Predicting the Road Ahead: A Knowledge Graph based Foundation Model for Scene Understanding in Autonomous Driving

The autonomous driving field has seen remarkable advancements in various topics, such as object recognition, trajectory prediction, and motion planning. However, current approaches face limitations in effectively comprehending the complex evolutions of driving scenes over time. This paper proposes FM4SU, a novel methodology for training a symbolic foundation model (FM) for scene understanding in autonomous driving. It leverages knowledge graphs (KGs) to capture sensory observation along with domain knowledge such as road topology, traffic rules, or complex interactions between traffic participants. A bird's eye view (BEV) symbolic representation is extracted from the KG for each driving scene, including the spatio-temporal information among the objects across the scenes. The BEV representation is serialized into a sequence of tokens and given to pre-trained language models (PLMs) for learning an inherent understanding of the co-occurrence among driving scene elements and generating predictions on the next scenes. We conducted a number of experiments using the nuScenes dataset and KG in various scenarios. The results demonstrate that fine-tuned models achieve significantly higher accuracy in all tasks. The fine-tuned T5 model achieved a next scene prediction accuracy of 86.7%. This paper concludes that FM4SU offers a promising foundation for developing more comprehensive models for scene understanding in autonomous driving.

Towards Ideal Temporal Graph Neural Networks: Evaluations and Conclusions after 10,000 GPU Hours

Temporal Graph Neural Networks (TGNNs) have emerged as powerful tools for modeling dynamic interactions across various domains. The design space of TGNNs is notably complex, given the unique challenges in runtime efficiency and scalability raised by the evolving nature of temporal graphs. We contend that many of the existing works on TGNN modeling inadequately explore the design space, leading to suboptimal designs. Viewing TGNN models through a performance-focused lens often obstructs a deeper understanding of the advantages and disadvantages of each technique. Specifically, benchmarking efforts inherently evaluate models in their original designs and implementations, resulting in unclear accuracy comparisons and misleading runtime. To address these shortcomings, we propose a practical comparative evaluation framework that performs a design space search across well-known TGNN modules based on a unified, optimized code implementation. Using our framework, we make the first efforts towards addressing three critical questions in TGNN design, spending over 10,000 GPU hours: (1) investigating the efficiency of TGNN module designs, (2) analyzing how the effectiveness of these modules correlates with dataset patterns, and (3) exploring the interplay between multiple modules. Key outcomes of this directed investigative approach include demonstrating that the most recent neighbor sampling and attention aggregator outperform uniform neighbor sampling and MLP-Mixer aggregator; Assessing static node memory as an effective node memory alternative, and showing that the choice between static or dynamic node memory should be based on the repetition patterns in the dataset. Our in-depth analysis of the interplay between TGNN modules and dataset patterns should provide a deeper insight into TGNN performance along with potential research directions for designing more general and effective TGNNs.

Visual Representation Learning Guided By Multi-modal Prior Knowledge

Despite the remarkable success of deep neural networks (DNNs) in computer vision, they fail to remain high-performing when facing distribution shifts between training and testing data. In this paper, we propose Knowledge-Guided Visual representation learning (KGV), a distribution-based learning approach leveraging multi-modal prior knowledge, to improve generalization under distribution shift. We use prior knowledge from two distinct modalities: 1) a knowledge graph (KG) with hierarchical and association relationships; and 2) generated synthetic images of visual elements semantically represented in the KG. The respective embeddings are generated from the given modalities in a common latent space, i.e., visual embeddings from original and synthetic images as well as knowledge graph embeddings (KGEs). These embeddings are aligned via a novel variant of translation-based KGE methods, where the node and relation embeddings of the KG are modeled as Gaussian distributions and translations respectively. We claim that incorporating multi-model prior knowledge enables more regularized learning of image representations. Thus, the models are able to better generalize across different data distributions. We evaluate KGV on different image classification tasks with major or minor distribution shifts, namely road sign classification across datasets from Germany, China, and Russia, image classification with the mini-ImageNet dataset and its variants, as well as the DVM-CAR dataset. The results demonstrate that KGV consistently exhibits higher accuracy and data efficiency than the baselines across all experiments.

