Vasileios Lioutas

Matthew Niedoba, Jonathan Wilder Lavington, Yunpeng Liu et al.

Simulation of autonomous vehicle systems requires that simulated traffic participants exhibit diverse and realistic behaviors. The use of prerecorded real-world traffic scenarios in simulation ensures realism but the rarity of safety critical events makes large scale collection of driving scenarios expensive. In this paper, we present DJINN - a diffusion based method of generating traffic scenarios. Our approach jointly diffuses the trajectories of all agents, conditioned on a flexible set of state observations from the past, present, or future. On popular trajectory forecasting datasets, we report state of the art performance on joint trajectory metrics. In addition, we demonstrate how DJINN flexibly enables direct test-time sampling from a variety of valuable conditional distributions including goal-based sampling, behavior-class sampling, and scenario editing.

Berend Zwartsenberg, Adam Ścibior, Matthew Niedoba et al.

We present a novel, conditional generative probabilistic model of set-valued data with a tractable log density. This model is a continuous normalizing flow governed by permutation equivariant dynamics. These dynamics are driven by a learnable per-set-element term and pairwise interactions, both parametrized by deep neural networks. We illustrate the utility of this model via applications including (1) complex traffic scene generation conditioned on visually specified map information, and (2) object bounding box generation conditioned directly on images. We train our model by maximizing the expected likelihood of labeled conditional data under our flow, with the aid of a penalty that ensures the dynamics are smooth and hence efficiently solvable. Our method significantly outperforms non-permutation invariant baselines in terms of log likelihood and domain-specific metrics (offroad, collision, and combined infractions), yielding realistic samples that are difficult to distinguish from real data.

Vasileios Lioutas, Jonathan Wilder Lavington, Justice Sefas et al.

We introduce CriticSMC, a new algorithm for planning as inference built from a composition of sequential Monte Carlo with learned Soft-Q function heuristic factors. These heuristic factors, obtained from parametric approximations of the marginal likelihood ahead, more effectively guide SMC towards the desired target distribution, which is particularly helpful for planning in environments with hard constraints placed sparsely in time. Compared with previous work, we modify the placement of such heuristic factors, which allows us to cheaply propose and evaluate large numbers of putative action particles, greatly increasing inference and planning efficiency. CriticSMC is compatible with informative priors, whose density function need not be known, and can be used as a model-free control algorithm. Our experiments on collision avoidance in a high-dimensional simulated driving task show that CriticSMC significantly reduces collision rates at a low computational cost while maintaining realism and diversity of driving behaviors across vehicles and environment scenarios.

Jonathan Wilder Lavington, Ke Zhang, Vasileios Lioutas et al.

The training, testing, and deployment, of autonomous vehicles requires realistic and efficient simulators. Moreover, because of the high variability between different problems presented in different autonomous systems, these simulators need to be easy to use, and easy to modify. To address these problems we introduce TorchDriveSim and its benchmark extension TorchDriveEnv. TorchDriveEnv is a lightweight reinforcement learning benchmark programmed entirely in Python, which can be modified to test a number of different factors in learned vehicle behavior, including the effect of varying kinematic models, agent types, and traffic control patterns. Most importantly unlike many replay based simulation approaches, TorchDriveEnv is fully integrated with a state of the art behavioral simulation API. This allows users to train and evaluate driving models alongside data driven Non-Playable Characters (NPC) whose initializations and driving behavior are reactive, realistic, and diverse. We illustrate the efficiency and simplicity of TorchDriveEnv by evaluating common reinforcement learning baselines in both training and validation environments. Our experiments show that TorchDriveEnv is easy to use, but difficult to solve.

Matthew Niedoba, Dylan Green, Saeid Naderiparizi et al.

Score function estimation is the cornerstone of both training and sampling from diffusion generative models. Despite this fact, the most commonly used estimators are either biased neural network approximations or high variance Monte Carlo estimators based on the conditional score. We introduce a novel nearest neighbour score function estimator which utilizes multiple samples from the training set to dramatically decrease estimator variance. We leverage our low variance estimator in two compelling applications. Training consistency models with our estimator, we report a significant increase in both convergence speed and sample quality. In diffusion models, we show that our estimator can replace a learned network for probability-flow ODE integration, opening promising new avenues of future research.

Dylan Green, William Harvey, Saeid Naderiparizi et al.

