Xun Gong

Zhen Liu, Hang Gao, Hao Ma et al.

Autonomous vehicle (AV) evaluation has been the subject of increased interest in recent years both in industry and in academia. This paper focuses on the development of a novel framework for generating adversarial driving behavior of background vehicle interfering against the AV to expose effective and rational risky events. Specifically, the adversarial behavior is learned by a reinforcement learning (RL) approach incorporated with the cumulative prospect theory (CPT) which allows representation of human risk cognition. Then, the extended version of deep deterministic policy gradient (DDPG) technique is proposed for training the adversarial policy while ensuring training stability as the CPT action-value function is leveraged. A comparative case study regarding the cut-in scenario is conducted on a high fidelity Hardware-in-the-Loop (HiL) platform and the results demonstrate the adversarial effectiveness to infer the weakness of the tested AV.

Lin Fan, Yafei Ou, Cenyang Zheng et al.

Multi-modal learning has shown exceptional performance in various tasks, especially in medical applications, where it integrates diverse medical information for comprehensive diagnostic evidence. However, there still are several challenges in multi-modal learning, 1. Heterogeneity between modalities, 2. uncertainty in missing modalities, 3. influence of intrinsic noise, and 4. interpretability for fusion result. This paper introduces the Modal-Domain Attention (MDA) model to address the above challenges. MDA constructs linear relationships between modalities through continuous attention, due to its ability to adaptively allocate dynamic attention to different modalities, MDA can reduce attention to low-correlation data, missing modalities, or modalities with inherent noise, thereby maintaining SOTA performance across various tasks on multiple public datasets. Furthermore, our observations on the contribution of different modalities indicate that MDA aligns with established clinical diagnostic imaging gold standards and holds promise as a reference for pathologies where these standards are not yet clearly defined. The code and dataset will be available.