Generating multi-vehicle trajectories from existing limited data can provide rich resources for autonomous vehicle development and testing. This paper introduces a multi-vehicle trajectory generator (MTG) that can encode multi-vehicle interaction scenarios (called driving encounters) into an interpretable representation from which new driving encounter scenarios are generated by sampling. The MTG consists of a bi-directional encoder and a multi-branch decoder. A new disentanglement metric is then developed for model analyses and comparisons in terms of model robustness and the independence of the latent codes. Comparison of our proposed MTG with @math -VAE and InfoGAN demonstrates that the MTG has stronger capability to purposely generate rational vehicle-to-vehicle encounters through operating the disentangled latent codes. Thus the MTG could provide more data for engineers and researchers to develop testing and evaluation scenarios for autonomous vehicles.
Combining RNN LSTM GRU and deep generative models has been investigated. In @cite_15 , @math -VAE framework with RNN modules was designed to generate simple sketch drawings with interpretable latent codes. All lines in the sketch were considered as one sequence to avoid the interaction between multiple sequences. The success of @cite_15 partly depends on the use of bi-directional RNN @cite_13 , which extracts more sequential features with a forward-backward data flow @cite_9 .
@cite_9 @cite_15 @cite_13
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Recent work on generative modeling of text has found that variational auto-encoders (VAE) incorporating LSTM decoders perform worse than simpler LSTM language models (, 2015). This negative result is so far poorly understood, but has been attributed to the propensity of LSTM decoders to ignore conditioning information from the encoder. In this paper, we experiment with a new type of decoder for VAE: a dilated CNN. By changing the decoder's dilation architecture, we control the effective context from previously generated words. In experiments, we find that there is a trade off between the contextual capacity of the decoder and the amount of encoding information used. We show that with the right decoder, VAE can outperform LSTM language models. We demonstrate perplexity gains on two datasets, representing the first positive experimental result on the use VAE for generative modeling of text. Further, we conduct an in-depth investigation of the use of VAE (with our new decoding architecture) for semi-supervised and unsupervised labeling tasks, demonstrating gains over several strong baselines. Recent work on generative text modeling has found that variational autoencoders (VAE) with LSTM decoders perform worse than simpler LSTM language models (, 2015). This negative result is so far poorly understood, but has been attributed to the propensity of LSTM decoders to ignore conditioning information from the encoder. In this paper, we experiment with a new type of decoder for VAE: a dilated CNN. By changing the decoder's dilation architecture, we control the size of context from previously generated words. In experiments, we find that there is a trade-off between contextual capacity of the decoder and effective use of encoding information. We show that when carefully managed, VAEs can outperform LSTM language models. We demonstrate perplexity gains on two datasets, representing the first positive language modeling result with VAE. Further, we conduct an in-depth investigation of the use of VAE (with our new decoding architecture) for semi-supervised and unsupervised labeling tasks, demonstrating gains over several strong baselines. We present a VAE architecture for encoding and generating high dimensional sequential data, such as video or audio. Our deep generative model learns a latent representation of the data which is split into a static and dynamic part, allowing us to approximately disentangle latent time-dependent features (dynamics) from features which are preserved over time (content). This architecture gives us partial control over generating content and dynamics by conditioning on either one of these sets of features. In our experiments on artificially generated cartoon video clips and voice recordings, we show that we can convert the content of a given sequence into another one by such content swapping. For audio, this allows us to convert a male speaker into a female speaker and vice versa, while for video we can separately manipulate shapes and dynamics. Furthermore, we give empirical evidence for the hypothesis that stochastic RNNs as latent state models are more efficient at compressing and generating long sequences than deterministic ones, which may be relevant for applications in video compression. In this paper we explore the effect of architectural choices on learning a Variational Autoencoder (VAE) for text generation. In contrast to the previously introduced VAE model for text where both the encoder and decoder are RNNs, we propose a novel hybrid architecture that blends fully feed-forward convolutional and deconvolutional components with a recurrent language model. Our architecture exhibits several attractive properties such as faster run time and convergence, ability to better handle long sequences and, more importantly, it helps to avoid some of the major difficulties posed by training VAE models on textual data.