Predicting future trajectories of road agents is a critical task for autonomous driving. Recent goal-based trajectory prediction methods, such as DenseTNT and PECNet [1], [2], have shown good performance on prediction tasks on public datasets. However, they usually require complicated goal-selection algorithms and optimization. In this work, we propose KEMP, a hierarchical end-to-end deep learning framework for trajectory prediction. At the core of our framework is keyframe-based trajectory prediction, where keyframes are representative states that trace out the general direction of the trajectory. KEMP first predicts keyframes conditioned on the road con-text, and then fills in intermediate states conditioned on the keyframes and the road context. Under our general framework, goal-conditioned methods are special cases in which the number of keyframes equal to one. Unlike goal-conditioned methods, our keyframe predictor is learned automatically and does not require hand-crafted goal-selection algorithms. We evaluate our model on public benchmarks and our model ranked 1st on Waymo Open Motion Dataset Leaderboard (as of September 1, 2021).

General purpose relation extractors, which can model arbitrary relations, are a core aspiration in information extraction.Efforts have been made to build general purpose extractors that represent relations with their surface forms, or which jointly embed surface forms with relations from an existing knowledge graph.However, both of these approaches are limited in their ability to generalize.In this paper, we build on extensions of Harris' distributional hypothesis to relations, as well as recent advances in learning text representations (specifically, BERT), to build task agnostic relation representations solely from entity-linked text.We show that these representations significantly outperform previous work on exemplar based relation extraction (FewRel) even without using any of that task's training data.We also show that models initialized with our task agnostic representations, and then tuned on supervised relation extraction datasets, significantly outperform the previous methods on Se-mEval 2010 Task 8, KBP37, and TACRED.

Chris Alberti, Jeffrey Ling, Michael Collins, David Reitter. Proceedings of the 2019 Conference on Empirical Methods in Natural Language Processing and the 9th International Joint Conference on Natural Language Processing (EMNLP-IJCNLP). 2019.

We present a neural encoder-decoder model to convert images into presentational markup based on a scalable coarse-to-fine attention mechanism. Our method is evaluated in the context of image-to-LaTeX generation, and we introduce a new dataset of real-world rendered mathematical expressions paired with LaTeX markup. We show that unlike neural OCR techniques using CTC-based models, attention-based approaches can tackle this non-standard OCR task. Our approach outperforms classical mathematical OCR systems by a large margin on in-domain rendered data, and, with pretraining, also performs well on out-of-domain handwritten data. To reduce the inference complexity associated with the attention-based approaches, we introduce a new coarse-to-fine attention layer that selects a support region before applying attention.