An effective understanding of the contextual environment and accurate motion forecasting of surrounding agents is crucial for the development of autonomous vehicles and social mobile robots. This task is challenging since the behavior of an autonomous agent is not only affected by its own intention, but also by the static environment and surrounding dynamically interacting agents. Previous works focused on utilizing the spatial and temporal information in time domain while not sufficiently taking advantage of the cues in frequency domain. To this end, we propose a Spectral Temporal Graph Neural Network (SpecTGNN), which can capture inter-agent correlations and temporal dependency simultaneously in frequency domain in addition to time domain. SpecTGNN operates on both an agent graph with dynamic state information and an environment graph with the features extracted from context images in two streams. The model integrates graph Fourier transform, spectral graph convolution and temporal gated convolution to encode history information and forecast future trajectories. Moreover, we incorporate a multi-head spatio-temporal attention mechanism to mitigate the effect of error propagation in a long time horizon. We demonstrate the performance of SpecTGNN on two public trajectory prediction benchmark datasets, which achieves state-of-the-art performance in terms of prediction accuracy.

Transformers have become the powerhouse of natural language processing and recently found use in computer vision tasks. Their effective use of attention can be used in other contexts as well, and in this paper, we propose a transformer-based approach for efficiently solving the complex motion planning problems. Traditional neural network-based motion planning uses convolutional networks to encode the planning space, but these methods are limited to fixed map sizes, which is often not realistic in the real-world. Our approach first identifies regions on the map using transformers to provide attention to map areas likely to include the best path, and then applies local planners to generate the final collision-free path. We validate our method on a variety of randomly generated environments with different map sizes, demonstrating reduction in planning complexity and achieving comparable accuracy to traditional planners.

We present a general optimization framework for emergent belief-state representation without any supervision. We employed the common configuration of multiagent reinforcement learning and communication to improve exploration coverage over an environment by leveraging the knowledge of each agent. In this paper, we obtained that recurrent neural nets (RNNs) with shared weights are highly biased in partially observable environments because of their noncooperativity. To address this, we designated an unbiased version of self-play via mechanism design, also known as reverse game theory, to clarify unbiased knowledge at the Bayesian Nash equilibrium. The key idea is to add imaginary rewards using the peer prediction mechanism (Miller et al., 2005), i.e., a mechanism for mutually criticizing information in a decentralized environment. Numerical analyses, including StarCraft exploration tasks with up to 20 agents and off-the-shelf RNNs, demonstrate the state-of-the-art performance.

The inner representation of deep neural networks (DNNs) is indecipherable, which makes it difficult to tune DNN models, control their training process, and interpret their outputs. In this paper, we propose a novel approach to investigate the inner representation of DNNs through topological data analysis (TDA). Persistent homology (PH), one of the outstanding methods in TDA, was employed for investigating the complexities of trained DNNs. We constructed clique complexes on trained DNNs and calculated the one-dimensional PH of DNNs. The PH reveals the combinational effects of multiple neurons in DNNs at different resolutions, which is difficult to be captured without using PH. Evaluations were conducted using fully connected networks (FCNs) and networks combining FCNs and convolutional neural networks (CNNs) trained on the MNIST and CIFAR-10 data sets. Evaluation results demonstrate that the PH of DNNs reflects both the excess of neurons and problem difficulty, making PH one of the prominent methods for investigating the inner representation of DNNs.

