关于车辆路径预测的推理是自动驾驶系统安全运行的必不可少的问题。有许多用于路径预测的研究工作。但是，其中大多数不使用车道信息，也不基于变压器体系结构。通过利用从配备自动驾驶车辆的传感器收集的不同类型的数据，我们提出了一个名为多模式变压器路径预测（MTPP）的路径预测系统，该系统旨在预测目标试剂的长期未来轨迹。为了实现更准确的路径预测，在我们的模型中采用了变压器体系结构。为了更好地利用车道信息，目标试剂不太可能采用与目标试剂相反的车道，因此被过滤掉。另外，将连续的车道块组合在一起，以确保车道输入足够长以进行路径预测。进行了广泛的评估，以显示使用Nuscene（现实世界中的轨迹预测数据集）的拟议系统的功效。

Autonomous cars are indispensable when humans go further down the hands-free route. Although existing literature highlights that the acceptance of the autonomous car will increase if it drives in a human-like manner, sparse research offers the naturalistic experience from a passenger's seat perspective to examine the human likeness of current autonomous cars. The present study tested whether the AI driver could create a human-like ride experience for passengers based on 69 participants' feedback in a real-road scenario. We designed a ride experience-based version of the non-verbal Turing test for automated driving. Participants rode in autonomous cars (driven by either human or AI drivers) as a passenger and judged whether the driver was human or AI. The AI driver failed to pass our test because passengers detected the AI driver above chance. In contrast, when the human driver drove the car, the passengers' judgement was around chance. We further investigated how human passengers ascribe humanness in our test. Based on Lewin's field theory, we advanced a computational model combining signal detection theory with pre-trained language models to predict passengers' humanness rating behaviour. We employed affective transition between pre-study baseline emotions and corresponding post-stage emotions as the signal strength of our model. Results showed that the passengers' ascription of humanness would increase with the greater affective transition. Our study suggested an important role of affective transition in passengers' ascription of humanness, which might become a future direction for autonomous driving.

Recent studies in Vision-and-Language Navigation (VLN) train RL agents to execute natural-language navigation instructions in photorealistic environments, as a step towards robots that can follow human instructions. However, given the scarcity of human instruction data and limited diversity in the training environments, these agents still struggle with complex language grounding and spatial language understanding. Pretraining on large text and image-text datasets from the web has been extensively explored but the improvements are limited. We investigate large-scale augmentation with synthetic instructions. We take 500+ indoor environments captured in densely-sampled 360 degree panoramas, construct navigation trajectories through these panoramas, and generate a visually-grounded instruction for each trajectory using Marky, a high-quality multilingual navigation instruction generator. We also synthesize image observations from novel viewpoints using an image-to-image GAN. The resulting dataset of 4.2M instruction-trajectory pairs is two orders of magnitude larger than existing human-annotated datasets, and contains a wider variety of environments and viewpoints. To efficiently leverage data at this scale, we train a simple transformer agent with imitation learning. On the challenging RxR dataset, our approach outperforms all existing RL agents, improving the state-of-the-art NDTW from 71.1 to 79.1 in seen environments, and from 64.6 to 66.8 in unseen test environments. Our work points to a new path to improving instruction-following agents, emphasizing large-scale imitation learning and the development of synthetic instruction generation capabilities.

我们介绍了自回归文本到图像（Parti）模型的途径，该模型生成高保真的影像图像并支持涉及复杂组成和世界知识的内容丰富的合成。 Parti将文本对图像生成视为类似于机器翻译的序列到序列建模问题，图像令牌的序列是目标输出，而不是其他语言的文本令牌。这种策略自然可以利用大型语言模型的先前工作，通过扩展数据和模型尺寸，能力和性能的持续进展。我们的方法很简单：首先，Parti使用基于变压器的图像令牌VIT-VQGAN将图像编码为离散令牌的序列。其次，我们通过将编码器二次变压器模型缩放到20B参数来实现一致的质量改进，其新的最新零弹药FID得分为7.23，而MS-Coco的FIDED得分为3.22。我们对本地化叙述以及党的详细分析（P2），这是1600多个英语提示的新的整体基准，证明了Parti在各种类别和难度方面的有效性。我们还探索并突出了我们的模型的局限性，以定义和体现关注重点领域以进一步改进。有关高分辨率图像，请参见https://parti.research.google/。

