In this paper, we present a novel approach to modeling long-term dependencies in sequential data by introducing a gated recurrent unit (GRU) with a weighted time-delay feedback mechanism. Our proposed model, named $τ$-GRU, is a discretized version of a continuous-time formulation of a recurrent unit, where the dynamics are governed by delay differential equations (DDEs). We prove the existence and uniqueness of solutions for the continuous-time model and show that the proposed feedback mechanism can significantly improve the modeling of long-term dependencies. Our empirical results indicate that $τ$-GRU outperforms state-of-the-art recurrent units and gated recurrent architectures on a range of tasks, achieving faster convergence and better generalization.
In this work, we propose a novel recurrent neural network (RNN) architecture. The proposed RNN, gated-feedback RNN (GF-RNN), extends the existing approach of stacking multiple recurrent layers by allowing and controlling signals flowing from upper recurrent layers to lower layers using a global gating unit for each pair of layers. The recurrent signals exchanged between layers are gated adaptively based on the previous hidden states and the current input. We evaluated the proposed GF-RNN with different types of recurrent units, such as tanh, long short-term memory and gated recurrent units, on…
In this paper we compare different types of recurrent units in recurrent neural networks (RNNs). Especially, we focus on more sophisticated units that implement a gating mechanism, such as a long short-term memory (LSTM) unit and a recently proposed gated recurrent unit (GRU). We evaluate these recurrent units on the tasks of polyphonic music modeling and speech signal modeling. Our experiments revealed that these advanced recurrent units are indeed better than more traditional recurrent units such as tanh units. Also, we found GRU to be comparable to LSTM.
In this paper, we have used Recurrent Neural Networks to capture and model human motion data and generate motions by prediction of the next immediate data point at each time-step. Our RNN is armed with recently proposed Gated Recurrent Units which has shown promising results in some sequence modeling problems such as Machine Translation and Speech Synthesis. We demonstrate that this model is able to capture long-term dependencies in data and generate realistic motions.
Massachusetts Institute of Technology（麻省理工学院）；MILA - Universite de Montreal（蒙特利尔大学MILA）
We present a novel recurrent neural network (RNN) based model that combines the remembering ability of unitary RNNs with the ability of gated RNNs to effectively forget redundant/irrelevant information in its memory. We achieve this by extending unitary RNNs with a gating mechanism. Our model is able to outperform LSTMs, GRUs and Unitary RNNs on several long-term dependency benchmark tasks. We empirically both show the orthogonal/unitary RNNs lack the ability to forget and also the ability of GORU to simultaneously remember long term dependencies while forgetting irrelevant information. This p…
Graph processes model a number of important problems such as identifying the epicenter of an earthquake or predicting weather. In this paper, we propose a Graph Convolutional Recurrent Neural Network (GCRNN) architecture specifically tailored to deal with these problems. GCRNNs use convolutional filter banks to keep the number of trainable parameters independent of the size of the graph and of the time sequences considered. We also put forward Gated GCRNNs, a time-gated variation of GCRNNs akin to LSTMs. When compared with GNNs and another graph recurrent architecture in experiments using both…
Institute for Computer Science（计算机科学研究所）；University of Bonn（波恩大学）；School of Computing（计算学院）；National University of Singapore（新加坡国立大学）
Complex numbers have long been favoured for digital signal processing, yet complex representations rarely appear in deep learning architectures. RNNs, widely used to process time series and sequence information, could greatly benefit from complex representations. We present a novel complex gated recurrent cell, which is a hybrid cell combining complex-valued and norm-preserving state transitions with a gating mechanism. The resulting RNN exhibits excellent stability and convergence properties and performs competitively on the synthetic memory and adding task, as well as on the real-world tasks…
Recently recurrent neural networks (RNN) has been very successful in handling sequence data. However, understanding RNN and finding the best practices for RNN is a difficult task, partly because there are many competing and complex hidden units (such as LSTM and GRU). We propose a gated unit for RNN, named as Minimal Gated Unit (MGU), since it only contains one gate, which is a minimal design among all gated hidden units. The design of MGU benefits from evaluation results on LSTM and GRU in the literature. Experiments on various sequence data show that MGU has comparable accuracy with GRU, but…
AGH University of Science and Technology（AGH科技大学）；Academic Computer Centre CYFRONET AGH（AGH学术计算机中心CYFRONET）；Alma Mater Europaea ECM（欧洲母校ECM）；Medical University of Graz（格拉茨医科大学）
Falls prevention, especially in older people, becomes an increasingly important topic in the times of aging societies. In this work, we present Gated Recurrent Unit-based neural networks models designed for predicting falls (syncope). The cardiovascular systems signals used in the study come from Gravitational Physiology, Aging and Medicine Research Unit, Institute of Physiology, Medical University of Graz. We used two of the collected signals, heart rate, and mean blood pressure. By using bidirectional GRU model, it was possible to predict the syncope occurrence approximately ten minutes befo…
