'finetuning' on a target task has been successfully applied in many different domains.

The paradigm of'pretraining' from a set of relevant auxiliary tasks and then'finetuning' on a target task has been successfully applied in many different domains. However, when the auxiliary tasks are abundant, with complex relationships to the target task, using domain knowledge or searching over all possible pretraining setups is inefficient and suboptimal. To address this challenge, we propose a method to automatically select from a large set of auxiliary tasks, which yields a representation most useful to the target task. In particular, we develop an efficient algorithm that uses automatic auxiliary task selection within a nested-loop metalearning process. We have applied this algorithm to the task of clinical outcome predictions in electronic medical records, learning from a large number of selfsupervised tasks related to forecasting patient trajectories. Experiments on a real clinical dataset demonstrate the superior predictive performance of our method compared to direct supervised learning, naive pretraining and simple multitask learning, in particular in low-data scenarios when the primary task has very few examples. With detailed ablation analysis, we further show that the selection rules are interpretable and able to generalize to unseen target tasks with new data.

3D multi-object tracking is an important component in robotic perception systems such as self-driving vehicles. Recent work follows a tracking-by-detection pipeline, which aims to match past tracklets with detections in the current frame. To avoid matching with false positive detections, prior work filters out detections with low confidence scores via a threshold. However, finding a proper threshold is non-trivial, which requires extensive manual search via ablation study. Also, this threshold is sensitive to many factors such as target object category so we need to re-search the threshold if these factors change. To ease this process, we propose to automatically select high-quality detections and remove the efforts needed for manual threshold search. Also, prior work often uses a single threshold per data sequence, which is sub-optimal in particular frames or for certain objects. Instead, we dynamically search threshold per frame or per object to further boost performance. Through experiments on KITTI and nuScenes, our method can filter out $45.7\%$ false positives while maintaining the recall, achieving new S.O.T.A. performance and removing the need for manually threshold tuning.