Real-time Accident Anticipation for Autonomous Driving Through Monocular Depth-Enhanced 3D Modeling

The primary goal of traffic accident anticipation is to foresee potential accidents in real time using dashcam videos, a task that is pivotal for enhancing the safety and reliability of autonomous driving technologies. In this study, we introduce an innovative framework, AccNet, which significantly advances the prediction capabilities beyond the current state-of-the-art (SOTA) 2D-based methods by incorporating monocular depth cues for sophisticated 3D scene modeling. Addressing the prevalent challenge of skewed data distribution in traffic accident datasets, we propose the Binary Adaptive Loss for Early Anticipation (BA-LEA). This novel loss function, together with a multi-task learning strategy, shifts the focus of the predictive model towards the critical moments preceding an accident. {We rigorously evaluate the performance of our framework on three benchmark datasets--Dashcam Accident Dataset (DAD), Car Crash Dataset (CCD), and AnAn Accident Detection (A3D), and DADA-2000 Dataset--demonstrating its superior predictive accuracy through key metrics such as Average Precision (AP) and mean Time-To-Accident (mTTA).

On-the-fly Synthesis for LTL over Finite Traces: An Efficient Approach that Counts

We present an on-the-fly synthesis framework for Linear Temporal Logic over finite traces (LTLf) based on top-down deterministic automata construction. Existing approaches rely on constructing a complete Deterministic Finite Automaton (DFA) corresponding to the LTLf specification, a process with doubly exponential complexity relative to the formula size in the worst case. In this case, the synthesis procedure cannot be conducted until the entire DFA is constructed. This inefficiency is the main bottleneck of existing approaches. To address this challenge, we first present a method for converting LTLf into Transition-based DFA (TDFA) by directly leveraging LTLf semantics, incorporating intermediate results as direct components of the final automaton to enable parallelized synthesis and automata construction. We then explore the relationship between LTLf synthesis and TDFA games and subsequently develop an algorithm for performing LTLf synthesis using on-the-fly TDFA game solving. This algorithm traverses the state space in a global forward manner combined with a local backward method, along with the detection of strongly connected components. Moreover, we introduce two optimization techniques -- model-guided synthesis and state entailment -- to enhance the practical efficiency of our approach. Experimental results demonstrate that our on-the-fly approach achieves the best performance on the tested benchmarks and effectively complements existing tools and approaches.

Secure Semantic Communications: From Perspective of Physical Layer Security

Semantic communications have been envisioned as a potential technique that goes beyond Shannon paradigm. Unlike modern communications that provide bit-level security, the eaves-dropping of semantic communications poses a significant risk of potentially exposing intention of legitimate user. To address this challenge, a novel deep neural network (DNN) enabled secure semantic communication (DeepSSC) system is developed by capitalizing on physical layer security. To balance the tradeoff between security and reliability, a two-phase training method for DNNs is devised. Particularly, Phase I aims at semantic recovery of legitimate user, while Phase II attempts to minimize the leakage of semantic information to eavesdroppers. The loss functions of DeepSSC in Phases I and II are respectively designed according to Shannon capacity and secure channel capacity, which are approximated with variational inference. Moreover, we define the metric of secure bilingual evaluation understudy (S-BLEU) to assess the security of semantic communications. Finally, simulation results demonstrate that DeepSSC achieves a significant boost to semantic security particularly in high signal-to-noise ratio regime, despite a minor degradation of reliability.

