Current approaches for predicting sets from feature vectors ignore the unordered nature of sets and suffer from discontinuity issues as a result. We propose a general model for predicting sets that properly respects the structure of sets and avoids this problem. With a single feature vector as input, we show that our model is able to auto-encode point sets, predict the set of bounding boxes of objects in an image, and predict the set of attributes of these objects.

Summary: This paper presents an approach for solving machine learning tasks that require the prediction to be presented in the form of a set. The authors propose to use the set encoder (which is composed of permutation-invariant operations) at the prediction phase by finding an output set with an optimization procedure. As the model output is a vector of continuous features for each set element, it can be done by means of nested gradient descent optimization. In order to solve the task of set prediction for external feature vector, the work suggests a combined loss function that encourages the representation of ground truth to be close to obtained features. Results are shown on MNIST and CLEVR datasets and outperform those of an MLP baseline.

Current approaches for predicting sets from feature vectors ignore the unordered nature of sets and suffer from discontinuity issues as a result. We propose a general model for predicting sets that properly respects the structure of sets and avoids this problem. With a single feature vector as input, we show that our model is able to auto-encode point sets, predict the set of bounding boxes of objects in an image, and predict the set of attributes of these objects.

Determining the traffic scenario space is a major challenge for the homologation and coverage assessment of automated driving functions. In contrast to current approaches that are mainly scenario-based and rely on expert knowledge, we introduce two data driven autoencoding models that learn a latent representation of traffic scenes. First is a CNN based spatio-temporal model that autoencodes a grid of traffic participants' positions. Secondly, we develop a pure temporal RNN based model that auto-encodes a sequence of sets. To handle the unordered set data, we had to incorporate the permutation invariance property. Finally, we show how the latent scenario embeddings can be used for clustering traffic scenarios and similarity retrieval.