arXiv subjects

Wenhao Ding

Publications and source records attributed to Wenhao Ding.

At least 55 records · Page 3Linked to original sources

arXiv2023

Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models

Recently, reward-conditioned reinforcement learning (RCRL) has gained popularity due to its simplicity, flexibility, and off-policy nature. However, we will show that current RCRL approaches are fundamentally limited and fail to address two critical challenges of RCRL -- improving generalization on high reward-to-go (RTG) inputs, and avoiding out-of-distribution (OOD) RTG queries during testing time. To address these challenges when training vanilla RCRL architectures, we propose Bayesian Reparameterized RCRL (BR-RCRL), a novel set of inductive biases for RCRL inspired by Bayes' theorem. BR-RCRL removes a core obstacle preventing vanilla RCRL from generalizing on high RTG inputs -- a tendency that the model treats different RTG inputs as independent values, which we term ``RTG Independence". BR-RCRL also allows us to design an accompanying adaptive inference method, which maximizes total returns while avoiding OOD queries that yield unpredictable behaviors in vanilla RCRL methods. We show that BR-RCRL achieves state-of-the-art performance on the Gym-Mujoco and Atari offline RL benchmarks, improving upon vanilla RCRL by up to 11%.

cs.LG↗

arXiv2023

Generalizing Goal-Conditioned Reinforcement Learning with Variational Causal Reasoning

As a pivotal component to attaining generalizable solutions in human intelligence, reasoning provides great potential for reinforcement learning (RL) agents' generalization towards varied goals by summarizing part-to-whole arguments and discovering cause-and-effect relations. However, how to discover and represent causalities remains a huge gap that hinders the development of causal RL. In this paper, we augment Goal-Conditioned RL (GCRL) with Causal Graph (CG), a structure built upon the relation between objects and events. We novelly formulate the GCRL problem into variational likelihood maximization with CG as latent variables. To optimize the derived objective, we propose a framework with theoretical performance guarantees that alternates between two steps: using interventional data to estimate the posterior of CG; using CG to learn generalizable models and interpretable policies. Due to the lack of public benchmarks that verify generalization capability under reasoning, we design nine tasks and then empirically show the effectiveness of the proposed method against five baselines on these tasks. Further theoretical analysis shows that our performance improvement is attributed to the virtuous cycle of causal discovery, transition modeling, and policy training, which aligns with the experimental evidence in extensive ablation studies.

cs.LG↗

arXiv2023

Critical Scenario Generation for Developing Trustworthy Autonomy

Autonomous systems, such as self-driving vehicles, quadrupeds, and robot manipulators, are largely enabled by the rapid development of artificial intelligence. However, such systems involve several trustworthy challenges such as safety, robustness, and generalization, due to their deployment in open-ended and real-time environments. To evaluate and improve trustworthiness, simulations or so-called digital twins are largely utilized for system development with low cost and high efficiency. One important thing in virtual simulations is scenarios that consist of static and dynamic objects, specific tasks, and evaluation metrics. However, designing diverse, realistic, and effective scenarios is still a challenging problem. One straightforward way is creating scenarios through human design, which is time-consuming and limited by the experience of experts. Another method commonly used in self-driving areas is log replay. This method collects scenario data in the real world and then replays it in simulations or adds random perturbations. Although the replay scenarios are realistic, most of the collected scenarios are redundant since they are all ordinary scenarios that only consider a small portion of critical cases. The desired scenarios should cover all cases in the real world, especially rare but critical events with extremely low probability. Critical scenarios are rare but important to test autonomous systems under risky conditions and unpredictable perturbations, which reveal their trustworthiness.

cs.RO↗

arXiv2023

Learning to View: Decision Transformers for Active Object Detection

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically independent of motion planning. For example, traditional object detection is passive: it operates only on the images it receives. However, we have a chance to improve the results if we allow planning to consume detection signals and move the robot to collect views that maximize the quality of the results. In this paper, we use reinforcement learning (RL) methods to control the robot in order to obtain images that maximize the detection quality. Specifically, we propose using a Decision Transformer with online fine-tuning, which first optimizes the policy with a pre-collected expert dataset and then improves the learned policy by exploring better solutions in the environment. We evaluate the performance of proposed method on an interactive dataset collected from an indoor scenario simulator. Experimental results demonstrate that our method outperforms all baselines, including expert policy and pure offline RL methods. We also provide exhaustive analyses of the reward distribution and observation space.