When, Where, and What? A Novel Benchmark for Accident Anticipation and Localization with Large Language Models

As autonomous driving systems increasingly become part of daily transportation, the ability to accurately anticipate and mitigate potential traffic accidents is paramount. Traditional accident anticipation models primarily utilizing dashcam videos are adept at predicting when an accident may occur but fall short in localizing the incident and identifying involved entities. Addressing this gap, this study introduces a novel framework that integrates Large Language Models (LLMs) to enhance predictive capabilities across multiple dimensions--what, when, and where accidents might occur. We develop an innovative chain-based attention mechanism that dynamically adjusts to prioritize high-risk elements within complex driving scenes. This mechanism is complemented by a three-stage model that processes outputs from smaller models into detailed multimodal inputs for LLMs, thus enabling a more nuanced understanding of traffic dynamics. Empirical validation on the DAD, CCD, and A3D datasets demonstrates superior performance in Average Precision (AP) and Mean Time-To-Accident (mTTA), establishing new benchmarks for accident prediction technology. Our approach not only advances the technological framework for autonomous driving safety but also enhances human-AI interaction, making predictive insights generated by autonomous systems more intuitive and actionable.

Less is More: Efficient Brain-Inspired Learning for Autonomous Driving Trajectory Prediction

Accurately and safely predicting the trajectories of surrounding vehicles is essential for fully realizing autonomous driving (AD). This paper presents the Human-Like Trajectory Prediction model (HLTP++), which emulates human cognitive processes to improve trajectory prediction in AD. HLTP++ incorporates a novel teacher-student knowledge distillation framework. The "teacher" model equipped with an adaptive visual sector, mimics the dynamic allocation of attention human drivers exhibit based on factors like spatial orientation, proximity, and driving speed. On the other hand, the "student" model focuses on real-time interaction and human decision-making, drawing parallels to the human memory storage mechanism. Furthermore, we improve the model's efficiency by introducing a new Fourier Adaptive Spike Neural Network (FA-SNN), allowing for faster and more precise predictions with fewer parameters. Evaluated using the NGSIM, HighD, and MoCAD benchmarks, HLTP++ demonstrates superior performance compared to existing models, which reduces the predicted trajectory error with over 11% on the NGSIM dataset and 25% on the HighD datasets. Moreover, HLTP++ demonstrates strong adaptability in challenging environments with incomplete input data. This marks a significant stride in the journey towards fully AD systems.

Characterized Diffusion and Spatial-Temporal Interaction Network for Trajectory Prediction in Autonomous Driving

Trajectory prediction is a cornerstone in autonomous driving (AD), playing a critical role in enabling vehicles to navigate safely and efficiently in dynamic environments. To address this task, this paper presents a novel trajectory prediction model tailored for accuracy in the face of heterogeneous and uncertain traffic scenarios. At the heart of this model lies the Characterized Diffusion Module, an innovative module designed to simulate traffic scenarios with inherent uncertainty. This module enriches the predictive process by infusing it with detailed semantic information, thereby enhancing trajectory prediction accuracy. Complementing this, our Spatio-Temporal (ST) Interaction Module captures the nuanced effects of traffic scenarios on vehicle dynamics across both spatial and temporal dimensions with remarkable effectiveness. Demonstrated through exhaustive evaluations, our model sets a new standard in trajectory prediction, achieving state-of-the-art (SOTA) results on the Next Generation Simulation (NGSIM), Highway Drone (HighD), and Macao Connected Autonomous Driving (MoCAD) datasets across both short and extended temporal spans. This performance underscores the model's unparalleled adaptability and efficacy in navigating complex traffic scenarios, including highways, urban streets, and intersections.

A Cognitive-Based Trajectory Prediction Approach for Autonomous Driving

In autonomous vehicle (AV) technology, the ability to accurately predict the movements of surrounding vehicles is paramount for ensuring safety and operational efficiency. Incorporating human decision-making insights enables AVs to more effectively anticipate the potential actions of other vehicles, significantly improving prediction accuracy and responsiveness in dynamic environments. This paper introduces the Human-Like Trajectory Prediction (HLTP) model, which adopts a teacher-student knowledge distillation framework inspired by human cognitive processes. The HLTP model incorporates a sophisticated teacher-student knowledge distillation framework. The "teacher" model, equipped with an adaptive visual sector, mimics the visual processing of the human brain, particularly the functions of the occipital and temporal lobes. The "student" model focuses on real-time interaction and decision-making, drawing parallels to prefrontal and parietal cortex functions. This approach allows for dynamic adaptation to changing driving scenarios, capturing essential perceptual cues for accurate prediction. Evaluated using the Macao Connected and Autonomous Driving (MoCAD) dataset, along with the NGSIM and HighD benchmarks, HLTP demonstrates superior performance compared to existing models, particularly in challenging environments with incomplete data. The project page is available at Github.

