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Register a new userRepresentation Learning of Pedestrian Trajectories Using Actor-Critic Sequence-to-Sequence Autoencoder
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Representation learning of pedestrian trajectories transforms variable-length timestamp-coordinate tuples of a trajectory into a fixed-length vector representation that summarizes spatiotemporal characteristics. It is a crucial technique to connect feature-based data mining with trajectory data. Trajectory representation is a challenging problem, because both environmental constraints (e.g., wall partitions) and temporal user dynamics should be meticulously considered and accounted for. Furthermore, traditional sequence-to-sequence autoencoders using maximum log-likelihood often require dataset covering all the possible spatiotemporal characteristics to perform well. This is infeasible or impractical in reality. We propose TREP, a practical pedestrian trajectory representation learning algorithm which captures the environmental constraints and the pedestrian dynamics without the need of any training dataset. By formulating a sequence-to-sequence autoencoder with a spatial-aware objective function under the paradigm of actor-critic reinforcement learning, TREP intelligently encodes spatiotemporal characteristics of trajectories with the capability of handling diverse trajectory patterns. Extensive experiments on both synthetic and real datasets validate the high fidelity of TREP to represent trajectories.
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We present an approach to training neural networks to generate sequences using actor-critic methods from reinforcement learning (RL). Current log-likelihood training methods are limited by the discrepancy between their training and testing modes, as models must generate tokens conditioned on their previous guesses rather than the ground-truth tokens. We address this problem by introducing a textit{critic} network that is trained to predict the value of an output token, given the policy of an textit{actor} network. This results in a training procedure that is much closer to the test phase, and allows us to directly optimize for a task-specific score such as BLEU. Crucially, since we leverage these techniques in the supervised learning setting rather than the traditional RL setting, we condition the critic network on the ground-truth output. We show that our method leads to improved performance on both a synthetic task, and for German-English machine translation. Our analysis paves the way for such methods to be applied in natural language generation tasks, such as machine translation, caption generation, and dialogue modelling.
Heterogeneity of sentences exists in sequence to sequence tasks such as machine translation. Sentences with largely varied meanings or grammatical structures may increase the difficulty of convergence while training the network. In this paper, we introduce a model to resolve the heterogeneity in the sequence to sequence task. The Multi-filter Gaussian Mixture Autoencoder (MGMAE) utilizes an autoencoder to learn the representations of the inputs. The representations are the outputs from the encoder, lying in the latent space whose dimension is the hidden dimension of the encoder. The representations of training data in the latent space are used to train Gaussian mixtures. The latent space representations are divided into several mixtures of Gaussian distributions. A filter (decoder) is tuned to fit the data in one of the Gaussian distributions specifically. Each Gaussian is corresponding to one filter so that the filter is responsible for the heterogeneity within this Gaussian. Thus the heterogeneity of the training data can be resolved. Comparative experiments are conducted on the Geo-query dataset and English-French translation. Our experiments show that compares to the traditional encoder-decoder model, this network achieves better performance on sequence to sequence tasks such as machine translation and question answering.
The vector representations of fixed dimensionality for words (in text) offered by Word2Vec have been shown to be very useful in many application scenarios, in particular due to the semantic information they carry. This paper proposes a parallel version, the Audio Word2Vec. It offers the vector representations of fixed dimensionality for variable-length audio segments. These vector representations are shown to describe the sequential phonetic structures of the audio segments to a good degree, with very attractive real world applications such as query-by-example Spoken Term Detection (STD). In this STD application, the proposed approach significantly outperformed the conventional Dynamic Time Warping (DTW) based approaches at significantly lower computation requirements. We propose unsupervised learning of Audio Word2Vec from audio data without human annotation using Sequence-to-sequence Audoencoder (SA). SA consists of two RNNs equipped with Long Short-Term Memory (LSTM) units: the first RNN (encoder) maps the input audio sequence into a vector representation of fixed dimensionality, and the second RNN (decoder) maps the representation back to the input audio sequence. The two RNNs are jointly trained by minimizing the reconstruction error. Denoising Sequence-to-sequence Autoencoder (DSA) is furthered proposed offering more robust learning.
We introduce an Actor-Critic Ensemble(ACE) method for improving the performance of Deep Deterministic Policy Gradient(DDPG) algorithm. At inference time, our method uses a critic ensemble to select the best action from proposals of multiple actors running in parallel. By having a larger candidate set, our method can avoid actions that have fatal consequences, while staying deterministic. Using ACE, we have won the 2nd place in NIPS17 Learning to Run competition, under the name of Megvii-hzwer.
Reinforcement learning (RL) has achieved remarkable performance in numerous sequential decision making and control tasks. However, a common problem is that learned nearly optimal policy always overfits to the training environment and may not be extended to situations never encountered during training. For practical applications, the randomness of environment usually leads to some devastating events, which should be the focus of safety-critical systems such as autonomous driving. In this paper, we introduce the minimax formulation and distributional framework to improve the generalization ability of RL algorithms and develop the Minimax Distributional Soft Actor-Critic (Minimax DSAC) algorithm. Minimax formulation aims to seek optimal policy considering the most severe variations from environment, in which the protagonist policy maximizes action-value function while the adversary policy tries to minimize it. Distributional framework aims to learn a state-action return distribution, from which we can model the risk of different returns explicitly, thereby formulating a risk-averse protagonist policy and a risk-seeking adversarial policy. We implement our method on the decision-making tasks of autonomous vehicles at intersections and test the trained policy in distinct environments. Results demonstrate that our method can greatly improve the generalization ability of the protagonist agent to different environmental variations.
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