Learning Personalized Scoping for Graph Neural Networks under Heterophily

Heterophilous graphs, where dissimilar nodes tend to connect, pose a challenge for graph neural networks (GNNs) as their superior performance typically comes from aggregating homophilous information. Increasing the GNN depth can expand the scope (i.e., receptive field), potentially finding homophily from the higher-order neighborhoods. However, uniformly expanding the scope results in subpar performance since real-world graphs often exhibit homophily disparity between nodes. An ideal way is personalized scopes, allowing nodes to have varying scope sizes. Existing methods typically add node-adaptive weights for each hop. Although expressive, they inevitably suffer from severe overfitting. To address this issue, we formalize personalized scoping as a separate scope classification problem that overcomes GNN overfitting in node classification. Specifically, we predict the optimal GNN depth for each node. Our theoretical and empirical analysis suggests that accurately predicting the depth can significantly enhance generalization. We further propose Adaptive Scope (AS), a lightweight MLP-based approach that only participates in GNN inference. AS encodes structural patterns and predicts the depth to select the best model for each node's prediction. Experimental results show that AS is highly flexible with various GNN architectures across a wide range of datasets while significantly improving accuracy.

TASER: Temporal Adaptive Sampling for Fast and Accurate Dynamic Graph Representation Learning

Recently, Temporal Graph Neural Networks (TGNNs) have demonstrated state-of-the-art performance in various high-impact applications, including fraud detection and content recommendation. Despite the success of TGNNs, they are prone to the prevalent noise found in real-world dynamic graphs like time-deprecated links and skewed interaction distribution. The noise causes two critical issues that significantly compromise the accuracy of TGNNs: (1) models are supervised by inferior interactions, and (2) noisy input induces high variance in the aggregated messages. However, current TGNN denoising techniques do not consider the diverse and dynamic noise pattern of each node. In addition, they also suffer from the excessive mini-batch generation overheads caused by traversing more neighbors. We believe the remedy for fast and accurate TGNNs lies in temporal adaptive sampling. In this work, we propose TASER, the first adaptive sampling method for TGNNs optimized for accuracy, efficiency, and scalability. TASER adapts its mini-batch selection based on training dynamics and temporal neighbor selection based on the contextual, structural, and temporal properties of past interactions. To alleviate the bottleneck in mini-batch generation, TASER implements a pure GPU-based temporal neighbor finder and a dedicated GPU feature cache. We evaluate the performance of TASER using two state-of-the-art backbone TGNNs. On five popular datasets, TASER outperforms the corresponding baselines by an average of 2.3% in Mean Reciprocal Rank (MRR) while achieving an average of 5.1x speedup in training time.

Language-conditioned Learning for Robotic Manipulation: A Survey

Language-conditioned robotic manipulation represents a cutting-edge area of research, enabling seamless communication and cooperation between humans and robotic agents. This field focuses on teaching robotic systems to comprehend and execute instructions conveyed in natural language. To achieve this, the development of robust language understanding models capable of extracting actionable insights from textual input is essential. In this comprehensive survey, we systematically explore recent advancements in language-conditioned approaches within the context of robotic manipulation. We analyze these approaches based on their learning paradigms, which encompass reinforcement learning, imitation learning, and the integration of foundational models, such as large language models and vision-language models. Furthermore, we conduct an in-depth comparative analysis, considering aspects like semantic information extraction, environment & evaluation, auxiliary tasks, and task representation. Finally, we outline potential future research directions in the realm of language-conditioned learning for robotic manipulation, with the topic of generalization capabilities and safety issues.

