Chen Xu

Longlong Jing, Ruichi Yu, Xu Chen et al.

Tracking objects in three-dimensional space is critical for autonomous driving. To ensure safety while driving, the tracker must be able to reliably track objects across frames and accurately estimate their states such as velocity and acceleration in the present. Existing works frequently focus on the association task while either neglecting the model performance on state estimation or deploying complex heuristics to predict the states. In this paper, we propose STT, a Stateful Tracking model built with Transformers, that can consistently track objects in the scenes while also predicting their states accurately. STT consumes rich appearance, geometry, and motion signals through long term history of detections and is jointly optimized for both data association and state estimation tasks. Since the standard tracking metrics like MOTA and MOTP do not capture the combined performance of the two tasks in the wider spectrum of object states, we extend them with new metrics called S-MOTA and MOTPS that address this limitation. STT achieves competitive real-time performance on the Waymo Open Dataset.

Zhenyu Shou, Xu Chen, Yongjie Fu et al.

This paper aims to develop a paradigm that models the learning behavior of intelligent agents (including but not limited to autonomous vehicles, connected and automated vehicles, or human-driven vehicles with intelligent navigation systems where human drivers follow the navigation instructions completely) with a utility-optimizing goal and the system's equilibrating processes in a routing game among atomic selfish agents. Such a paradigm can assist policymakers in devising optimal operational and planning countermeasures under both normal and abnormal circumstances. To this end, we develop a Markov routing game (MRG) in which each agent learns and updates her own en-route path choice policy while interacting with others in transportation networks. To efficiently solve MRG, we formulate it as multi-agent reinforcement learning (MARL) and devise a mean field multi-agent deep Q learning (MF-MA-DQL) approach that captures the competition among agents. The linkage between the classical DUE paradigm and our proposed Markov routing game (MRG) is discussed. We show that the routing behavior of intelligent agents is shown to converge to the classical notion of predictive dynamic user equilibrium (DUE) when traffic environments are simulated using dynamic loading models (DNL). In other words, the MRG depicts DUEs assuming perfect information and deterministic environments propagated by DNL models. Four examples are solved to illustrate the algorithm efficiency and consistency between DUE and the MRG equilibrium, on a simple network without and with spillback, the Ortuzar Willumsen (OW) Network, and a real-world network near Columbia University's campus in Manhattan of New York City.

Zijian Zhang, Zhan Qin, Liehuang Zhu et al.

The technology of differential privacy, adding a noise drawn from the Laplace distribution, successfully overcomes a difficulty of keeping both the privacy of individual data and the utility of the statistical result simultaneously. Therefore, it is prevalent to use a rechargeable battery as the noise for achieving differential privacy in the application of smart grid. Unfortunately, to the best of our knowledge, we observe that the existing privacy protection mechanisms cannot satisfy differential privacy, when considering physical restrictions of the battery in practice. In this paper, we first classify two types of challenges caused by two physical restrictions, the maximum charging/discharging rate and the capacity of battery. We then propose a stateless privacy protection scheme by exploring a boundary-changeable distribution for noise, and prove this scheme satisfies differential privacy, with regard to the first type of challenge. We further explain the difficulty to achieve differential privacy under the second type of challenge, and formalize the definition of a relaxed differential privacy. Finally, we present a stateful privacy protection scheme that satisfies the relaxed differential privacy. Experimental analysis shows that the maximum privacy leakage of our privacy protection schemes at each time point stably outperforms that of the existing work.