Tsinghua University（清华大学）；Chengdu Institute of Computer Applications, Chinese Academy of Sciences（中国科学院成都计算机应用研究所）
Recurrent neural networks (RNNs) have shown clear superiority in sequence modeling, particularly the ones with gated units, such as long short-term memory (LSTM) and gated recurrent unit (GRU). However, the dynamic properties behind the remarkable performance remain unclear in many applications, e.g., automatic speech recognition (ASR). This paper employs visualization techniques to study the behavior of LSTM and GRU when performing speech recognition tasks. Our experiments show some interesting patterns in the gated memory, and some of them have inspired simple yet effective modifications on …
Swami Vivekananda Institute of Science & Technology（斯瓦米·维韦卡南达科学技术学院）；Department of Computer Science and Engineering（计算机科学与工程系）
Photovoltaic power is a renewable source of energy which is highly used in industries. In economically struggling countries it can be a potential source of electric energy as other non-renewable resources are already exhausting. Now if installation of a photovoltaic cell in a region is done prior to research, it may not provide the desired energy output required for running that region. Hence forecasting is required which can elicit the output from a particular region considering its geometrical coordinates, solar parameter like GHI and weather parameters like temperature and wind speed etc. O…
Hybrid LSTM-fully convolutional networks (LSTM-FCN) for time series classification have produced state-of-the-art classification results on univariate time series. We show that replacing the LSTM with a gated recurrent unit (GRU) to create a GRU-fully convolutional network hybrid model (GRU-FCN) can offer even better performance on many time series datasets. The proposed GRU-FCN model outperforms state-of-the-art classification performance in many univariate and multivariate time series datasets. In addition, since the GRU uses a simpler architecture than the LSTM, it has fewer training parame…
Loyola Marymount University（洛约拉马利蒙特大学）；California State University, Long Beach（加州州立大学长滩分校）
We introduce an exceptionally simple gated recurrent neural network (RNN) that achieves performance comparable to well-known gated architectures, such as LSTMs and GRUs, on the word-level language modeling task. We prove that our model has simple, predicable and non-chaotic dynamics. This stands in stark contrast to more standard gated architectures, whose underlying dynamical systems exhibit chaotic behavior.
National Research University Higher School of Economics（国立研究型大学高等经济学院）；Samsung AI Center（三星人工智能中心）
Bayesian methods have been successfully applied to sparsify weights of neural networks and to remove structure units from the networks, e. g. neurons. We apply and further develop this approach for gated recurrent architectures. Specifically, in addition to sparsification of individual weights and neurons, we propose to sparsify preactivations of gates and information flow in LSTM. It makes some gates and information flow components constant, speeds up forward pass and improves compression. Moreover, the resulting structure of gate sparsity is interpretable and depends on the task. Code is ava…
Gated recurrent units (GRUs) are specialized memory elements for building recurrent neural networks. Despite their incredible success on various tasks, including extracting dynamics underlying neural data, little is understood about the specific dynamics representable in a GRU network. As a result, it is both difficult to know a priori how successful a GRU network will perform on a given task, and also their capacity to mimic the underlying behavior of their biological counterparts. Using a continuous time analysis, we gain intuition on the inner workings of GRU networks. We restrict our prese…
Southern University of Science and Technology (SUSTech)（南方科技大学）；University of Thessaly（色萨利大学）；Research Institute for Trustworthy Autonomous Systems, Southern University of Science and Technology（南方科技大学可信自主系统研究院）
Ridesharing has received global popularity due to its convenience and cost efficiency for both drivers and passengers and its strong potential to contribute to the implementation of the UN Sustainable Development Goals. As a result, recent years have witnessed an explosion of research interest in the RSODP (Origin-Destination Prediction for Ridesharing) problem with the goal of predicting the future ridesharing requests and providing schedules for vehicles ahead of time. Most of the existing prediction models utilise Deep Learning. However, they fail to effectively consider both spatial and te…
Samsung-HSE Laboratory（三星-高等经济学院实验室）；National Research University Higher School of Economics（国立研究型大学高等经济学院）；Samsung AI Center（三星人工智能中心）
Recently, a lot of techniques were developed to sparsify the weights of neural networks and to remove networks' structure units, e.g. neurons. We adjust the existing sparsification approaches to the gated recurrent architectures. Specifically, in addition to the sparsification of weights and neurons, we propose sparsifying the preactivations of gates. This makes some gates constant and simplifies LSTM structure. We test our approach on the text classification and language modeling tasks. We observe that the resulting structure of gate sparsity depends on the task and connect the learned struct…
National Taiwan University（台湾大学）；College of Electrical Engineering and Computer Science, National Taiwan University（台湾大学电机资讯学院）
In this paper we analyze the gate activation signals inside the gated recurrent neural networks, and find the temporal structure of such signals is highly correlated with the phoneme boundaries. This correlation is further verified by a set of experiments for phoneme segmentation, in which better results compared to standard approaches were obtained.
