Co-MTP: A Cooperative Trajectory Prediction Framework with Multi-Temporal Fusion for Autonomous Driving

Vehicle-to-everything technologies (V2X) have become an ideal paradigm to extend the perception range and see through the occlusion. Exiting efforts focus on single-frame cooperative perception, however, how to capture the temporal cue between frames with V2X to facilitate the prediction task even the planning task is still underexplored. In this paper, we introduce the Co-MTP, a general cooperative trajectory prediction framework with multi-temporal fusion for autonomous driving, which leverages the V2X system to fully capture the interaction among agents in both history and future domains to benefit the planning. In the history domain, V2X can complement the incomplete history trajectory in single-vehicle perception, and we design a heterogeneous graph transformer to learn the fusion of the history feature from multiple agents and capture the history interaction. Moreover, the goal of prediction is to support future planning. Thus, in the future domain, V2X can provide the prediction results of surrounding objects, and we further extend the graph transformer to capture the future interaction among the ego planning and the other vehicles' intentions and obtain the final future scenario state under a certain planning action. We evaluate the Co-MTP framework on the real-world dataset V2X-Seq, and the results show that Co-MTP achieves state-of-the-art performance and that both history and future fusion can greatly benefit prediction.

SLHCat: Mapping Wikipedia Categories and Lists to DBpedia by Leveraging Semantic, Lexical, and Hierarchical Features

Wikipedia articles are hierarchically organized through categories and lists, providing one of the most comprehensive and universal taxonomy, but its open creation is causing redundancies and inconsistencies. Assigning DBPedia classes to Wikipedia categories and lists can alleviate the problem, realizing a large knowledge graph which is essential for categorizing digital contents through entity linking and typing. However, the existing approach of CaLiGraph is producing incomplete and non-fine grained mappings. In this paper, we tackle the problem as ontology alignment, where structural information of knowledge graphs and lexical and semantic features of ontology class names are utilized to discover confident mappings, which are in turn utilized for finetuing pretrained language models in a distant supervision fashion. Our method SLHCat consists of two main parts: 1) Automatically generating training data by leveraging knowledge graph structure, semantic similarities, and named entity typing. 2) Finetuning and prompt-tuning of the pre-trained language model BERT are carried out over the training data, to capture semantic and syntactic properties of class names. Our model SLHCat is evaluated over a benchmark dataset constructed by annotating 3000 fine-grained CaLiGraph-DBpedia mapping pairs. SLHCat is outperforming the baseline model by a large margin of 25% in accuracy, offering a practical solution for large-scale ontology mapping.