Zhili Zhang

Sanbao Su, Songyang Han, Yiming Li et al.

Object detection and multiple object tracking (MOT) are essential components of self-driving systems. Accurate detection and uncertainty quantification are both critical for onboard modules, such as perception, prediction, and planning, to improve the safety and robustness of autonomous vehicles. Collaborative object detection (COD) has been proposed to improve detection accuracy and reduce uncertainty by leveraging the viewpoints of multiple agents. However, little attention has been paid to how to leverage the uncertainty quantification from COD to enhance MOT performance. In this paper, as the first attempt to address this challenge, we design an uncertainty propagation framework called MOT-CUP. Our framework first quantifies the uncertainty of COD through direct modeling and conformal prediction, and propagates this uncertainty information into the motion prediction and association steps. MOT-CUP is designed to work with different collaborative object detectors and baseline MOT algorithms. We evaluate MOT-CUP on V2X-Sim, a comprehensive collaborative perception dataset, and demonstrate a 2% improvement in accuracy and a 2.67X reduction in uncertainty compared to the baselines, e.g. SORT and ByteTrack. In scenarios characterized by high occlusion levels, our MOT-CUP demonstrates a noteworthy $4.01\%$ improvement in accuracy. MOT-CUP demonstrates the importance of uncertainty quantification in both COD and MOT, and provides the first attempt to improve the accuracy and reduce the uncertainty in MOT based on COD through uncertainty propagation. Our code is public on https://coperception.github.io/MOT-CUP/.

Zhili Zhang, Quanyan Zhu

This paper studies the deception applied on agent in a partially observable Markov decision process. We introduce deceptive kernel function (the kernel) applied to agent's observations in a discrete POMDP. Based on value iteration, value function approximation and POMCP three characteristic algorithms used by agent, we analyze its belief being misled by falsified observations as the kernel's outputs and anticipate its probable threat on agent's reward and potentially other performance. We validate our expectation and explore more detrimental effects of the deception by experimenting on two POMDP problems. The result shows that the kernel applied on agent's observation can affect its belief and substantially lower its resulting rewards; meantime certain implementation of the kernel could induce other abnormal behaviors by the agent.

Saurabh Verma, Zhi-Li Zhang

Graph Convolutional Neural Networks (GCNNs) are the most recent exciting advancement in deep learning field and their applications are quickly spreading in multi-cross-domains including bioinformatics, chemoinformatics, social networks, natural language processing and computer vision. In this paper, we expose and tackle some of the basic weaknesses of a GCNN model with a capsule idea presented in \cite{hinton2011transforming} and propose our Graph Capsule Network (GCAPS-CNN) model. In addition, we design our GCAPS-CNN model to solve especially graph classification problem which current GCNN models find challenging. Through extensive experiments, we show that our proposed Graph Capsule Network can significantly outperforms both the existing state-of-art deep learning methods and graph kernels on graph classification benchmark datasets.