Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main task of predicting the driving commands. Our framework involves an end-to-end trainable network for imitating the expert demonstrator's driving commands. The network intermediately predicts visual affordances and action primitives through direct supervision which provide the aforementioned auxiliary supervised guidance. We demonstrate that such joint learning and supervised guidance facilitates hierarchical task decomposition, assisting the agent to learn faster, achieve better driving performance and increases transparency of the otherwise black-box end-to-end network. We run our experiments to validate the MT-LfD framework in CARLA, an open-source urban driving simulator. We introduce multiple non-player agents in CARLA and induce temporal noise in them for realistic stochasticity.
Multi-task learning (MTL) research shows the joint training of auxiliary related side-tasks along with the main task enhances the training performance . MTL in neural networks has been successfully demonstrated in many tasks previously including text-to-speech conversion , natural language processing , speech processing and computer vision . In the field of sequential decision making, @cite_0 demonstrate MTL for 3D game playing, @cite_8 and @cite_1 demonstrate MTL in 3D maze navigation task whereas @cite_4 utilize the MTL framework for autonomous driving. Instead of employing future control outputs as auxiliary tasks as shown by @cite_4 , in this work we employ action and visual abstractions to guide the driving behavior.
@cite_0 @cite_1 @cite_4 @cite_8
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Multi-task learning (MTL) involves the simultaneous training of two or more related tasks over shared representations. In this work, we apply MTL to audio-visual automatic speech recognition(AV-ASR). Our primary task is to learn a mapping between audio-visual fused features and frame labels obtained from acoustic GMM HMM model. This is combined with an auxiliary task which maps visual features to frame labels obtained from a separate visual GMM HMM model. The MTL model is tested at various levels of babble noise and the results are compared with a base-line hybrid DNN-HMM AV-ASR model. Our results indicate that MTL is especially useful at higher level of noise. Compared to base-line, upto 7 relative improvement in WER is reported at -3 SNR dB Multi-Task Learning (MTL) is appealing for deep learning regularization. In this paper, we tackle a specific MTL context denoted as primary MTL, where the ultimate goal is to improve the performance of a given primary task by leveraging several other auxiliary tasks. Our main methodological contribution is to introduce ROCK, a new generic multi-modal fusion block for deep learning tailored to the primary MTL context. ROCK architecture is based on a residual connection, which makes forward prediction explicitly impacted by the intermediate auxiliary representations. The auxiliary predictor's architecture is also specifically designed to our primary MTL context, by incorporating intensive pooling operators for maximizing complementarity of intermediate representations. Extensive experiments on NYUv2 dataset (object detection with scene classification, depth prediction, and surface normal estimation as auxiliary tasks) validate the relevance of the approach and its superiority to flat MTL approaches. Our method outperforms state-of-the-art object detection models on NYUv2 by a large margin, and is also able to handle large-scale heterogeneous inputs (real and synthetic images) and missing annotation modalities. Multi-task learning (MTL) improves the prediction performance on multiple, different but related, learning problems through shared parameters or representations. One of the most prominent multi-task learning algorithms is an extension to support vector machines (svm) by [15]. Although very elegant, multi-task svm is inherently restricted by the fact that support vector machines require each class to be addressed explicitly with its own weight vector which, in a multi-task setting, requires the different learning tasks to share the same set of classes. This paper proposes an alternative formulation for multi-task learning by extending the recently published large margin nearest neighbor (1mnn) algorithm to the MTL paradigm. Instead of relying on separating hyperplanes, its decision function is based on the nearest neighbor rule which inherently extends to many classes and becomes a natural fit for multi-task learning. We evaluate the resulting multi-task 1mnn on real-world insurance data and speech classification problems and show that it consistently outperforms single-task kNN under several metrics and state-of-the-art MTL classifiers. In multi-task learning (MTL), multiple tasks are learnt jointly. A major assumption for this paradigm is that all those tasks are indeed related so that the joint training is appropriate and beneficial. In this paper, we study the problem of multi-task learning of shared feature representations among tasks, while simultaneously determining "with whom" each task should share. We formulate the problem as a mixed integer programming and provide an alternating minimization technique to solve the optimization problem of jointly identifying grouping structures and parameters. The algorithm mono-tonically decreases the objective function and converges to a local optimum. Compared to the standard MTL paradigm where all tasks are in a single group, our algorithm improves its performance with statistical significance for three out of the four datasets we have studied. We also demonstrate its advantage over other task grouping techniques investigated in literature.