Predicting the motion of surrounding vehicles is essential for autonomous vehicles, as it governs their own motion plan. Current state-of-the-art vehicle prediction models heavily rely on map information. In reality, however, this information is not always available. We therefore propose CRAT-Pred, a multi-modal and non-rasterization-based trajectory prediction model, specifically designed to effectively model social interactions between vehicles, without relying on map information. CRAT-Pred applies a graph convolution method originating from the field of material science to vehicle prediction, allowing to efficiently leverage edge features, and combines it with multi-head self-attention. Compared to other map-free approaches, the model achieves state-of-the-art performance with a significantly lower number of model parameters. In addition to that, we quantitatively show that the self-attention mechanism is able to learn social interactions between vehicles, with the weights representing a measurable interaction score. The source code is publicly available.
Predicting a vehicle's trajectory is an essential ability for autonomous vehicles navigating through complex urban traffic scenes. Bird's-eye-view roadmap information provides valuable information for making trajectory predictions, and while state-of-the-art models extract this information via image convolution, auxiliary loss functions can augment patterns inferred from deep learning by further encoding common knowledge of social and legal driving behaviors. Since human driving behavior is inherently multimodal, models which allow for multimodal output tend to outperform single-prediction mod…
Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past motion of agents, and the static scene structure. Due to the high variability in scene structure and agent configurations, prior work has employed the attention mechanism, applied separately to the scene and agent configuration to learn the most salient parts of both cues. However, the two cues are tightly linked. The agent configuration can inform what part…
Zhejiang University（浙江大学）；Tianjin Jinhang Technical Physics Institute（天津津航技术物理研究所）；Complex System Control and Intelligent Agent Cooperative Laboratory（复杂系统控制与智能体协同实验室）
A single unit (head) is the conventional input feature extractor in deep learning architectures trained on multivariate time series signals. The importance of the fixed-dimensional vector representation generated by the single-head network has been demonstrated for industrial machinery condition monitoring and predictive maintenance. However, processing heterogeneous sensor signals with a single-head may result in a model that cannot explicitly account for the diversity in time-varying multivariate inputs. This work extends the conventional single-head deep learning models to a more robust for…
Sapienza University of Rome（罗马第一大学）；Italian Space Agency（意大利航天局）
This paper shows the application of autonomous Crater Detection using the U-Net, a Fully-Convolutional Neural Network, on Ceres. The U-Net is trained on optical images of the Moon Global Morphology Mosaic based on data collected by the LRO and manual crater catalogues. The Moon-trained network will be tested on Dawn optical images of Ceres: this task is accomplished by means of a Transfer Learning (TL) approach. The trained model has been fine-tuned using 100, 500 and 1000 additional images of Ceres. The test performance was measured on 350 never before seen images, reaching a testing accuracy…
The University of Tokyo（东京大学）；CyberAgent, Inc.（CyberAgent 公司）；Ritsumeikan University（立命馆大学）；Osaka University（大阪大学）
For a humanoid robot to make eye contact and initiate communication with a person, it is necessary to estimate the person's head position. However, eye contact becomes difficult due to the mechanical delay of the robot when the person is moving. Owing to these issues, it is important to conduct a head-position prediction to mitigate the effect of the delay in the robot motion. Based on the fact that humans turn their heads before changing direction while walking, we hypothesized that the accuracy of three-dimensional (3D) head-position prediction from a first-person view can be improved by con…
This paper presents online-capable deep learning model for probabilistic vehicle trajectory prediction. We propose a simple encoder-decoder architecture based on multi-head attention. The proposed model generates the distribution of the predicted trajectories for multiple vehicles in parallel. Our approach to model the interactions can learn to attend to a few influential vehicles in an unsupervised manner, which can improve the interpretability of the network. The experiments using naturalistic trajectories at highway show the clear improvement in terms of positional error on both longitudina…
University of Texas Southwestern Medical Center（德克萨斯大学西南医学中心）
For Head and Neck Cancers (HNC) patient management, automatic gross tumor volume (GTV) segmentation and accurate pre-treatment cancer recurrence prediction are of great importance to assist physicians in designing personalized management plans, which have the potential to improve the treatment outcome and quality of life for HNC patients. In this paper, we developed an automated primary tumor (GTVp) and lymph nodes (GTVn) segmentation method based on combined pre-treatment positron emission tomography/computed tomography (PET/CT) scans of HNC patients. We extracted radiomics features from the …
