Xin Wang

Xiaodong Liu, Yucheng Xing, Xin Wang

Reliable motion forecasting of surrounding agents is essential for ensuring the safe operation of autonomous vehicles. Many existing trajectory prediction methods rely heavily on high-definition (HD) maps as strong driving priors. However, the availability and accuracy of these priors are not guaranteed due to substantial costs to build, localization errors of vehicles, or ongoing road constructions. In this paper, we introduce MFTP, a Map-Free Trajectory Prediction method that offers several advantages. First, it eliminates the need for HD maps during inference while still benefiting from map priors during training via knowledge distillation. Second, we present a novel hierarchical encoder that effectively extracts spatial-temporal agent features and aggregates them into multiple trajectory queries. Additionally, we introduce an iterative decoder that sequentially decodes trajectory queries to generate the final predictions. Extensive experiments show that our approach achieves state-of-the-art performance on the Argoverse dataset under the map-free setting.

Wenwu Zhu, Xin Wang, Pengtao Xie

Conventional machine learning (ML) relies heavily on manual design from machine learning experts to decide learning tasks, data, models, optimization algorithms, and evaluation metrics, which is labor-intensive, time-consuming, and cannot learn autonomously like humans. In education science, self-directed learning, where human learners select learning tasks and materials on their own without requiring hands-on guidance, has been shown to be more effective than passive teacher-guided learning. Inspired by the concept of self-directed human learning, we introduce the principal concept of Self-directed Machine Learning (SDML) and propose a framework for SDML. Specifically, we design SDML as a self-directed learning process guided by self-awareness, including internal awareness and external awareness. Our proposed SDML process benefits from self task selection, self data selection, self model selection, self optimization strategy selection and self evaluation metric selection through self-awareness without human guidance. Meanwhile, the learning performance of the SDML process serves as feedback to further improve self-awareness. We propose a mathematical formulation for SDML based on multi-level optimization. Furthermore, we present case studies together with potential applications of SDML, followed by discussing future research directions. We expect that SDML could enable machines to conduct human-like self-directed learning and provide a new perspective towards artificial general intelligence.

Shu Hu, Yiming Ying, Xin Wang et al.

In forming learning objectives, one oftentimes needs to aggregate a set of individual values to a single output. Such cases occur in the aggregate loss, which combines individual losses of a learning model over each training sample, and in the individual loss for multi-label learning, which combines prediction scores over all class labels. In this work, we introduce the sum of ranked range (SoRR) as a general approach to form learning objectives. A ranked range is a consecutive sequence of sorted values of a set of real numbers. The minimization of SoRR is solved with the difference of convex algorithm (DCA). We explore two applications in machine learning of the minimization of the SoRR framework, namely the AoRR aggregate loss for binary/multi-class classification at the sample level and the TKML individual loss for multi-label/multi-class classification at the label level. A combination loss of AoRR and TKML is proposed as a new learning objective for improving the robustness of multi-label learning in the face of outliers in sample and labels alike. Our empirical results highlight the effectiveness of the proposed optimization frameworks and demonstrate the applicability of proposed losses using synthetic and real data sets.

Shu Hu, Yiming Ying, Xin Wang et al.

In forming learning objectives, one oftentimes needs to aggregate a set of individual values to a single output. Such cases occur in the aggregate loss, which combines individual losses of a learning model over each training sample, and in the individual loss for multi-label learning, which combines prediction scores over all class labels. In this work, we introduce the sum of ranked range (SoRR) as a general approach to form learning objectives. A ranked range is a consecutive sequence of sorted values of a set of real numbers. The minimization of SoRR is solved with the difference of convex algorithm (DCA). We explore two applications in machine learning of the minimization of the SoRR framework, namely the AoRR aggregate loss for binary classification and the TKML individual loss for multi-label/multi-class classification. Our empirical results highlight the effectiveness of the proposed optimization framework and demonstrate the applicability of proposed losses using synthetic and real datasets.