One of the most commonly performed manipulation in a human's daily life is pouring. Many factors have an effect on target accuracy, including pouring velocity, rotation angle, geometric of the source, and the receiving containers. This paper presents an approach to increase the repeatability and accuracy of the robotic manipulator by estimating the change in the amount of water of the pouring cup to a sequence of pouring actions using multiple layers of the deep recurrent neural network, especially gated recurrent units (GRU). The proposed GRU model achieved a validation mean squared error as …
Avignon Université（阿维尼翁大学）；University of Cambridge（剑桥大学）
The light gated recurrent units (Li-GRU) is well-known for achieving impressive results in automatic speech recognition (ASR) tasks while being lighter and faster to train than a standard gated recurrent units (GRU). However, the unbounded nature of its rectified linear unit on the candidate recurrent gate induces an important gradient exploding phenomenon disrupting the training process and preventing it from being applied to famous datasets. In this paper, we theoretically and empirically derive the necessary conditions for its stability as well as engineering mechanisms to speed up by a fac…
There has recently been a concerted effort to derive mechanisms in vision and machine learning systems to offer uncertainty estimates of the predictions they make. Clearly, there are enormous benefits to a system that is not only accurate but also has a sense for when it is not sure. Existing proposals center around Bayesian interpretations of modern deep architectures -- these are effective but can often be computationally demanding. We show how classical ideas in the literature on exponential families on probabilistic networks provide an excellent starting point to derive uncertainty estimat…
ADVA Optical Networking SE（ADVA光网络公司）；Christian-Albrechts-Universität zu Kiel（基尔大学）
We propose a deep learning approach based on an autoencoder for identifying and localizing fiber faults in passive optical networks. The experimental results show that the proposed method detects faults with 97% accuracy, pinpoints them with an RMSE of 0.18 m and outperforms conventional techniques.
In this work, we propose a multi-task recurrent neural network with attention mechanism for predicting cardiovascular events from electronic health records (EHRs) at different time horizons. The proposed approach is compared to a standard clinical risk predictor (QRISK) and machine learning alternatives using 5-year data from a NHS Foundation Trust. The proposed model outperforms standard clinical risk scores in predicting stroke (AUC=0.85) and myocardial infarction (AUC=0.89), considering the largest time horizon. Benefit of using an \gls{mt} setting becomes visible for very short time horizo…
Sophisticated gated recurrent neural network architectures like LSTMs and GRUs have been shown to be highly effective in a myriad of applications. We develop an un-gated unit, the statistical recurrent unit (SRU), that is able to learn long term dependencies in data by only keeping moving averages of statistics. The SRU's architecture is simple, un-gated, and contains a comparable number of parameters to LSTMs; yet, SRUs perform favorably to more sophisticated LSTM and GRU alternatives, often outperforming one or both in various tasks. We show the efficacy of SRUs as compared to LSTMs and GRUs…
Universitas Indonesia（印度尼西亚大学）；Nara Institute of Science and Technology（奈良先端科学技术大学）
Recurrent Neural Networks (RNNs), which are a powerful scheme for modeling temporal and sequential data need to capture long-term dependencies on datasets and represent them in hidden layers with a powerful model to capture more information from inputs. For modeling long-term dependencies in a dataset, the gating mechanism concept can help RNNs remember and forget previous information. Representing the hidden layers of an RNN with more expressive operations (i.e., tensor products) helps it learn a more complex relationship between the current input and the previous hidden layer information. Th…
In recent years, using orthogonal matrices has been shown to be a promising approach in improving Recurrent Neural Networks (RNNs) with training, stability, and convergence, particularly, to control gradients. While Gated Recurrent Unit (GRU) and Long Short Term Memory (LSTM) architectures address the vanishing gradient problem by using a variety of gates and memory cells, they are still prone to the exploding gradient problem. In this work, we analyze the gradients in GRU and propose the usage of orthogonal matrices to prevent exploding gradient problems and enhance long-term memory. We study…
The goal of this paper is to provide sufficient conditions for guaranteeing the Input-to-State Stability (ISS) and the Incremental Input-to-State Stability (δISS) of Gated Recurrent Units (GRUs) neural networks. These conditions, devised for both single-layer and multi-layer architectures, consist of nonlinear inequalities on network's weights. They can be employed to check the stability of trained networks, or can be enforced as constraints during the training procedure of a GRU. The resulting training procedure is tested on a Quadruple Tank nonlinear benchmark system, showing satisfactory mo…