cs.RO↗

arXiv2022

SafeBench: A Benchmarking Platform for Safety Evaluation of Autonomous Vehicles

As shown by recent studies, machine intelligence-enabled systems are vulnerable to test cases resulting from either adversarial manipulation or natural distribution shifts. This has raised great concerns about deploying machine learning algorithms for real-world applications, especially in safety-critical domains such as autonomous driving (AD). On the other hand, traditional AD testing on naturalistic scenarios requires hundreds of millions of driving miles due to the high dimensionality and rareness of the safety-critical scenarios in the real world. As a result, several approaches for autonomous driving evaluation have been explored, which are usually, however, based on different simulation platforms, types of safety-critical scenarios, scenario generation algorithms, and driving route variations. Thus, despite a large amount of effort in autonomous driving testing, it is still challenging to compare and understand the effectiveness and efficiency of different testing scenario generation algorithms and testing mechanisms under similar conditions. In this paper, we aim to provide the first unified platform SafeBench to integrate different types of safety-critical testing scenarios, scenario generation algorithms, and other variations such as driving routes and environments. Meanwhile, we implement 4 deep reinforcement learning-based AD algorithms with 4 types of input (e.g., bird's-eye view, camera) to perform fair comparisons on SafeBench. We find our generated testing scenarios are indeed more challenging and observe the trade-off between the performance of AD agents under benign and safety-critical testing scenarios. We believe our unified platform SafeBench for large-scale and effective autonomous driving testing will motivate the development of new testing scenario generation and safe AD algorithms. SafeBench is available at https://safebench.github.io.

cs.RO↗

arXiv2022

Trustworthy Reinforcement Learning Against Intrinsic Vulnerabilities: Robustness, Safety, and Generalizability

A trustworthy reinforcement learning algorithm should be competent in solving challenging real-world problems, including {robustly} handling uncertainties, satisfying {safety} constraints to avoid catastrophic failures, and {generalizing} to unseen scenarios during deployments. This study aims to overview these main perspectives of trustworthy reinforcement learning considering its intrinsic vulnerabilities on robustness, safety, and generalizability. In particular, we give rigorous formulations, categorize corresponding methodologies, and discuss benchmarks for each perspective. Moreover, we provide an outlook section to spur promising future directions with a brief discussion on extrinsic vulnerabilities considering human feedback. We hope this survey could bring together separate threads of studies together in a unified framework and promote the trustworthiness of reinforcement learning.

cs.LG↗

arXiv2022

PINO-MBD: Physics-informed Neural Operator for Solving Coupled ODEs in Multi-body Dynamics

In multi-body dynamics, the motion of a complicated physical object is described as a coupled ordinary differential equation system with multiple unknown solutions. Engineers need to constantly adjust the object to meet requirements at the design stage, where a highly efficient solver is needed. The rise of machine learning-based partial differential equation solvers can meet this need. These solvers can be classified into two categories: approximating the solution function (Physics-informed neural network) and learning the solution operator (Neural operator). The recently proposed physics-informed neural operator (PINO) gains advantages from both categories by embedding physics equations into the loss function of a neural operator. Following this state-of-art concept, we propose the physics-informed neural operator for coupled ODEs in multi-body dynamics (PINO-MBD), which learns the mapping between parameter spaces and solution spaces. Once PINO-MBD is trained, only one forward pass of the network is required to obtain the solutions for a new instance with different parameters. To handle the difficulty that coupled ODEs contain multiple solutions (instead of only one in normal PDE problems), two new physics embedding methods are also proposed. The experimental results on classic vehicle-track coupled dynamics problem show state-of-art performance not only on solutions but also the first and second derivatives of solutions.

cs.CE↗

arXiv2021

Certifiable Deep Importance Sampling for Rare-Event Simulation of Black-Box Systems

Rare-event simulation techniques, such as importance sampling (IS), constitute powerful tools to speed up challenging estimation of rare catastrophic events. These techniques often leverage the knowledge and analysis on underlying system structures to endow desirable efficiency guarantees. However, black-box problems, especially those arising from recent safety-critical applications of AI-driven physical systems, can fundamentally undermine their efficiency guarantees and lead to dangerous under-estimation without diagnostically detected. We propose a framework called Deep Probabilistic Accelerated Evaluation (Deep-PrAE) to design statistically guaranteed IS, by converting black-box samplers that are versatile but could lack guarantees, into one with what we call a relaxed efficiency certificate that allows accurate estimation of bounds on the rare-event probability. We present the theory of Deep-PrAE that combines the dominating point concept with rare-event set learning via deep neural network classifiers, and demonstrate its effectiveness in numerical examples including the safety-testing of intelligent driving algorithms.

stat.ME↗

arXiv2021

Deep Probabilistic Accelerated Evaluation: A Robust Certifiable Rare-Event Simulation Methodology for Black-Box Safety-Critical Systems