Researchers working on computational analysis of Whole Slide Images (WSIs) in histopathology have primarily resorted to patch-based modelling due to large resolution of each WSI. The large resolution makes WSIs infeasible to be fed directly into the machine learning models due to computational constraints. However, due to patch-based analysis, most of the current methods fail to exploit the underlying spatial relationship among the patches. In our work, we have tried to integrate this relationship along with feature-based correlation among the extracted patches from the particular tumorous region. For the given task of classification, we have used BiLSTMs to model both forward and backward contextual relationship. RNN based models eliminate the limitation of sequence size by allowing the modelling of variable size images within a deep learning model. We have also incorporated the effect of spatial continuity by exploring different scanning techniques used to sample patches. To establish the efficiency of our approach, we trained and tested our model on two datasets, microscopy images and WSI tumour regions. After comparing with contemporary literature we achieved the better performance with accuracy of 90% for microscopy image dataset. For WSI tumour region dataset, we compared the classification results with deep learning networks such as ResNet, DenseNet, and InceptionV3 using maximum voting technique. We achieved the highest performance accuracy of 84%. We found out that BiLSTMs with CNN features have performed much better in modelling patches into an end-to-end Image classification network. Additionally, the variable dimensions of WSI tumour regions were used for classification without the need for resizing. This suggests that our method is independent of tumour image size and can process large dimensional images without losing the resolution details.

Attentional mechanisms are order-invariant. Positional encoding is a crucial component to allow attention-based deep model architectures such as Transformer to address sequences or images where the position of information matters. In this paper, we propose a novel positional encoding method based on learnable Fourier features. Instead of hard-coding each position as a token or a vector, we represent each position, which can be multi-dimensional, as a trainable encoding based on learnable Fourier feature mapping, modulated with a multi-layer perceptron. The representation is particularly advantageous for a spatial multi-dimensional position, e.g., pixel positions on an image, where $L_2$ distances or more complex positional relationships need to be captured. Our experiments based on several public benchmark tasks show that our learnable Fourier feature representation for multi-dimensional positional encoding outperforms existing methods by both improving the accuracy and allowing faster convergence.

In reinforcement learning, experience replay stores past samples for further reuse. Prioritized sampling is a promising technique to better utilize these samples. Previous criteria of prioritization include TD error, recentness and corrective feedback, which are mostly heuristically designed. In this work, we start from the regret minimization objective, and obtain an optimal prioritization strategy for Bellman update that can directly maximize the return of the policy. The theory suggests that data with higher hindsight TD error, better on-policiness and more accurate Q value should be assigned with higher weights during sampling. Thus most previous criteria only consider this strategy partially. We not only provide theoretical justifications for previous criteria, but also propose two new methods to compute the prioritization weight, namely ReMERN and ReMERT. ReMERN learns an error network, while ReMERT exploits the temporal ordering of states. Both methods outperform previous prioritized sampling algorithms in challenging RL benchmarks, including MuJoCo, Atari and Meta-World.

As applications of deep learning (DL) continue to seep into critical scientific use-cases, the importance of performing uncertainty quantification (UQ) with DL has become more pressing than ever before. In scientific applications, it is also important to inform the learning of DL models with knowledge of physics of the problem to produce physically consistent and generalized solutions. This is referred to as the emerging field of physics-informed deep learning (PIDL). We consider the problem of developing PIDL formulations that can also perform UQ. To this end, we propose a novel physics-informed GAN architecture, termed PID-GAN, where the knowledge of physics is used to inform the learning of both the generator and discriminator models, making ample use of unlabeled data instances. We show that our proposed PID-GAN framework does not suffer from imbalance of generator gradients from multiple loss terms as compared to state-of-the-art. We also empirically demonstrate the efficacy of our proposed framework on a variety of case studies involving benchmark physics-based PDEs as well as imperfect physics. All the code and datasets used in this study have been made available on this link : https://github.com/arkadaw9/PID-GAN.

Over-parameterized deep neural networks (DNNs) with sufficient capacity to memorize random noise can achieve excellent generalization performance, challenging the bias-variance trade-off in classical learning theory. Recent studies claimed that DNNs first learn simple patterns and then memorize noise; some other works showed a phenomenon that DNNs have a spectral bias to learn target functions from low to high frequencies during training. However, we show that the monotonicity of the learning bias does not always hold: under the experimental setup of deep double descent, the high-frequency components of DNNs diminish in the late stage of training, leading to the second descent of the test error. Besides, we find that the spectrum of DNNs can be applied to indicating the second descent of the test error, even though it is calculated from the training set only.

At each step, get practical experience by applying your skills to code exercises and projects. This program is intended for students with experience in Python, who have not yet studied Machine Learning topics.