Although using gated RNNs cells as feedforward networks is fairly non-standard, our primary motivation is to keep the AED and AO architectures as similar as possible in order to isolate the differences that arise from recurrence and positional encoding.

Inthesenetworks,attentionalignsencoderand decoder states and isoften used for visualizing network behavior.

Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of nowadays lidars do not take snapshots of the environment but sweep the environment over a period of time (typically around 100 ms). Such a rolling-shutter-like mechanism introduces motion distortion into the collected lidar scan, thus hindering downstream perception applications. In this paper, we present a novel method for motion distortion correction of lidar data by tightly coupling lidar with Inertial Measurement Unit (IMU) data. The motivation of this work is a map-free dynamic object detection based on lidar. The proposed lidar data undistortion method relies on continuous preintegrated of IMU measurements that allow parameterising the sensors' continuous 6-DoF trajectory using solely eleven discrete state variables (biases, initial velocity, and gravity direction). The undistortion consists of feature-based distance minimisation of point-to-line and point-to-plane residuals in a non-linear least-square formulation. Given undistorted geometric data over a short temporal window, the proposed pipeline computes the spatiotemporal normal vector of each of the lidar points. The temporal component of the normals is a proxy for the corresponding point's velocity, therefore allowing for learning-free dynamic object classification without the need for registration in a global reference frame. We demonstrate the soundness of the proposed method and its different components using public datasets and compare them with state-of-the-art lidar-inertial state estimation and dynamic object detection algorithms.

Generative models can produce synthetic patient records for analytical tasks when real data is unavailable or limited. However, current methods struggle with adhering to domain-specific knowledge and removing invalid data. We present ConSequence, an effective approach to integrating domain knowledge into sequential generative neural network outputs. Our rule-based formulation includes temporal aggregation and antecedent evaluation modules, ensured by an efficient matrix multiplication formulation, to satisfy hard and soft logical constraints across time steps. Existing constraint methods often fail to guarantee constraint satisfaction, lack the ability to handle temporal constraints, and hinder the learning and computational efficiency of the model. In contrast, our approach efficiently handles all types of constraints with guaranteed logical coherence. We demonstrate ConSequence's effectiveness in generating electronic health records, outperforming competitors in achieving complete temporal and spatial constraint satisfaction without compromising runtime performance or generative quality. Specifically, ConSequence successfully prevents all rule violations while improving the model quality in reducing its test perplexity by 5% and incurring less than a 13% slowdown in generation speed compared to an unconstrained model.

Multivariate temporal, or time, series classification is, in a way, the temporal generalization of (numeric) classification, as every instance is described by multiple time series instead of multiple values. Symbolic classification is the machine learning strategy to extract explicit knowledge from a data set, and the problem of symbolic classification of multivariate temporal series requires the design, implementation, and test of ad-hoc machine learning algorithms, such as, for example, algorithms for the extraction of temporal versions of decision trees. One of the most well-known algorithms for decision tree extraction from categorical data is Quinlan's ID3, which was later extended to deal with numerical attributes, resulting in an algorithm known as C4.5, and implemented in many open-sources data mining libraries, including the so-called Weka, which features an implementation of C4.5 called J48. ID3 was recently generalized to deal with temporal data in form of timelines, which can be seen as discrete (categorical) versions of multivariate time series, and such a generalization, based on the interval temporal logic HS, is known as Temporal ID3. In this paper we introduce Temporal C4.5, that allows the extraction of temporal decision trees from undiscretized multivariate time series, describe its implementation, called Temporal J48, and discuss the outcome of a set of experiments with the latter on a collection of public data sets, comparing the results with those obtained by other, classical, multivariate time series classification methods.

Encoder-decoder networks with attention have proven to be a powerful way to solve many sequence-to-sequence tasks. In these networks, attention aligns encoder and decoder states and is often used for visualizing network behavior. However, the mechanisms used by networks to generate appropriate attention matrices are still mysterious. Moreover, how these mechanisms vary depending on the particular architecture used for the encoder and decoder (recurrent, feed-forward, etc.) are also not well understood. In this work, we investigate how encoder-decoder networks solve different sequence-to-sequence tasks. We introduce a way of decomposing hidden states over a sequence into temporal (independent of input) and input-driven (independent of sequence position) components. This reveals how attention matrices are formed: depending on the task requirements, networks rely more heavily on either the temporal or input-driven components. These findings hold across both recurrent and feed-forward architectures despite their differences in forming the temporal components. Overall, our results provide new insight into the inner workings of attention-based encoder-decoder networks.

Convolutional Neural Networks (CNN) possess many positive qualities when it comes to spatial raster data. Translation invariance enables CNNs to detect features regardless of their position in the scene. However, in some domains, like geospatial, not all locations are exactly equal. In this work, we propose localized convolutional neural networks that enable convolutional architectures to learn local features in addition to the global ones. We investigate their instantiations in the form of learnable inputs, local weights, and a more general form. They can be added to any convolutional layers, easily end-to-end trained, introduce minimal additional complexity, and let CNNs retain most of their benefits to the extent that they are needed. In this work we address spatio-temporal prediction: test the effectiveness of our methods on a synthetic benchmark dataset and tackle three real-world wind prediction datasets. For one of them, we propose a method to spatially order the unordered data. We compare the recent state-of-the-art spatio-temporal prediction models on the same data. Models that use convolutional layers can be and are extended with our localizations. In all these cases our extensions improve the results, and thus often the state-of-the-art. We share all the code at a public repository.

Worldwide, conservation agencies employ rangers to protect conservation areas from poachers. However, agencies lack the manpower to have rangers effectively patrol these vast areas frequently. While past work has modeled poachers’ behavior so as to aid rangers in planning future patrols, those models’ predictions were not validated by extensive field tests. In my thesis, I present a spatio-temporal model that predicts poaching threat levels and results from a five-month field test in Uganda’s Queen Elizabeth Protected Area (QEPA). To my knowledge, this is the first time that a predictive model has been evaluated through such an extensive field test in this domain. These field test will be extended to another park in Uganda, Murchison Fall Protected Area, shortly. Main goals of my thesis are to develop the best performing model in terms of speed and accuracy and use such model to generate efficient and feasible patrol routes for the park rangers.