Human Observation-Inspired Trajectory Prediction for Autonomous Driving in Mixed-Autonomy Traffic Environments

In the burgeoning field of autonomous vehicles (AVs), trajectory prediction remains a formidable challenge, especially in mixed autonomy environments. Traditional approaches often rely on computational methods such as time-series analysis. Our research diverges significantly by adopting an interdisciplinary approach that integrates principles of human cognition and observational behavior into trajectory prediction models for AVs. We introduce a novel "adaptive visual sector" mechanism that mimics the dynamic allocation of attention human drivers exhibit based on factors like spatial orientation, proximity, and driving speed. Additionally, we develop a "dynamic traffic graph" using Convolutional Neural Networks (CNN) and Graph Attention Networks (GAT) to capture spatio-temporal dependencies among agents. Benchmark tests on the NGSIM, HighD, and MoCAD datasets reveal that our model (GAVA) outperforms state-of-the-art baselines by at least 15.2%, 19.4%, and 12.0%, respectively. Our findings underscore the potential of leveraging human cognition principles to enhance the proficiency and adaptability of trajectory prediction algorithms in AVs. The code for the proposed model is available at our Github.

Hyper-Relational Knowledge Graph Neural Network for Next POI

With the advancement of mobile technology, Point of Interest (POI) recommendation systems in Location-based Social Networks (LBSN) have brought numerous benefits to both users and companies. Many existing works employ Knowledge Graph (KG) to alleviate the data sparsity issue in LBSN. These approaches primarily focus on modeling the pair-wise relations in LBSN to enrich the semantics and thereby relieve the data sparsity issue. However, existing approaches seldom consider the hyper-relations in LBSN, such as the mobility relation (a 3-ary relation: user-POI-time). This makes the model hard to exploit the semantics accurately. In addition, prior works overlook the rich structural information inherent in KG, which consists of higher-order relations and can further alleviate the impact of data sparsity.To this end, we propose a Hyper-Relational Knowledge Graph Neural Network (HKGNN) model. In HKGNN, a Hyper-Relational Knowledge Graph (HKG) that models the LBSN data is constructed to maintain and exploit the rich semantics of hyper-relations. Then we proposed a Hypergraph Neural Network to utilize the structural information of HKG in a cohesive way. In addition, a self-attention network is used to leverage sequential information and make personalized recommendations. Furthermore, side information, essential in reducing data sparsity by providing background knowledge of POIs, is not fully utilized in current methods. In light of this, we extended the current dataset with available side information to further lessen the impact of data sparsity. Results of experiments on four real-world LBSN datasets demonstrate the effectiveness of our approach compared to existing state-of-the-art methods.

TIER-A: Denoising Learning Framework for Information Extraction

With the development of deep neural language models, great progress has been made in information extraction recently. However, deep learning models often overfit on noisy data points, leading to poor performance. In this work, we examine the role of information entropy in the overfitting process and draw a key insight that overfitting is a process of overconfidence and entropy decreasing. Motivated by such properties, we propose a simple yet effective co-regularization joint-training framework TIER-A, Aggregation Joint-training Framework with Temperature Calibration and Information Entropy Regularization. Our framework consists of several neural models with identical structures. These models are jointly trained and we avoid overfitting by introducing temperature and information entropy regularization. Extensive experiments on two widely-used but noisy datasets, TACRED and CoNLL03, demonstrate the correctness of our assumption and the effectiveness of our framework.