The goal of this paper is to report certain scientific discoveries about a Seq2Seq model. It is known that analyzing the behavior of RNN-based models at the neuron level is considered a more challenging task than analyzing a DNN or CNN models due to their recursive mechanism in nature. This paper aims to provide neuron-level analysis to explain why a vanilla GRU-based Seq2Seq model without attention can achieve token-positioning. We found four different types of neurons: storing, counting, triggering, and outputting and further uncover the mechanism for these neurons to work together in order …
We propose an experimental comparison between Deep Echo State Networks (DeepESNs) and gated Recurrent Neural Networks (RNNs) on multivariate time-series prediction tasks. In particular, we compare reservoir and fully-trained RNNs able to represent signals featured by multiple time-scales dynamics. The analysis is performed in terms of efficiency and prediction accuracy on 4 polyphonic music tasks. Our results show that DeepESN is able to outperform ESN in terms of prediction accuracy and efficiency. Whereas, between fully-trained approaches, Gated Recurrent Units (GRU) outperforms Long Short-T…
Indian Institute of Technology Delhi（德里印度理工学院）；University of California Berkeley（加州大学伯克利分校）；Microsoft Research India（微软印度研究院）
This paper develops the FastRNN and FastGRNN algorithms to address the twin RNN limitations of inaccurate training and inefficient prediction. Previous approaches have improved accuracy at the expense of prediction costs making them infeasible for resource-constrained and real-time applications. Unitary RNNs have increased accuracy somewhat by restricting the range of the state transition matrix's singular values but have also increased the model size as they require a larger number of hidden units to make up for the loss in expressive power. Gated RNNs have obtained state-of-the-art accuracie…
This paper compares recurrent neural networks (RNNs) with different types of gated cells for forecasting time series with multiple seasonality. The cells we compare include classical long short term memory (LSTM), gated recurrent unit (GRU), modified LSTM with dilation, and two new cells we proposed recently, which are equipped with dilation and attention mechanisms. To model the temporal dependencies of different scales, our RNN architecture has multiple dilated recurrent layers stacked with hierarchical dilations. The proposed RNN produces both point forecasts and predictive intervals (PIs) …
We present a novel gated recurrent neural network to detect when a person is chewing on food. We implemented the neural network as a custom analog integrated circuit in a 0.18 um CMOS technology. The neural network was trained on 6.4 hours of data collected from a contact microphone that was mounted on volunteers' mastoid bones. When tested on 1.6 hours of previously-unseen data, the neural network identified chewing events at a 24-second time resolution. It achieved a recall of 91% and an F1-score of 94% while consuming 1.1 uW of power. A system for detecting whole eating episodes -- like mea…
Pedestrian tracking has long been considered an important problem, especially in security applications. Previously,many approaches have been proposed with various types of sensors. One popular method is Pedestrian Dead Reckoning(PDR) [1] which is based on the inertial measurement unit(IMU) sensor. However PDR is an integration and threshold based method, which suffers from accumulation errors and low accuracy. In this paper, we propose a novel method in which the sensor data is fed into a deep learning model to predict the displacements and orientations of the pedestrian. We also devise a new …
Speech recognition is largely taking advantage of deep learning, showing that substantial benefits can be obtained by modern Recurrent Neural Networks (RNNs). The most popular RNNs are Long Short-Term Memory (LSTMs), which typically reach state-of-the-art performance in many tasks thanks to their ability to learn long-term dependencies and robustness to vanishing gradients. Nevertheless, LSTMs have a rather complex design with three multiplicative gates, that might impair their efficient implementation. An attempt to simplify LSTMs has recently led to Gated Recurrent Units (GRUs), which are ba…
Accurate prediction of network-wide traffic conditions is essential for intelligent transportation systems. In the last decade, machine learning techniques have been widely used for this task, resulting in state-of-the-art performance. We propose a novel deep learning model, Graph Convolutional Gated Recurrent Neural Network (GCGRNN), to predict network-wide, multi-step traffic volume. GCGRNN can automatically capture spatial correlations between traffic sensors and temporal dependencies in historical traffic data. We have evaluated our model using two traffic datasets extracted from 150 senso…