UIUC（伊利诺伊大学厄巴纳-香槟分校）；Wormpex AI Research；Tsinghua University（清华大学）；University of Oregon（俄勒冈大学）
Early-exiting dynamic neural networks (EDNN), as one type of dynamic neural networks, has been widely studied recently. A typical EDNN has multiple prediction heads at different layers of the network backbone. During inference, the model will exit at either the last prediction head or an intermediate prediction head where the prediction confidence is higher than a predefined threshold. To optimize the model, these prediction heads together with the network backbone are trained on every batch of training data. This brings a train-test mismatch problem that all the prediction heads are optimized…
CCDepth: A Lightweight Self-supervised Depth Estimation Network with Enhanced Interpretability
College of Information Science and Engineering, China University of Petroleum (Beijing)（中国石油大学（北京）信息科学与工程学院）；The University of Hong Kong（香港大学）；Tsinghua University（清华大学）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）
In this paper, we present a new method, Transductive Multi-Head Few-Shot learning (TMHFS), to address the Cross-Domain Few-Shot Learning (CD-FSL) challenge. The TMHFS method extends the Meta-Confidence Transduction (MCT) and Dense Feature-Matching Networks (DFMN) method [2] by introducing a new prediction head, i.e, an instance-wise global classification network based on semantic information, after the common feature embedding network. We train the embedding network with the multiple heads, i.e,, the MCT loss, the DFMN loss and the semantic classifier loss, simultaneously in the source domain.…
When watching omnidirectional images (ODIs), subjects can access different viewports by moving their heads. Therefore, it is necessary to predict subjects' head fixations on ODIs. Inspired by generative adversarial imitation learning (GAIL), this paper proposes a novel approach to predict saliency of head fixations on ODIs, named SalGAIL. First, we establish a dataset for attention on ODIs (AOI). In contrast to traditional datasets, our AOI dataset is large-scale, which contains the head fixations of 30 subjects viewing 600 ODIs. Next, we mine our AOI dataset and determine three findings: (1) …
University of Electronic Science and Technology of China（电子科技大学）；Sichuan Artificial Intelligence Research Institute（四川人工智能研究院）
Scene Graph Generation (SGG) represents objects and their interactions with a graph structure. Recently, many works are devoted to solving the imbalanced problem in SGG. However, underestimating the head predicates in the whole training process, they wreck the features of head predicates that provide general features for tail ones. Besides, assigning excessive attention to the tail predicates leads to semantic deviation. Based on this, we propose a novel SGG framework, learning to generate scene graphs from Head to Tail (SGG-HT), containing Curriculum Re-weight Mechanism (CRM) and Semantic Con…
FONT: Flow-guided One-shot Talking Head Generation with Natural Head Motions
Institute of Information Engineering, Chinese Academy of Sciences（中国科学院信息工程研究所）；School of Cyber Security, University of Chinese Academy of Sciences（中国科学院大学网络空间安全学院）
University of Electronic Science and Technology of China（电子科技大学）；University of Ottawa（渥太华大学）
The current studies of Scene Graph Generation (SGG) focus on solving the long-tailed problem for generating unbiased scene graphs. However, most de-biasing methods overemphasize the tail predicates and underestimate head ones throughout training, thereby wrecking the representation ability of head predicate features. Furthermore, these impaired features from head predicates harm the learning of tail predicates. In fact, the inference of tail predicates heavily depends on the general patterns learned from head ones, e.g., "standing on" depends on "on". Thus, these de-biasing SGG methods can nei…
The University of Sydney（悉尼大学）；Shanghai Jiao Tong University（上海交通大学）
Outcome prediction is crucial for head and neck cancer patients as it can provide prognostic information for early treatment planning. Radiomics methods have been widely used for outcome prediction from medical images. However, these methods are limited by their reliance on intractable manual segmentation of tumor regions. Recently, deep learning methods have been proposed to perform end-to-end outcome prediction so as to remove the reliance on manual segmentation. Unfortunately, without segmentation masks, these methods will take the whole image as input, such that makes them difficult to foc…
XSpecMesh: Quality-Preserving Auto-Regressive Mesh Generation Acceleration via Multi-Head Speculative Decoding
Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University（教育部多媒体可信感知与高效计算重点实验室，厦门大学）；Shandong Inspur Database Technology Co.,Ltd（山东浪潮数据库技术有限公司）
Continuous affect prediction involves the discrete time-continuous regression of affect dimensions. Dimensions to be predicted often include arousal and valence. Continuous affect prediction researchers are now embracing multimodal model input. This provides motivation for researchers to investigate previously unexplored affective cues. Speech-based cues have traditionally received the most attention for affect prediction, however, non-verbal inputs have significant potential to increase the performance of affective computing systems and in addition, allow affect modelling in the absence of sp…
