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Register a new userAutoencoder Regularized Network For Driving Style Representation Learning
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Weishan Dong
Publication date
2017
fields
Informatics Engineering
and research's language is
English
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In this paper, we study learning generalized driving style representations from automobile GPS trip data. We propose a novel Autoencoder Regularized deep neural Network (ARNet) and a trip encoding framework trip2vec to learn drivers driving styles directly from GPS records, by combining supervised and unsupervised feature learning in a unified architecture. Experiments on a challenging driver number estimation problem and the driver identification problem show that ARNet can learn a good generalized driving style representation: It significantly outperforms existing methods and alternative architectures by reaching the least estimation error on average (0.68, less than one driver) and the highest identification accuracy (by at least 3% improvement) compared with traditional supervised learning methods.
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This paper demonstrates a fatal vulnerability in natural language inference (NLI) and text classification systems. More concretely, we present a backdoor poisoning attack on NLP models. Our poisoning attack utilizes conditional adversarially regularized autoencoder (CARA) to generate poisoned training samples by poison injection in latent space. Just by adding 1% poisoned data, our experiments show that a victim BERT finetuned classifiers predictions can be steered to the poison target class with success rates of >80% when the input hypothesis is injected with the poison signature, demonstrating that NLI and text classification systems face a huge security risk.
Radars and cameras are mature, cost-effective, and robust sensors and have been widely used in the perception stack of mass-produced autonomous driving systems. Due to their complementary properties, outputs from radar detection (radar pins) and camera perception (2D bounding boxes) are usually fused to generate the best perception results. The key to successful radar-camera fusion is the accurate data association. The challenges in the radar-camera association can be attributed to the complexity of driving scenes, the noisy and sparse nature of radar measurements, and the depth ambiguity from 2D bounding boxes. Traditional rule-based association methods are susceptible to performance degradation in challenging scenarios and failure in corner cases. In this study, we propose to address radar-camera association via deep representation learning, to explore feature-level interaction and global reasoning. Additionally, we design a loss sampling mechanism and an innovative ordinal loss to overcome the difficulty of imperfect labeling and to enforce critical human-like reasoning. Despite being trained with noisy labels generated by a rule-based algorithm, our proposed method achieves a performance of 92.2% F1 score, which is 11.6% higher than the rule-based teacher. Moreover, this data-driven method also lends itself to continuous improvement via corner case mining.
Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly into driving actions are problematic in terms of interpretability, and typically have significant difficulty dealing with spurious correlations. Alternatively, we propose to use this kind of action-based driving data for learning representations. Our experiments show that an affordance-based driving model pre-trained with this approach can leverage a relatively small amount of weakly annotated imagery and outperform pure end-to-end driving models, while being more interpretable. Further, we demonstrate how this strategy outperforms previous methods based on learning inverse dynamics models as well as other methods based on heavy human supervision (ImageNet).
Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for free. In this work, we leverage the large-scale unlabeled yet naturally paired data for visual representation learning in the driving scenario. A representation is learned in an end-to-end self-supervised framework for predicting dense optical flow from a single frame with paired sensing data. We postulate that success on this task requires the network to learn semantic and geometric knowledge in the ego-centric view. For example, forecasting a future view to be seen from a moving vehicle requires an understanding of scene depth, scale, and movement of objects. We demonstrate that our learned representation can benefit other tasks that require detailed scene understanding and outperforms competing unsupervised representations on semantic segmentation.
emph{Objective and Impact Statement}. With the renaissance of deep learning, automatic diagnostic systems for computed tomography (CT) have achieved many successful applications. However, they are mostly attributed to careful expert annotations, which are often scarce in practice. This drives our interest to the unsupervised representation learning. emph{Introduction}. Recent studies have shown that self-supervised learning is an effective approach for learning representations, but most of them rely on the empirical design of transformations and pretext tasks. emph{Methods}. To avoid the subjectivity associated with these methods, we propose the MVCNet, a novel unsupervised three dimensional (3D) representation learning method working in a transformation-free manner. We view each 3D lesion from different orientations to collect multiple two dimensional (2D) views. Then, an embedding function is learned by minimizing a contrastive loss so that the 2D views of the same 3D lesion are aggregated, and the 2D views of different lesions are separated. We evaluate the representations by training a simple classification head upon the embedding layer. emph{Results}. Experimental results show that MVCNet achieves state-of-the-art accuracies on the LIDC-IDRI (89.55%), LNDb (77.69%) and TianChi (79.96%) datasets for emph{unsupervised representation learning}. When fine-tuned on 10% of the labeled data, the accuracies are comparable to the supervised learning model (89.46% vs. 85.03%, 73.85% vs. 73.44%, 83.56% vs. 83.34% on the three datasets, respectively). emph{Conclusion}. Results indicate the superiority of MVCNet in emph{learning representations with limited annotations}.
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