work, we present quantization-aware interval bound propagation (QA-IBP), a novel method for training robust QNNs.
Inspired by advances in robust learning of non-quantized networks, our training algorithm computes the gradient of an abstract representation of the actual network. Unlike existing approaches, our method can handle the discrete semantics of QNNs. 
Based on QA-IBP, we also develop a complete verification procedure for verifying the adversarial robustness of QNNs, which is guaranteed to terminate and produce a correct answer. Compared to existing approaches, the key advantage of our verification procedure is that it runs entirely on GPU or other accelerator devices. 
We demonstrate experimentally that our approach significantly outperforms existing methods and establish the new state-of-the-art for training and certifying the robustness of QNNs.

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Partial-Label Regression

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