Recurrent neural networks (RNNs) provide state-of-the-art performances in a wide variety of tasks that require memory. These performances can often be achieved thanks to gated recurrent cells such as gated recurrent units (GRU) and long short-term memory (LSTM). Standard gated cells share a layer internal state to store information at the network level, and long term memory is shaped by network-wide recurrent connection weights. Biological neurons on the other hand are capable of holding information at the cellular level for an arbitrary long amount of time through a process called bistability…
Gated Recurrent Unit (GRU) is a recently-developed variation of the long short-term memory (LSTM) unit, both of which are types of recurrent neural network (RNN). Through empirical evidence, both models have been proven to be effective in a wide variety of machine learning tasks such as natural language processing (Wen et al., 2015), speech recognition (Chorowski et al., 2015), and text classification (Yang et al., 2016). Conventionally, like most neural networks, both of the aforementioned RNN variants employ the Softmax function as its final output layer for its prediction, and the cross-ent…
Environmental audio tagging is a newly proposed task to predict the presence or absence of a specific audio event in a chunk. Deep neural network (DNN) based methods have been successfully adopted for predicting the audio tags in the domestic audio scene. In this paper, we propose to use a convolutional neural network (CNN) to extract robust features from mel-filter banks (MFBs), spectrograms or even raw waveforms for audio tagging. Gated recurrent unit (GRU) based recurrent neural networks (RNNs) are then cascaded to model the long-term temporal structure of the audio signal. To complement th…
École polytechnique fédérale de Lausanne (EPFL)（洛桑联邦理工学院）
As mixed reality is gaining increased momentum, the development of effective and efficient solutions to egocentric hand segmentation is becoming critical. Traditional segmentation techniques typically follow a one-shot approach, where the image is passed forward only once through a model that produces a segmentation mask. This strategy, however, does not reflect the perception of humans, who continuously refine their representation of the world. In this paper, we therefore introduce a novel gated recurrent architecture. It goes beyond both iteratively passing the predicted segmentation mask th…
RV College of Engineering（RV工程学院）；Wipro Limited（威普罗有限公司）
This paper elucidates a model for acoustic single and multi-tone classification in resource constrained edge devices. The proposed model is of State-of-the-art Fast Accurate Stable Tiny Gated Recurrent Neural Network. This model has resulted in improved performance metrics and lower size compared to previous hypothesized methods by using lesser parameters with higher efficiency and employment of a noise reduction algorithm. The model is implemented as an acoustic AI module, focused for the application of sound identification, localization, and deployment on AI systems like that of an autonomou…
Graph processes exhibit a temporal structure determined by the sequence index and and a spatial structure determined by the graph support. To learn from graph processes, an information processing architecture must then be able to exploit both underlying structures. We introduce Graph Recurrent Neural Networks (GRNNs) as a general learning framework that achieves this goal by leveraging the notion of a recurrent hidden state together with graph signal processing (GSP). In the GRNN, the number of learnable parameters is independent of the length of the sequence and of the size of the graph, guar…
As an important part of intelligent transportation systems, traffic forecasting has attracted tremendous attention from academia and industry. Despite a lot of methods being proposed for traffic forecasting, it is still difficult to model complex spatial-temporal dependency. Temporal dependency includes short-term dependency and long-term dependency, and the latter is often overlooked. Spatial dependency can be divided into two parts: distance-based spatial dependency and hidden spatial dependency. To model complex spatial-temporal dependency, we propose a novel framework for traffic forecasti…
Department of Computer Engineering, Ba s kent University
Audio captioning is a recently proposed task for automatically generating a textual description of a given audio clip. In this study, a novel deep network architecture with audio embeddings is presented to predict audio captions. Within the aim of extracting audio features in addition to log Mel energies, VGGish audio embedding model is used to explore the usability of audio embeddings in the audio captioning task. The proposed architecture encodes audio and text input modalities separately and combines them before the decoding stage. Audio encoding is conducted through Bi-directional Gated Re…
JD Digits（京东数字科技）；City University of Hong Kong（香港城市大学）；National University of Singapore（新加坡国立大学）；Chong-Qing & Suzhou Research Institutes（重庆苏州研究院）