What Matters to Enhance Traffic Rule Compliance of Imitation Learning for Automated Driving

More research attention has recently been given to end-to-end autonomous driving technologies where the entire driving pipeline is replaced with a single neural network because of its simpler structure and faster inference time. Despite this appealing approach largely reducing the components in driving pipeline, its simplicity also leads to interpretability problems and safety issues arXiv:2003.06404. The trained policy is not always compliant with the traffic rules and it is also hard to discover the reason for the misbehavior because of the lack of intermediate outputs. Meanwhile, Sensors are also critical to autonomous driving's security and feasibility to perceive the surrounding environment under complex driving scenarios. In this paper, we proposed P-CSG, a novel penalty-based imitation learning approach with cross semantics generation sensor fusion technologies to increase the overall performance of End-to-End Autonomous Driving. We conducted an assessment of our model's performance using the Town 05 Long benchmark, achieving an impressive driving score improvement of over 15%. Furthermore, we conducted robustness evaluations against adversarial attacks like FGSM and Dot attacks, revealing a substantial increase in robustness compared to baseline models.More detailed information, such as code-based resources, ablation studies and videos can be found at https://hk-zh.github.io/p-csg-plus.

DistTGL: Distributed Memory-Based Temporal Graph Neural Network Training

Memory-based Temporal Graph Neural Networks are powerful tools in dynamic graph representation learning and have demonstrated superior performance in many real-world applications. However, their node memory favors smaller batch sizes to capture more dependencies in graph events and needs to be maintained synchronously across all trainers. As a result, existing frameworks suffer from accuracy loss when scaling to multiple GPUs. Evenworse, the tremendous overhead to synchronize the node memory make it impractical to be deployed to distributed GPU clusters. In this work, we propose DistTGL -- an efficient and scalable solution to train memory-based TGNNs on distributed GPU clusters. DistTGL has three improvements over existing solutions: an enhanced TGNN model, a novel training algorithm, and an optimized system. In experiments, DistTGL achieves near-linear convergence speedup, outperforming state-of-the-art single-machine method by 14.5% in accuracy and 10.17x in training throughput.

Language-Conditioned Imitation Learning with Base Skill Priors under Unstructured Data

The growing interest in language-conditioned robot manipulation aims to develop robots capable of understanding and executing complex tasks, with the objective of enabling robots to interpret language commands and manipulate objects accordingly. While language-conditioned approaches demonstrate impressive capabilities for addressing tasks in familiar environments, they encounter limitations in adapting to unfamiliar environment settings. In this study, we propose a general-purpose, language-conditioned approach that combines base skill priors and imitation learning under unstructured data to enhance the algorithm's generalization in adapting to unfamiliar environments. We assess our model's performance in both simulated and real-world environments using a zero-shot setting. In the simulated environment, the proposed approach surpasses previously reported scores for CALVIN benchmark, especially in the challenging Zero-Shot Multi-Environment setting. The average completed task length, indicating the average number of tasks the agent can continuously complete, improves more than 2.5 times compared to the state-of-the-art method HULC. In addition, we conduct a zero-shot evaluation of our policy in a real-world setting, following training exclusively in simulated environments without additional specific adaptations. In this evaluation, we set up ten tasks and achieved an average 30% improvement in our approach compared to the current state-of-the-art approach, demonstrating a high generalization capability in both simulated environments and the real world. For further details, including access to our code and videos, please refer to https://demoviewsite.wixsite.com/spil

Penalty-Based Imitation Learning With Cross Semantics Generation Sensor Fusion for Autonomous Driving

With the rapid development of Pattern Recognition and Computer Vision technologies, tasks like object detection or semantic segmentation have achieved even better accuracy than human beings. Based on these solid foundations, autonomous driving is becoming an important research direction, aiming to revolute the future of transportation and mobility. Sensors are critical to autonomous driving's security and feasibility to perceive the surrounding environment. Multi-Sensor fusion has become a current research hot spot because of its potential for multidimensional perception and integration ability. In this paper, we propose a novel feature-level multi-sensor fusion technology for end-to-end autonomous driving navigation with imitation learning. Our paper mainly focuses on fusion technologies for Lidar and RGB information. We also provide a brand-new penalty-based imitation learning method to reinforce the model's compliance with traffic rules and unify the objective of imitation learning and the metric of autonomous driving.