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Register a new userTraffic Lights with Auction-Based Controllers: Algorithms and Real-World Data
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Added by
Shumeet Baluja
Publication date
2017
fields
Informatics Engineering
and research's language is
English
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Real-time optimization of traffic flow addresses important practical problems: reducing a drivers wasted time, improving city-wide efficiency, reducing gas emissions and improving air quality. Much of the current research in traffic-light optimization relies on extending the capabilities of traffic lights to either communicate with each other or communicate with vehicles. However, before such capabilities become ubiquitous, opportunities exist to improve traffic lights by being more responsive to current traffic situations within the current, already deployed, infrastructure. In this paper, we introduce a traffic light controller that employs bidding within micro-auctions to efficiently incorporate traffic sensor information; no other outside sources of information are assumed. We train and test traffic light controllers on large-scale data collected from opted-in Android cell-phone users over a period of several months in Mountain View, California and the River North neighborhood of Chicago, Illinois. The learned auction-based controllers surpass (in both the relevant metrics of road-capacity and mean travel time) the currently deployed lights, optimized static-program lights, and longer-term planning approaches, in both cities, measured using real user driving data.
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Uncertain partially observable Markov decision processes (uPOMDPs) allow the probabilistic transition and observation functions of standard POMDPs to belong to a so-called uncertainty set. Such uncertainty, referred to as epistemic uncertainty, captures uncountable sets of probability distributions caused by, for instance, a lack of data available. We develop an algorithm to compute finite-memory policies for uPOMDPs that robustly satisfy specifications against any admissible distribution. In general, computing such policies is theoretically and practically intractable. We provide an efficient solution to this problem in four steps. (1) We state the underlying problem as a nonconvex optimization problem with infinitely many constraints. (2) A dedicated dualization scheme yields a dual problem that is still nonconvex but has finitely many constraints. (3) We linearize this dual problem and (4) solve the resulting finite linear program to obtain locally optimal solutions to the original problem. The resulting problem formulation is exponentially smaller than those resulting from existing methods. We demonstrate the applicability of our algorithm using large instances of an aircraft collision-avoidance scenario and a novel spacecraft motion planning case study.
Currently, the visually impaired rely on either a sighted human, guide dog, or white cane to safely navigate. However, the training of guide dogs is extremely expensive, and canes cannot provide essential information regarding the color of traffic lights and direction of crosswalks. In this paper, we propose a deep learning based solution that provides information regarding the traffic light mode and the position of the zebra crossing. Previous solutions that utilize machine learning only provide one piece of information and are mostly binary: only detecting red or green lights. The proposed convolutional neural network, LYTNet, is designed for comprehensiveness, accuracy, and computational efficiency. LYTNet delivers both of the two most important pieces of information for the visually impaired to cross the road. We provide five classes of pedestrian traffic lights rather than the commonly seen three or four, and a direction vector representing the midline of the zebra crossing that is converted from the 2D image plane to real-world positions. We created our own dataset of pedestrian traffic lights containing over 5000 photos taken at hundreds of intersections in Shanghai. The experiments carried out achieve a classification accuracy of 94%, average angle error of 6.35 degrees, with a frame rate of 20 frames per second when testing the network on an iPhone 7 with additional post-processing steps.
Reinforcement Learning (RL) is a promising approach for solving various control, optimization, and sequential decision making tasks. However, designing reward functions for complex tasks (e.g., with multiple objectives and safety constraints) can be challenging for most users and usually requires multiple expensive trials (reward function hacking). In this paper we propose a specification language (Inkling Goal Specification) for complex control and optimization tasks, which is very close to natural language and allows a practitioner to focus on problem specification instead of reward function hacking. The core elements of our framework are: (i) mapping the high level language to a predicate temporal logic tailored to control and optimization tasks, (ii) a novel automaton-guided dense reward generation that can be used to drive RL algorithms, and (iii) a set of performance metrics to assess the behavior of the system. We include a set of experiments showing that the proposed method provides great ease of use to specify a wide range of real world tasks; and that the reward generated is able to drive the policy training to achieve the specified goal.
This paper introduces Action Image, a new grasp proposal representation that allows learning an end-to-end deep-grasping policy. Our model achieves $84%$ grasp success on $172$ real world objects while being trained only in simulation on $48$ objects with just naive domain randomization. Similar to computer vision problems, such as object detection, Action Image builds on the idea that object features are invariant to translation in image space. Therefore, grasp quality is invariant when evaluating the object-gripper relationship; a successful grasp for an object depends on its local context, but is independent of the surrounding environment. Action Image represents a grasp proposal as an image and uses a deep convolutional network to infer grasp quality. We show that by using an Action Image representation, trained networks are able to extract local, salient features of grasping tasks that generalize across different objects and environments. We show that this representation works on a variety of inputs, including color images (RGB), depth images (D), and combined color-depth (RGB-D). Our experimental results demonstrate that networks utilizing an Action Image representation exhibit strong domain transfer between training on simulated data and inference on real-world sensor streams. Finally, our experiments show that a network trained with Action Image improves grasp success ($84%$ vs. $53%$) over a baseline model with the same structure, but using actions encoded as vectors.
The $DDalpha$-classifier, a nonparametric fast and very robust procedure, is described and applied to fifty classification problems regarding a broad spectrum of real-world data. The procedure first transforms the data from their original property space into a depth space, which is a low-dimensional unit cube, and then separates them by a projective invariant procedure, called $alpha$-procedure. To each data point the transformation assigns its depth values with respect to the given classes. Several alternative depth notions (spatial depth, Mahalanobis depth, projection depth, and Tukey depth, the latter two being approximated by univariate projections) are used in the procedure, and compared regarding their average error rates. With the Tukey depth, which fits the distributions shape best and is most robust, `outsiders, that is data points having zero depth in all classes, need an additional treatment for classification. Evidence is also given about the dimension of the extended feature space needed for linear separation. The $DDalpha$-procedure is available as an R-package.
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