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.
Dealing with time series is challenging because of the dependency among adjacent states. Both LSTM @cite_2 and GRU @cite_17 are commonly used to tackle this issue because the forget gate in them allows to control the amount of influence the previous state can lay on the later state. GRU, as a simplified version of LSTM, is more efficient with almost equal performance @cite_15 @cite_1 .
@cite_15 @cite_1 @cite_17 @cite_2
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Recurrent neural networks such as the GRU and LSTM found wide adoption in natural language processing and achieve state-of-the-art results for many tasks. These models are characterized by a memory state that can be written to and read from by applying gated composition operations to the current input and the previous state. However, they only cover a small subset of potentially useful compositions. We propose Multi-Function Recurrent Units (MuFuRUs) that allow for arbitrary differentiable functions as composition operations. Furthermore, MuFuRUs allow for an input- and state-dependent choice of these composition operations that is learned. Our experiments demonstrate that the additional functionality helps in different sequence modeling tasks, including the evaluation of propositional logic formulae, language modeling and sentiment analysis. Long Short-Term Memory (LSTM) is one of the most widely used recurrent structures in sequence modeling. It aims to use gates to control information flow (e.g., whether to skip some information or not) in the recurrent computations, although its practical implementation based on soft gates only partially achieves this goal. In this paper, we propose a new way for LSTM training, which pushes the output values of the gates towards 0 or 1. By doing so, we can better control the information flow: the gates are mostly open or closed, instead of in a middle state, which makes the results more interpretable. Empirical studies show that (1) Although it seems that we restrict the model capacity, there is no performance drop: we achieve better or comparable performances due to its better generalization ability; (2) The outputs of gates are not sensitive to their inputs: we can easily compress the LSTM unit in multiple ways, e.g., low-rank approximation and low-precision approximation. The compressed models are even better than the baseline models without compression. Long short-term memory (LSTM) can solve many tasks not solvable by previous learning algorithms for recurrent neural networks (RNNs). We identify a weakness of LSTM networks processing continual input streams without explicitly marked sequence ends. Without resets, the internal state values may grow indefinitely and eventually cause the network to break down. Our remedy is an adaptive "forget gate" that enables an LSTM cell to learn to reset itself at appropriate times, thus releasing internal resources. We review an illustrative benchmark problem on which standard LSTM outperforms other RNN algorithms. All algorithms (including LSTM) fail to solve a continual version of that problem. LSTM with forget gates, however, easily solves it in an elegant way. Temporal gates play a significant role in modern recurrent-based neural encoders, enabling fine-grained control over recursive compositional operations over time. In recurrent models such as the long short-term memory (LSTM), temporal gates control the amount of information retained or discarded over time, not only playing an important role in influencing the learned representations but also serving as a protection against vanishing gradients. This paper explores the idea of learning temporal gates for sequence pairs (question and answer), jointly influencing the learned representations in a pairwise manner. In our approach, temporal gates are learned via 1D convolutional layers and then subsequently cross applied across question and answer for joint learning. Empirically, we show that this conceptually simple sharing of temporal gates can lead to competitive performance across multiple benchmarks. Intuitively, what our network achieves can be interpreted as learning representations of question and answer pairs that are aware of what each other is remembering or forgetting, i.e., pairwise temporal gating. Via extensive experiments, we show that our proposed model achieves state-of-the-art performance on two community-based QA datasets and competitive performance on one factoid-based QA dataset.