Evaluating the reliability of intelligent physical systems against rare safety-critical events poses a huge testing burden for real-world applications. Simulation provides a useful platform to evaluate the extremal risks of these systems before their deployments. Importance Sampling (IS), while proven to be powerful for rare-event simulation, faces challenges in handling these learning-based systems due to their black-box nature that fundamentally undermines its efficiency guarantee, which can lead to under-estimation without diagnostically detected. We propose a framework called Deep Probabilistic Accelerated Evaluation (Deep-PrAE) to design statistically guaranteed IS, by converting black-box samplers that are versatile but could lack guarantees, into one with what we call a relaxed efficiency certificate that allows accurate estimation of bounds on the safety-critical event probability. We present the theory of Deep-PrAE that combines the dominating point concept with rare-event set learning via deep neural network classifiers, and demonstrate its effectiveness in numerical examples including the safety-testing of an intelligent driving algorithm.

cs.LG↗

arXiv2021

Context-Aware Safe Reinforcement Learning for Non-Stationary Environments

Safety is a critical concern when deploying reinforcement learning agents for realistic tasks. Recently, safe reinforcement learning algorithms have been developed to optimize the agent's performance while avoiding violations of safety constraints. However, few studies have addressed the non-stationary disturbances in the environments, which may cause catastrophic outcomes. In this paper, we propose the context-aware safe reinforcement learning (CASRL) method, a meta-learning framework to realize safe adaptation in non-stationary environments. We use a probabilistic latent variable model to achieve fast inference of the posterior environment transition distribution given the context data. Safety constraints are then evaluated with uncertainty-aware trajectory sampling. The high cost of safety violations leads to the rareness of unsafe records in the dataset. We address this issue by enabling prioritized sampling during model training and formulating prior safety constraints with domain knowledge during constrained planning. The algorithm is evaluated in realistic safety-critical environments with non-stationary disturbances. Results show that the proposed algorithm significantly outperforms existing baselines in terms of safety and robustness.

cs.LG↗

arXiv2020

Multimodal Safety-Critical Scenarios Generation for Decision-Making Algorithms Evaluation

Existing neural network-based autonomous systems are shown to be vulnerable against adversarial attacks, therefore sophisticated evaluation on their robustness is of great importance. However, evaluating the robustness only under the worst-case scenarios based on known attacks is not comprehensive, not to mention that some of them even rarely occur in the real world. In addition, the distribution of safety-critical data is usually multimodal, while most traditional attacks and evaluation methods focus on a single modality. To solve the above challenges, we propose a flow-based multimodal safety-critical scenario generator for evaluating decisionmaking algorithms. The proposed generative model is optimized with weighted likelihood maximization and a gradient-based sampling procedure is integrated to improve the sampling efficiency. The safety-critical scenarios are generated by querying the task algorithms and the log-likelihood of the generated scenarios is in proportion to the risk level. Experiments on a self-driving task demonstrate our advantages in terms of testing efficiency and multimodal modeling capability. We evaluate six Reinforcement Learning algorithms with our generated traffic scenarios and provide empirical conclusions about their robustness.

cs.LG↗

arXiv2020

Task-Agnostic Online Reinforcement Learning with an Infinite Mixture of Gaussian Processes

Continuously learning to solve unseen tasks with limited experience has been extensively pursued in meta-learning and continual learning, but with restricted assumptions such as accessible task distributions, independently and identically distributed tasks, and clear task delineations. However, real-world physical tasks frequently violate these assumptions, resulting in performance degradation. This paper proposes a continual online model-based reinforcement learning approach that does not require pre-training to solve task-agnostic problems with unknown task boundaries. We maintain a mixture of experts to handle nonstationarity, and represent each different type of dynamics with a Gaussian Process to efficiently leverage collected data and expressively model uncertainty. We propose a transition prior to account for the temporal dependencies in streaming data and update the mixture online via sequential variational inference. Our approach reliably handles the task distribution shift by generating new models for never-before-seen dynamics and reusing old models for previously seen dynamics. In experiments, our approach outperforms alternative methods in non-stationary tasks, including classic control with changing dynamics and decision making in different driving scenarios.

cs.LG↗

arXiv2020

Learning to Collide: An Adaptive Safety-Critical Scenarios Generating Method

Long-tail and rare event problems become crucial when autonomous driving algorithms are applied in the real world. For the purpose of evaluating systems in challenging settings, we propose a generative framework to create safety-critical scenarios for evaluating specific task algorithms. We first represent the traffic scenarios with a series of autoregressive building blocks and generate diverse scenarios by sampling from the joint distribution of these blocks. We then train the generative model as an agent (or a generator) to investigate the risky distribution parameters for a given driving algorithm being evaluated. We regard the task algorithm as an environment (or a discriminator) that returns a reward to the agent when a risky scenario is generated. Through the experiments conducted on several scenarios in the simulation, we demonstrate that the proposed framework generates safety-critical scenarios more efficiently than grid search or human design methods. Another advantage of this method is its adaptiveness to the routes and parameters.

