Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public roads.In this paper,a safe motion planning approach is proposed bas...Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public roads.In this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction method.To begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION dataset.Then,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and vehicles.In addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control technique.Furthermore,two driving scenarios are extracted from the INTERACTION dataset to validate and evaluate the effectiveness of the proposed motion planning approach,i.e.,merging and roundabout scenarios.The results demonstrate that the proposed method can lower the risk and improve driving safety compared with the baseline method.展开更多
Drug-drug interaction(DDI)event prediction is a challenging problem,and accurate prediction of DDI events is critical to patient health and new drug development.Recently,many machine learning-based techniques have bee...Drug-drug interaction(DDI)event prediction is a challenging problem,and accurate prediction of DDI events is critical to patient health and new drug development.Recently,many machine learning-based techniques have been proposed for predicting DDI events.However,most of the existing methods do not effectively integrate the multidimensional features of drugs and provide poor mitigation of noise to get effective feature information.To address these limitations,we propose a DDI-Transform neural network framework for DDI event prediction.In DDI-Transform,we design a drug structure information feature extraction module and a drug bind-protein feature extraction module to obtain multidimensional feature information.A stack of DDI-Transform layers in the DDI-Transform network module are then used for adaptive learning,thus adaptively selecting the effective feature information for prediction.The results show that DDI-Transform can accurately predict DDI events and outperform the state-of-the-art models.Results on different scale datasets confirm the robustness of the method.展开更多
Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges...Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges mentioned above with a single model.To tackle this dilemma,this paper proposes spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting(STSIGMA),an efficient end-to-end method to jointly and accurately perceive the AD environment and forecast the trajectories of the surrounding traffic agents within a unified framework.ST-SIGMA adopts a trident encoder-decoder architecture to learn scene semantics and agent interaction information on bird’s-eye view(BEV)maps simultaneously.Specifically,an iterative aggregation network is first employed as the scene semantic encoder(SSE)to learn diverse scene information.To preserve dynamic interactions of traffic agents,ST-SIGMA further exploits a spatio-temporal graph network as the graph interaction encoder.Meanwhile,a simple yet efficient feature fusion method to fuse semantic and interaction features into a unified feature space as the input to a novel hierarchical aggregation decoder for downstream prediction tasks is designed.Extensive experiments on the nuScenes data set have demonstrated that the proposed ST-SIGMA achieves significant improvements compared to the state-of-theart(SOTA)methods in terms of scene perception and trajectory forecasting,respectively.Therefore,the proposed approach outperforms SOTA in terms of model generalisation and robustness and is therefore more feasible for deployment in realworld AD scenarios.展开更多
Recently,many knowledge graph embedding models for knowledge graph completion have been proposed,ranging from the initial translation-based model such as TransE to recent CNN-based models such as ConvE.These models fi...Recently,many knowledge graph embedding models for knowledge graph completion have been proposed,ranging from the initial translation-based model such as TransE to recent CNN-based models such as ConvE.These models fill in the missing relations between entities by focusing on capturing the representation features to further complete the existing knowledge graph(KG).However,the above KG-based relation prediction research ignores the interaction information among entities in KG.To solve this problem,this work proposes a novel model called Gate Feature Interaction Network(GFINet)with a weighted loss function that takes the benefit of interaction information and deep expressive features together.Specifically,the proposed GFINet consists of a gate convolution block and an interaction attention module,corresponding to catching deep expressive features and interaction information based on these valid features respectively.Our method establishes state-of-the-art experimental results on the standard datasets for knowledge graph completion.In addition,we make ablation experiments to verify the effectiveness of the gate convolution block and the interaction attention module.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52222215,52072051)Chongqing Municipal Natural Science Foundation of China(Grant No.CSTB2023NSCQ-JQX0003).
文摘Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public roads.In this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction method.To begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION dataset.Then,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and vehicles.In addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control technique.Furthermore,two driving scenarios are extracted from the INTERACTION dataset to validate and evaluate the effectiveness of the proposed motion planning approach,i.e.,merging and roundabout scenarios.The results demonstrate that the proposed method can lower the risk and improve driving safety compared with the baseline method.
文摘Drug-drug interaction(DDI)event prediction is a challenging problem,and accurate prediction of DDI events is critical to patient health and new drug development.Recently,many machine learning-based techniques have been proposed for predicting DDI events.However,most of the existing methods do not effectively integrate the multidimensional features of drugs and provide poor mitigation of noise to get effective feature information.To address these limitations,we propose a DDI-Transform neural network framework for DDI event prediction.In DDI-Transform,we design a drug structure information feature extraction module and a drug bind-protein feature extraction module to obtain multidimensional feature information.A stack of DDI-Transform layers in the DDI-Transform network module are then used for adaptive learning,thus adaptively selecting the effective feature information for prediction.The results show that DDI-Transform can accurately predict DDI events and outperform the state-of-the-art models.Results on different scale datasets confirm the robustness of the method.
基金Basic and Advanced Research Projects of CSTC,Grant/Award Number:cstc2019jcyj-zdxmX0008Science and Technology Research Program of Chongqing Municipal Education Commission,Grant/Award Numbers:KJQN202100634,KJZDK201900605National Natural Science Foundation of China,Grant/Award Number:62006065。
文摘Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges mentioned above with a single model.To tackle this dilemma,this paper proposes spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting(STSIGMA),an efficient end-to-end method to jointly and accurately perceive the AD environment and forecast the trajectories of the surrounding traffic agents within a unified framework.ST-SIGMA adopts a trident encoder-decoder architecture to learn scene semantics and agent interaction information on bird’s-eye view(BEV)maps simultaneously.Specifically,an iterative aggregation network is first employed as the scene semantic encoder(SSE)to learn diverse scene information.To preserve dynamic interactions of traffic agents,ST-SIGMA further exploits a spatio-temporal graph network as the graph interaction encoder.Meanwhile,a simple yet efficient feature fusion method to fuse semantic and interaction features into a unified feature space as the input to a novel hierarchical aggregation decoder for downstream prediction tasks is designed.Extensive experiments on the nuScenes data set have demonstrated that the proposed ST-SIGMA achieves significant improvements compared to the state-of-theart(SOTA)methods in terms of scene perception and trajectory forecasting,respectively.Therefore,the proposed approach outperforms SOTA in terms of model generalisation and robustness and is therefore more feasible for deployment in realworld AD scenarios.
基金supported in part by the Science and Technology Innovation 2030-"New Generation of Artificial Intelligence"Major Project under Grant No.2021ZD0111000the Henan Province Science and Technology Research Project(232102311232).
文摘Recently,many knowledge graph embedding models for knowledge graph completion have been proposed,ranging from the initial translation-based model such as TransE to recent CNN-based models such as ConvE.These models fill in the missing relations between entities by focusing on capturing the representation features to further complete the existing knowledge graph(KG).However,the above KG-based relation prediction research ignores the interaction information among entities in KG.To solve this problem,this work proposes a novel model called Gate Feature Interaction Network(GFINet)with a weighted loss function that takes the benefit of interaction information and deep expressive features together.Specifically,the proposed GFINet consists of a gate convolution block and an interaction attention module,corresponding to catching deep expressive features and interaction information based on these valid features respectively.Our method establishes state-of-the-art experimental results on the standard datasets for knowledge graph completion.In addition,we make ablation experiments to verify the effectiveness of the gate convolution block and the interaction attention module.