在本文中，我们提出了使用反事实解释来阐明事实检查预测，以帮助人们理解为什么特定的新闻被确定为假货。在这项工作中，为假新闻产生反事实解释涉及三个步骤：提出好问题，找到矛盾和适当的推理。我们将这个研究问题构成了通过问答（QA）矛盾的理由推理。我们首先向虚假主张提出问题，并从相关证据文件中检索潜在的答案。然后，我们通过使用元素分类器来确定对虚假主张的最矛盾的答案。最后，使用匹配的QA对创建了反事实解释，并具有三种不同的反事实说明表格。实验是在热数据集上进行系统和人类评估的。结果表明，与最先进的方法相比，提出的方法产生了最有用的解释。

从用户评论中自动识别突出方面的突出方面对于意见分析特别有用。利用弱监督方法存在重大进展，这只需要一小组种子词来训练方面分类器。但是，总有改进的余地。首先，没有弱监督的方法充分利用单词之间的潜在层次结构。其次，每种种子字表示应该具有不同的潜在语义，并且当它代表不同的方面时是不同的。在本文中，我们提出了HDAE，一个双曲线解除戒断的方面提取器，其中一个双曲线方面分类器捕获单词潜在层次结构，并且方面解散表示模拟了每个种子字的不同潜在语义。与以前的基线相比，HDAE分别在亚马逊产品审查和餐厅审查数据集中实现平均F1性能增益为18.2％和24.1％。此外，EM-Bedding可视化体验表明HDAE是一种更有效的方法来利用种子词。一种消融研究和案例研究进一步证明了所提出的组件的有效性

In this study, we propose a novel adversarial reprogramming (AR) approach for low-resource spoken command recognition (SCR), and build an AR-SCR system. The AR procedure aims to modify the acoustic signals (from the target domain) to repurpose a pretrained SCR model (from the source domain). To solve the label mismatches between source and target domains, and further improve the stability of AR, we propose a novel similarity-based label mapping technique to align classes. In addition, the transfer learning (TL) technique is combined with the original AR process to improve the model adaptation capability. We evaluate the proposed AR-SCR system on three low-resource SCR datasets, including Arabic, Lithuanian, and dysarthric Mandarin speech. Experimental results show that with a pretrained AM trained on a large-scale English dataset, the proposed AR-SCR system outperforms the current state-of-the-art results on Arabic and Lithuanian speech commands datasets, with only a limited amount of training data.

Image generation has been successfully cast as an autoregressive sequence generation or transformation problem. Recent work has shown that self-attention is an effective way of modeling textual sequences. In this work, we generalize a recently proposed model architecture based on self-attention, the Transformer, to a sequence modeling formulation of image generation with a tractable likelihood. By restricting the selfattention mechanism to attend to local neighborhoods we significantly increase the size of images the model can process in practice, despite maintaining significantly larger receptive fields per layer than typical convolutional neural networks. While conceptually simple, our generative models significantly outperform the current state of the art in image generation on ImageNet, improving the best published negative log-likelihood on ImageNet from 3.83 to 3.77. We also present results on image super-resolution with a large magnification ratio, applying an encoder-decoder configuration of our architecture. In a human evaluation study, we find that images generated by our super-resolution model fool human observers three times more often than the previous state of the art.

We present AVOD, an Aggregate View Object Detection network for autonomous driving scenarios. The proposed neural network architecture uses LIDAR point clouds and RGB images to generate features that are shared by two subnetworks: a region proposal network (RPN) and a second stage detector network. The proposed RPN uses a novel architecture capable of performing multimodal feature fusion on high resolution feature maps to generate reliable 3D object proposals for multiple object classes in road scenes. Using these proposals, the second stage detection network performs accurate oriented 3D bounding box regression and category classification to predict the extents, orientation, and classification of objects in 3D space. Our proposed architecture is shown to produce state of the art results on the KITTI 3D object detection benchmark [1] while running in real time with a low memory footprint, making it a suitable candidate for deployment on autonomous vehicles. Code is at: https://github.com/kujason/avod