Autonomous vehicles use a variety of sensors and machine-learned models to predict the behavior of surrounding road users. Most of the machine-learned models in the literature focus on quantitative error metrics like the root mean square error (RMSE) to learn and report their models’ capabilities. This focus on quantitative error metrics tends to ignore the more important behavioral aspect of the models, raising the question of whether these models really predict human-like behavior. Thus, we propose to analyze the output of machine-learned models much like we would analyze human data in conventional behavioral research. We introduce quantitative metrics to demonstrate presence of three different behavioral phenomena in a naturalistic highway driving dataset: 1) The kinematics-dependence of who passes a merging point first 2) Lane change by an on-highway vehicle to accommodate an on-ramp vehicle 3) Lane changes by vehicles on the highway to avoid lead vehicle conflicts. Then, we analyze the behavior of three machine-learned models using the same metrics. Even though the models’ RMSE value differed, all the models captured the kinematic-dependent merging behavior but struggled at varying degrees to capture the more nuanced courtesy lane change and highway lane change behavior. Additionally, the collision aversion analysis during lane changes showed that the models struggled to capture the physical aspect of human driving: leaving adequate gap between the vehicles. Thus, our analysis highlighted the inadequacy of simple quantitative metrics and the need to take a broader behavioral perspective when analyzing machine-learned models of human driving predictions.

Motion prediction of road users in traffic scenes is critical for autonomous driving systems that must take safe and robust decisions in complex dynamic environments. We present a novel motion prediction system for autonomous driving. Our system is based on the Bayesian inverse planning framework, which efficiently orchestrates map-based goal extraction, a classical control-based trajectory generator and a mixture of experts collection of light-weight neural networks specialised in motion profile prediction. In contrast to many alternative methods, this modularity helps isolate performance factors and better interpret results, without compromising performance. This system addresses multiple aspects of interest, namely multi-modality, motion profile uncertainty and trajectory physical feasibility. We report on several experiments with the popular highway dataset NGSIM, demonstrating state-of-the-art performance in terms of trajectory error. We also perform a detailed analysis of our system's components, along with experiments that stratify the data based on behaviours, such as change-lane versus follow-lane, to provide insights into the challenges in this domain. Finally, we present a qualitative analysis to show other benefits of our approach, such as the ability to interpret the outputs.

Applications that provide location related services need to understand the environment in which humans live such that verbal references and human interaction are possible. We formulate this semantic labelling task as the problem of learning the semantic labels from the perceived 3D structure. In this contribution we propose a batch approach and a novel multi-view frame fusion technique to exploit multiple views for improving the semantic labelling results. The batch approach works offline and is the direct application of an existing single-view method to scene reconstructions with multiple views. The multi-view frame fusion works in an incremental fashion accumulating the single-view results, hence allowing the online multi-view semantic segmentation of single frames and the offline reconstruction of semantic maps. Our experiments show the superiority of the approaches based on our fusion scheme, which leads to a more accurate semantic labelling.

This paper shows and evaluates a novel approach to integrate a non-invasive Brain-Computer Interface (BCI) with the Robot Operating System (ROS) to mentally drive a telepresence robot. Controlling a mobile device by using human brain signals might improve the quality of life of people suffering from severe physical disabilities or elderly people who cannot move anymore. Thus, the BCI user can actively interact with relatives and friends located in different rooms thanks to a video streaming connection to the robot. To facilitate the control of the robot via BCI, we explore new ROS-based algorithms for navigation and obstacle avoidance in order to make the system safer and more reliable. In this regard, the robot exploits two maps of the environment, one for localization and one for navigation, and both are used as additional visual feedback for the BCI user to control the robot position. Experimental results show a decrease of the number of commands needed to complete the navigation task, suggesting a reduction user's cognitive workload. The novelty of this work is to provide a first evidence of an integration between BCI and ROS that can simplify and foster the development of software for BCI driven robotics devices.

This paper deals with the problem of detecting fallen people lying on the floor by means of a mobile robot equipped with a 3D depth sensor. In the proposed algorithm, inspired by semantic segmentation techniques, the 3D scene is over-segmented into small patches. Fallen people are then detected by means of two SVM classifiers: the first one labels each patch, while the second one captures the spatial relations between them. This novel approach showed to be robust and fast. Indeed, thanks to the use of small patches, fallen people in real cluttered scenes with objects side by side are correctly detected. Moreover, the algorithm can be executed on a mobile robot fitted with a standard laptop making it possible to exploit the 2D environmental map built by the robot and the multiple points of view obtained during the robot navigation. Additionally, this algorithm is robust to illumination changes since it does not rely on RGB data but on depth data. All the methods have been thoroughly validated on the IASLAB-RGBD Fallen Person Dataset, which is published online as a further contribution. It consists of several static and dynamic sequences with 15 different people and 2 different environments.

BACKGROUND: Enhancers are stretches of DNA (100-1000 bp) that play a major role in development gene expression, evolution and disease. It has been recently shown that in high-level eukaryotes enhancers rarely work alone, instead they collaborate by forming clusters of cis-regulatory modules (CRMs). Although the binding of transcription factors is sequence-specific, the identification of functionally similar enhancers is very difficult and it cannot be carried out with traditional alignment-based techniques. RESULTS: The use of fast similarity measures, like alignment-free measures, to detect related regulatory sequences is crucial to understand functional correlation between two enhancers. In this paper we study the use of alignment-free measures for the classification of CRMs. However, alignment-free measures are generally tied to a fixed resolution k. Here we propose an alignment-free statistic, called [Formula: see text], that is based on multiple resolution patterns derived from the Entropic Profiles (EPs). The Entropic Profile is a function of the genomic location that captures the importance of that region with respect to the whole genome. As a byproduct we provide a formula to compute the exact variance of variable length word counts, a result that can be of general interest also in other applications. CONCLUSIONS: We evaluate several alignment-free statistics on simulated data and real mouse ChIP-seq sequences. The new statistic, [Formula: see text], is highly successful in discriminating functionally related enhancers and, in almost all experiments, it outperforms fixed-resolution methods. We implemented the new alignment-free measures, as well as traditional ones, in a software called EP-sim that is freely available: http://www.dei.unipd.it/~ciompin/main/EP-sim.html .

Information theory has been used for quite some time in the area of computational biology. In this paper we present a pattern discovery method, named Fast Entropic Profiler, that is based on a local entropy function that captures the importance of a region with respect to the whole genome. The local entropy function has been introduced by Vinga and Almeida in , here we discuss and improve the original formulation. We provide a linear time and linear space algorithm called Fast Entropic Profiler ( FastEP), as opposed to the original quadratic implementation. Moreover we propose an alternative normalization that can be also efficiently implemented. We show that FastEP is suitable for large genomes and for the discovery of patterns with unbounded length. FastEP is available at http://www.dei.unipd.it/~ciompin/main/FastEP.html.