The essence of multivariate sequential learning is all about how to extract dependencies in data. These data sets, such as hourly medical records in intensive care units and multi-frequency phonetic time series, often time exhibit not only strong serial dependencies in the individual components (the "marginal" memory) but also non-negligible memories in the cross-sectional dependencies (the "joint" memory). Because of the multivariate complexity in the evolution of the joint distribution that underlies the data generating process, we take a data-driven approach and construct a novel recurrent …
Single layer Feedforward Neural Network(FNN) is used many a time as a last layer in models such as seq2seq or could be a simple RNN network. The importance of such layer is to transform the output to our required dimensions. When it comes to weights and biases initialization, there is no such specific technique that could speed up the learning process. We could depend on deep network initialization techniques such as Xavier or He initialization. But such initialization fails to show much improvement in learning speed or accuracy. In this paper we propose Zero Initialization (ZI) for weights of…
In this paper, we present the system we have used for the Implicit WASSA 2018 Implicit Emotion Shared Task. The task is to predict the emotion of a tweet of which the explicit mentions of emotion terms have been removed. The idea is to come up with a model which has the ability to implicitly identify the emotion expressed given the context words. We have used a Gated Recurrent Neural Network (GRU) and a Capsule Network based model for the task. Pre-trained word embeddings have been utilized to incorporate contextual knowledge about words into the model. GRU layer learns latent representations …
University of Padova（帕多瓦大学）；DISI, University of Bologna（博洛尼亚大学信息学科学与工程系）；Missouri State University（密苏里州立大学）
Multilabel learning tackles the problem of associating a sample with multiple class labels. This work proposes a new ensemble method for managing multilabel classification: the core of the proposed approach combines a set of gated recurrent units and temporal convolutional neural networks trained with variants of the Adam optimization approach. Multiple Adam variants, including novel one proposed here, are compared and tested; these variants are based on the difference between present and past gradients, with step size adjusted for each parameter. The proposed neural network approach is also c…
Intel Labs（英特尔实验室）；The University of Texas at Austin（德克萨斯大学奥斯汀分校）
Recent work has shown that topological enhancements to recurrent neural networks (RNNs) can increase their expressiveness and representational capacity. Two popular enhancements are stacked RNNs, which increases the capacity for learning non-linear functions, and bidirectional processing, which exploits acausal information in a sequence. In this work, we explore the delayed-RNN, which is a single-layer RNN that has a delay between the input and output. We prove that a weight-constrained version of the delayed-RNN is equivalent to a stacked-RNN. We also show that the delay gives rise to partial…
University of Washington（华盛顿大学）；Nanjing University of Science and Technology（南京理工大学）
An accurate road surface friction prediction algorithm can enable intelligent transportation systems to share timely road surface condition to the public for increasing the safety of the road users. Previously, scholars developed multiple prediction models for forecasting road surface conditions using historical data. However, road surface condition data cannot be perfectly collected at every timestamp, e.g. the data collected by on-vehicle sensors may be influenced when vehicles cannot travel due to economic cost issue or weather issues. Such resulted missing values in the collected data can …
Value Iteration Networks (VINs) are effective differentiable path planning modules that can be used by agents to perform navigation while still maintaining end-to-end differentiability of the entire architecture. Despite their effectiveness, they suffer from several disadvantages including training instability, random seed sensitivity, and other optimization problems. In this work, we reframe VINs as recurrent-convolutional networks which demonstrates that VINs couple recurrent convolutions with an unconventional max-pooling activation. From this perspective, we argue that standard gated recur…
Product units in gated recurrent units improve nuclear-mass prediction
University of Applied Sciences Koblenz（应用科学大学科伦兹大学）；Technical University of Munich（慕尼黑技术大学）；University of Madeira（马德拉大学）；Washington University in St. Louis（圣路易斯华盛顿大学）
Honda Research Institute, USA（美国本田研究院）；Carnegie Mellon University（卡内基梅隆大学）
The Tactical Driver Behavior modeling problem requires understanding of driver actions in complicated urban scenarios from a rich multi modal signals including video, LiDAR and CAN bus data streams. However, the majority of deep learning research is focused either on learning the vehicle/environment state (sensor fusion) or the driver policy (from temporal data), but not both. Learning both tasks end-to-end offers the richest distillation of knowledge, but presents challenges in formulation and successful training. In this work, we propose promising first steps in this direction. Inspired by t…
