Future prediction is a fundamental principle of intelligence that helps plan actions and avoid possible dangers. As the future is uncertain to a large extent, modeling the uncertainty and multimodality of the future states is of great relevance. Existing approaches are rather limited in this regard and mostly yield a single hypothesis of the future or, at the best, strongly constrained mixture components that suffer from instabilities in training and mode collapse. In this work, we present an approach that involves the prediction of several samples of the future with a winner-takes-all loss and iterative grouping of samples to multiple modes. Moreover, we discuss how to evaluate predicted multimodal distributions, including the common real scenario, where only a single sample from the ground-truth distribution is available for evaluation. We show on synthetic and real data that the proposed approach triggers good estimates of multimodal distributions and avoids mode collapse.
Due to the uncertain nature of future prediction, many works target predicting uncertainty along with the prediction. @cite_26 predicted the single future trajectories of traffic actors together with their uncertainty as the learned variance of the predictions. @cite_18 predicted single trajectories of interacting actors along with their uncertainty for the purpose of autonomous street crossing. @cite_0 predicted future locations of the objects along with their non-parametric uncertainty maps, which is theoretically not restricted to a single mode. However, it was used and evaluated for a single future outcome. Despite the inherent ambiguity and multimodality in future states, all approaches mentioned above predict only a single future.
@cite_0 @cite_18 @cite_26
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Having access to the future traffic state information is crucial in maintaining successful intelligent transportation systems (ITS). However, predicting the future traffic state is a challenging research subject involving prediction reliability issues. Predictive performance measures, including the accuracy, efficiency, and stability, are generally considered as the most important priorities in the evaluation of prediction modules. Researchers have developed various K-nearest-neighbors-based searching algorithms that find the future state from the historical traffic patterns. Interestingly, there has not been sufficient effort made for improving the performance. For the emerging big data era, incorporating an efficient search strategy has become increasingly important since the applicability of the prediction module in ITS heavily relies on the efficiency of the searching method used. This paper develops a novel sequential search strategy for traffic state predictions. The proposed sequential strategy is found to be outperforming the conventional single-level search approach in terms of prediction measures, which are prediction accuracy, efficiency, and stability. Compared with the conventional approach, the proposed sequential method yields significantly more accurate results via internal hierarchical improvements across sublevels while maintaining excellent efficiency and stability. For autonomous agents to successfully operate in the real world, the ability to anticipate future scene states is a key competence. In real-world scenarios, future states become increasingly uncertain and multi-modal, particularly on long time horizons. Dropout based Bayesian inference provides a computationally tractable, theoretically well grounded approach to learn likely hypotheses models to deal with uncertain futures and make predictions that correspond well to observations -- are well calibrated. However, it turns out that such approaches fall short to capture complex real-world scenes, even falling behind in accuracy when compared to the plain deterministic approaches. This is because the used log-likelihood estimate discourages diversity. In this work, we propose a novel Bayesian formulation for anticipating future scene states which leverages synthetic likelihoods that encourage the learning of diverse models to accurately capture the multi-modal nature of future scene states. We show that our approach achieves accurate state-of-the-art predictions and calibrated probabilities through extensive experiments for scene anticipation on Cityscapes dataset. Moreover, we show that our approach generalizes across diverse tasks such as digit generation and precipitation forecasting. This paper presents a generic approach for tactical decision-making under uncertainty in the context of driving. The complexity of this task mainly stems from the fact that rational decision-making in this context must consider several sources of uncertainty: The temporal evolution of situations cannot be predicted without uncertainty because other road users behave stochastically and their goals and plans cannot be measured. Even more important, road users are only able to perceive a tiny part of the current situation with their sensors because measurements are noisy and most of the environment is occluded. In order to anticipate the consequences of decisions a probabilistic approach, considering both forms of uncertainty, is necessary. The authors address this by formulating the task of driving as a continuous Partially Observable Markov Decision Process (POMDP) that can be automatically optimized for different scenarios. As driving is a continuous-space problem, the belief space is infinite-dimensional. The authors do not use a symbolic representation or discretize the state space a priori because there is no representation of the state space that is optimal for every situation. Instead, they employ a continuous POMDP solver that learns a good representation of the specific situation. Many prediction tasks contain uncertainty. In some cases, uncertainty is inherent in the task itself. In future prediction, for example, many distinct outcomes are equally valid. In other cases, uncertainty arises from the way data is labeled. For example, in object detection, many objects of interest often go unlabeled, and in human pose estimation, occluded joints are often labeled with ambiguous values. In this work we focus on a principled approach for handling such scenarios. In particular, we propose a frame-work for reformulating existing single-prediction models as multiple hypothesis prediction (MHP) models and an associated meta loss and optimization procedure to train them. To demonstrate our approach, we consider four diverse applications: human pose estimation, future prediction, image classification and segmentation. We find that MHP models outperform their single-hypothesis counterparts in all cases, and that MHP models simultaneously expose valuable insights into the variability of predictions.