Current state-of-the-art methods for video inpainting typically rely on optical flow or attention-based approaches to inpaint masked regions by propagating visual information across frames. While such approaches have led to significant progress on standard benchmarks, they struggle with tasks that require the synthesis of novel content that is not present in other frames. In this paper, we reframe video inpainting as a conditional generative modeling problem and present a framework for solving such problems with conditional video diffusion models. We introduce inpainting-specific sampling schemes which capture crucial long-range dependencies in the context, and devise a novel method for conditioning on the known pixels in incomplete frames. We highlight the advantages of using a generative approach for this task, showing that our method is capable of generating diverse, high-quality inpaintings and synthesizing new content that is spatially, temporally, and semantically consistent with the provided context.

Vasileios Lioutas, Adam Scibior, Matthew Niedoba et al.

Simulating realistic driving behavior is crucial for developing and testing autonomous systems in complex traffic environments. Equally important is the ability to control the behavior of simulated agents to tailor scenarios to specific research needs and safety considerations. This paper extends the general-purpose multi-agent driving behavior model ITRA (Scibior et al., 2021), by introducing a method called Control-ITRA to influence agent behavior through waypoint assignment and target speed modulation. By conditioning agents on these two aspects, we provide a mechanism for them to adhere to specific trajectories and indirectly adjust their aggressiveness. We compare different approaches for integrating these conditions during training and demonstrate that our method can generate controllable, infraction-free trajectories while preserving realism in both seen and unseen locations.

Setareh Dabiri, Vasileios Lioutas, Berend Zwartsenberg et al.

When training object detection models on synthetic data, it is important to make the distribution of synthetic data as close as possible to the distribution of real data. We investigate specifically the impact of object placement distribution, keeping all other aspects of synthetic data fixed. Our experiment, training a 3D vehicle detection model in CARLA and testing on KITTI, demonstrates a substantial improvement resulting from improving the object placement distribution.

Yunpeng Liu, Vasileios Lioutas, Jonathan Wilder Lavington et al.

The development of algorithms that learn multi-agent behavioral models using human demonstrations has led to increasingly realistic simulations in the field of autonomous driving. In general, such models learn to jointly predict trajectories for all controlled agents by exploiting road context information such as drivable lanes obtained from manually annotated high-definition (HD) maps. Recent studies show that these models can greatly benefit from increasing the amount of human data available for training. However, the manual annotation of HD maps which is necessary for every new location puts a bottleneck on efficiently scaling up human traffic datasets. We propose an aerial image-based map (AIM) representation that requires minimal annotation and provides rich road context information for traffic agents like pedestrians and vehicles. We evaluate multi-agent trajectory prediction using the AIM by incorporating it into a differentiable driving simulator as an image-texture-based differentiable rendering module. Our results demonstrate competitive multi-agent trajectory prediction performance especially for pedestrians in the scene when using our AIM representation as compared to models trained with rasterized HD maps.

Ahmad Rashid, Vasileios Lioutas, Mehdi Rezagholizadeh

The advent of large pre-trained language models has given rise to rapid progress in the field of Natural Language Processing (NLP). While the performance of these models on standard benchmarks has scaled with size, compression techniques such as knowledge distillation have been key in making them practical. We present, MATE-KD, a novel text-based adversarial training algorithm which improves the performance of knowledge distillation. MATE-KD first trains a masked language model based generator to perturb text by maximizing the divergence between teacher and student logits. Then using knowledge distillation a student is trained on both the original and the perturbed training samples. We evaluate our algorithm, using BERT-based models, on the GLUE benchmark and demonstrate that MATE-KD outperforms competitive adversarial learning and data augmentation baselines. On the GLUE test set our 6 layer RoBERTa based model outperforms BERT-Large.

Adam Scibior, Vasileios Lioutas, Daniele Reda et al.

We develop a deep generative model built on a fully differentiable simulator for multi-agent trajectory prediction. Agents are modeled with conditional recurrent variational neural networks (CVRNNs), which take as input an ego-centric birdview image representing the current state of the world and output an action, consisting of steering and acceleration, which is used to derive the subsequent agent state using a kinematic bicycle model. The full simulation state is then differentiably rendered for each agent, initiating the next time step. We achieve state-of-the-art results on the INTERACTION dataset, using standard neural architectures and a standard variational training objective, producing realistic multi-modal predictions without any ad-hoc diversity-inducing losses. We conduct ablation studies to examine individual components of the simulator, finding that both the kinematic bicycle model and the continuous feedback from the birdview image are crucial for achieving this level of performance. We name our model ITRA, for "Imagining the Road Ahead".