cs.RO↗

arXiv2019

Adaptive Multi-scale Detection of Acoustic Events

The goal of acoustic (or sound) events detection (AED or SED) is to predict the temporal position of target events in given audio segments. This task plays a significant role in safety monitoring, acoustic early warning and other scenarios. However, the deficiency of data and diversity of acoustic event sources make the AED task a tough issue, especially for prevalent data-driven methods. In this paper, we start by analyzing acoustic events according to their time-frequency domain properties, showing that different acoustic events have different time-frequency scale characteristics. Inspired by the analysis, we propose an adaptive multi-scale detection (AdaMD) method. By taking advantage of the hourglass neural network and gated recurrent unit (GRU) module, our AdaMD produces multiple predictions at different temporal and frequency resolutions. An adaptive training algorithm is subsequently adopted to combine multi-scale predictions to enhance its overall capability. Experimental results on Detection and Classification of Acoustic Scenes and Events 2017 (DCASE 2017) Task 2, DCASE 2016 Task 3 and DCASE 2017 Task 3 demonstrate that the AdaMD outperforms published state-of-the-art competitors in terms of the metrics of event error rate (ER) and F1-score. The verification experiment on our collected factory mechanical dataset also proves the noise-resistant capability of the AdaMD, providing the possibility for it to be deployed in the complex environment.

eess.AS↗

arXiv2019

CMTS: Conditional Multiple Trajectory Synthesizer for Generating Safety-critical Driving Scenarios

Naturalistic driving trajectories are crucial for the performance of autonomous driving algorithms. However, most of the data is collected in safe scenarios leading to the duplication of trajectories which are easy to be handled by currently developed algorithms. When considering safety, testing algorithms in near-miss scenarios that rarely show up in off-the-shelf datasets is a vital part of the evaluation. As a remedy, we propose a near-miss data synthesizing framework based on Variational Bayesian methods and term it as Conditional Multiple Trajectory Synthesizer (CMTS). We leverage a generative model conditioned on road maps to bridge safe and collision driving data by representing their distribution in the latent space. By sampling from the near-miss distribution, we can synthesize safety-critical data crucial for understanding traffic scenarios but not shown in neither the original dataset nor the collision dataset. Our experimental results demonstrate that the augmented dataset covers more kinds of driving scenarios, especially the near-miss ones, which help improve the trajectory prediction accuracy and the capability of dealing with risky driving scenarios.

cs.LG↗

arXiv2019

Multi-Scale Time-Frequency Attention for Acoustic Event Detection

Most attention-based methods only concentrate along the time axis, which is insufficient for Acoustic Event Detection (AED). Meanwhile, previous methods for AED rarely considered that target events possess distinct temporal and frequential scales. In this work, we propose a Multi-Scale Time-Frequency Attention (MTFA) module for AED. MTFA gathers information at multiple resolutions to generate a time-frequency attention mask which tells the model where to focus along both time and frequency axis. With MTFA, the model could capture the characteristics of target events with different scales. We demonstrate the proposed method on Task 2 of Detection and Classification of Acoustic Scenes and Events (DCASE) 2017 Challenge. Our method achieves competitive results on both development dataset and evaluation dataset.

cs.SD↗

arXiv2019

A New Multi-vehicle Trajectory Generator to Simulate Vehicle-to-Vehicle Encounters

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 $β$-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.

cs.CV↗

arXiv2018

Vehicle Pose and Shape Estimation through Multiple Monocular Vision

In this paper, we present an accurate approach to estimate vehicles' pose and shape from off-board multiview images. The images are taken by monocular cameras and have small overlaps. We utilize state-of-the-art convolutional neural networks (CNNs) to extract vehicles' semantic keypoints and introduce a Cross Projection Optimization (CPO) method to estimate the 3D pose. During the iterative CPO process, an adaptive shape adjustment method named Hierarchical Wireframe Constraint (HWC) is implemented to estimate the shape. Our approach is evaluated under both simulated and real-world scenes for performance verification. It's shown that our algorithm outperforms other existing monocular and stereo methods for vehicles' pose and shape estimation. This approach provides a new and robust solution for off-board visual vehicle localization and tracking, which can be applied to massive surveillance camera networks for intelligent transportation.

cs.CV↗