In this paper, we empirically analyze a simple, non-learnable, and nonparametric Nadaraya-Watson (NW) prediction head that can be used with any neural network architecture. In the NW head, the prediction is a weighted average of labels from a support set. The weights are computed from distances between the query feature and support features. This is in contrast to the dominant approach of using a learnable classification head (e.g., a fully-connected layer) on the features, which can be challenging to interpret and can yield poorly calibrated predictions. Our empirical results on an array of c…
In medical imaging, radiological scans of different modalities serve to enhance different sets of features for clinical diagnosis and treatment planning. This variety enriches the source information that could be used for outcome prediction. Deep learning methods are particularly well-suited for feature extraction from high-dimensional inputs such as images. In this work, we apply a CNN classification network augmented with a FCN preprocessor sub-network to a public TCIA head and neck cancer dataset. The training goal is survival prediction of radiotherapy cases based on pre-treatment FDG PET-…
Geisel School of Medicine at Dartmouth（达特茅斯盖泽尔医学院）；Dartmouth-Hitchcock Medical Center（达特茅斯-希区柯克医疗中心）；Dartmouth College（达特茅斯学院）
In pathology, whole-slide images (WSI) based survival prediction has attracted increasing interest. However, given the large size of WSIs and the lack of pathologist annotations, extracting the prognostic information from WSIs remains a challenging task. Previous studies have used multiple instance learning approaches to combine the information from multiple randomly sampled patches, but different visual patterns may contribute differently to prognosis prediction. In this study, we developed a multi-head attention approach to focus on various parts of a tumor slide, for more comprehensive info…
Central China Normal University（华中师范大学）；Northwest Normal University（西北师范大学）
Photovoltaic (PV) panel surface-defect detection technology is crucial for the PV industry to perform smart maintenance. Using computer vision technology to detect PV panel surface defects can ensure better accuracy while reducing the workload of traditional worker field inspections. However, multiple tiny defects on the PV panel surface and the high similarity between different defects make it challenging to {accurately identify and detect such defects}. This paper proposes an approach named Ghost convolution with BottleneckCSP and a tiny target prediction head incorporating YOLOv5 (GBH-YOLOv…
Object detection on drone-captured scenarios is a recent popular task. As drones always navigate in different altitudes, the object scale varies violently, which burdens the optimization of networks. Moreover, high-speed and low-altitude flight bring in the motion blur on the densely packed objects, which leads to great challenge of object distinction. To solve the two issues mentioned above, we propose TPH-YOLOv5. Based on YOLOv5, we add one more prediction head to detect different-scale objects. Then we replace the original prediction heads with Transformer Prediction Heads (TPH) to explore …
Lung nodules can be an alarming precursor to potential lung cancer. Missed nodule detections during chest radiograph analysis remains a common challenge among thoracic radiologists. In this work, we present a multi-task lung nodule detection algorithm for chest radiograph analysis. Unlike past approaches, our algorithm predicts a global-level label indicating nodule presence along with local-level labels predicting nodule locations using a Dual Head Network (DHN). We demonstrate the favorable nodule detection performance that our multi-task formulation yields in comparison to conventional meth…
Netease Fuxi AI Lab（网易伏羲人工智能实验室）；University of Technology Sydney（悉尼科技大学）
We propose an audio-driven talking-head method to generate photo-realistic talking-head videos from a single reference image. In this work, we tackle two key challenges: (i) producing natural head motions that match speech prosody, and (ii) maintaining the appearance of a speaker in a large head motion while stabilizing the non-face regions. We first design a head pose predictor by modeling rigid 6D head movements with a motion-aware recurrent neural network (RNN). In this way, the predicted head poses act as the low-frequency holistic movements of a talking head, thus allowing our latter netw…
The Chinese University of Hong Kong（香港中文大学）；The Hong Kong Polytechnic University（香港理工大学）；Department of Computing, The Hong Kong Polytechnic University（香港理工大学计算学系）
Social media produces large amounts of contents every day. To help users quickly capture what they need, keyphrase prediction is receiving a growing attention. Nevertheless, most prior efforts focus on text modeling, largely ignoring the rich features embedded in the matching images. In this work, we explore the joint effects of texts and images in predicting the keyphrases for a multimedia post. To better align social media style texts and images, we propose: (1) a novel Multi-Modality Multi-Head Attention (M3H-Att) to capture the intricate cross-media interactions; (2) image wordings, in for…
