This paper presents a novel incremental learning algorithm for pedestrian motion prediction, with the ability to improve the learned model over time when data is incrementally available. In this setup, trajectories are modeled as simple segments called motion primitives. Transitions between motion primitives are modeled as Gaussian Processes. When new data is available, the motion primitives learned from the new data are compared with the previous ones by measuring the inner product of the motion primitive vectors. Similar motion primitives and transitions are fused and novel motion primitives are added to capture newly observed behaviors. The proposed approach is tested and compared with other baselines in intersection scenarios where the data is incrementally available either from a single intersection or from multiple intersections with different geometries. In both cases, our method incrementally learns motion patterns and outperforms the offline learning approach in terms of prediction errors. The results also show that the model size in our algorithm grows at a much lower rate than standard incremental learning, where newly learned motion primitives and transitions are simply accumulated over time.

Silas: High Performance, Explainable and V erifiable Machine Learning Hadrien Bride, Zh e H ou Griffith University, Nathan, Brisbane, Australia Jie Dong Dependable Intelligence Pty Ltd, Brisbane, Australia Jin Song Dong National University of Singapore, Singapore Ali Mirjalili Griffith University, Nathan, Brisbane, AustraliaAbstract This paper introduces a new classification tool named Silas, which is built to provide a more transparent and dependable data analytics service. A focus of Silas is on providing a formal foundation of decision trees in order to support logical analysis and verification of learned prediction models. This paper describes the distinct features of Silas: The Model Audit module formally verifies the prediction model against user specifications, the Enforcement Learning module trains prediction models that are guaranteed correct, the Model Insight and Prediction Insight modules reason about the prediction model and explain the decision-making of predictions. We also discuss implementation details ranging from programming paradigm to memory management that help achieve high-performance computation.1. Introduction Machine learning has enjoyed great success in many research areas and industries, including entertainment [1], self-driving cars [2], banking [3], medical diagnosis [4], shopping [5], and among many others. However, the wide adoption of machine learn-Preprint submitted to Elsevier October 4, 2019 arXiv:1910.01382v1 The ramifications of the black-box approach are multifold. First, it may lead to unexpected results that are only observable after the deployment of the algorithm. For instance, Amazon's Alexa offered porn to a child [6], a self-driving car had a deadly accident [7], etc. Some of these accidents result in lawsuits or even lost lives, the cost of which is immeasurable. Second, it prevents the adoption in some applications and industries where an explanation is mandatory or certain specifications must be satisfied. For example, in some countries, it is required by law to give a reason why a loan application is rejected. In recent years, eXplainable AI (XAI) has been gaining attention, and there is a surge of interest in studying how prediction models work and how to provide formal guarantees for the models. A common theme in this space is to use statistical methods to analyse prediction models.