Ahmad Rashid, Vasileios Lioutas, Abbas Ghaddar et al.

Knowledge Distillation (KD) is a common knowledge transfer algorithm used for model compression across a variety of deep learning based natural language processing (NLP) solutions. In its regular manifestations, KD requires access to the teacher's training data for knowledge transfer to the student network. However, privacy concerns, data regulations and proprietary reasons may prevent access to such data. We present, to the best of our knowledge, the first work on Zero-Shot Knowledge Distillation for NLP, where the student learns from the much larger teacher without any task specific data. Our solution combines out of domain data and adversarial training to learn the teacher's output distribution. We investigate six tasks from the GLUE benchmark and demonstrate that we can achieve between 75% and 92% of the teacher's classification score (accuracy or F1) while compressing the model 30 times.

Vasileios Lioutas

Several methods have recently been proposed for the Single Image Super-Resolution (SISR) problem. The current methods assume that a single low-resolution image can only yield a single high-resolution image. In addition, all of these methods use low-resolution images that were artificially generated through simple bilinear down-sampling. We argue that, first and foremost, the problem of SISR is an one-to-many mapping problem between the low-resolution and all possible candidate high-resolution images and we address the challenging task of learning how to realistically degrade and down-sample high-resolution images. To circumvent this problem, we propose SR-NAM which utilizes the Non-Adversarial Mapping (NAM) technique. Furthermore, we propose a degradation model that learns how to transform high-resolution images to low-resolution images that resemble realistically taken low-resolution photos. Finally, some qualitative results for the proposed method along with the weaknesses of SR-NAM are included.

Vasileios Lioutas, Yuhong Guo

To date, most state-of-the-art sequence modeling architectures use attention to build generative models for language based tasks. Some of these models use all the available sequence tokens to generate an attention distribution which results in time complexity of $O(n^2)$. Alternatively, they utilize depthwise convolutions with softmax normalized kernels of size $k$ acting as a limited-window self-attention, resulting in time complexity of $O(k{\cdot}n)$. In this paper, we introduce Time-aware Large Kernel (TaLK) Convolutions, a novel adaptive convolution operation that learns to predict the size of a summation kernel instead of using a fixed-sized kernel matrix. This method yields a time complexity of $O(n)$, effectively making the sequence encoding process linear to the number of tokens. We evaluate the proposed method on large-scale standard machine translation, abstractive summarization and language modeling datasets and show that TaLK Convolutions constitute an efficient improvement over other attention/convolution based approaches.

Vasileios Lioutas, Ahmad Rashid, Krtin Kumar et al.

Word-embeddings are vital components of Natural Language Processing (NLP) models and have been extensively explored. However, they consume a lot of memory which poses a challenge for edge deployment. Embedding matrices, typically, contain most of the parameters for language models and about a third for machine translation systems. In this paper, we propose Distilled Embedding, an (input/output) embedding compression method based on low-rank matrix decomposition and knowledge distillation. First, we initialize the weights of our decomposed matrices by learning to reconstruct the full pre-trained word-embedding and then fine-tune end-to-end, employing knowledge distillation on the factorized embedding. We conduct extensive experiments with various compression rates on machine translation and language modeling, using different data-sets with a shared word-embedding matrix for both embedding and vocabulary projection matrices. We show that the proposed technique is simple to replicate, with one fixed parameter controlling compression size, has higher BLEU score on translation and lower perplexity on language modeling compared to complex, difficult to tune state-of-the-art methods.

Vasileios Lioutas, Andriy Drozdyuk

Attention is an operation that selects some largest element from some set, where the notion of largest is defined elsewhere. Applying this operation to sequence to sequence mapping results in significant improvements to the task at hand. In this paper we provide the mathematical definition of attention and examine its application to sequence to sequence models. We highlight the exact correspondences between machine learning implementations of attention and our mathematical definition. We provide clear evidence of effectiveness of attention mechanisms evaluating models with varying degrees of attention on a very simple task: copying a sentence. We find that models that make greater use of attention perform much better on sequence to sequence mapping tasks, converge faster and are more stable.