An official website of the United States government
We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily interpretable by humans, but not by mobile robots. We aim to compute suitable trajectories that (1) satisfy the environment-specific traversability constraints and (2) generate human-like paths while navigating on crosswalks, sidewalks, etc. Our formulation uses a Conditional Variational Autoencoder (CVAE) generative model enhanced with traversability constraints to generate multiple candidate trajectories for global navigation. We develop a visual prompting approach and leverage the Visual Language Model's (VLM) zero-shot ability of semantic understanding and logical reasoning to choose the best trajectory given the contextual information about the task. We evaluate our method in various outdoor scenes with wheeled robots and compare the performance with other global navigation algorithms. In practice, we observe an average improvement of 20.81% in satisfying traversability constraints and 28.51% in terms of human-like navigation in four different outdoor navigation scenarios.
more »
« less
Trajectory-based social circle inference
Learning explicit and implicit patterns in human trajectories plays an important role in many Location-Based Social Networks (LBSNs) applications, such as trajectory classification (e.g., walking, driving, etc.), trajectory-user linking, friend recommendation, etc. A particular problem that has attracted much attention recently – and is the focus of our work – is the Trajectory-based Social Circle Inference (TSCI), aiming at inferring user social circles (mainly social friendship) based on motion trajectories and without any explicit social networked information. Existing approaches addressing TSCI lack satisfactory results due to the challenges related to data sparsity, accessibility and model efficiency. Motivated by the recent success of machine learning in trajectory mining, in this paper we formulate TSCI as a novel multi-label classification problem and develop a Recurrent Neural Network (RNN)-based framework called DeepTSCI to use human mobility patterns for inferring corresponding social circles. We propose three methods to learn the latent representations of trajectories, based on: (1) bidirectional Long Short-Term Memory (LSTM); (2) Autoencoder; and (3) Variational autoencoder. Experiments conducted on real-world datasets demonstrate that our proposed methods perform well and achieve significant improvement in terms of macro-R, macro-F1 and accuracy when compared to baselines.
more »
« less
- PAR ID:
- 10122594
- Date Published:
- Journal Name:
- Proceedings of the 26th {ACM} {SIGSPATIAL} International Conference on Advances in Geographic Information Systems, {SIGSPATIAL} 2018, Seattle, WA, USA, November 06-09, 2018
- Page Range / eLocation ID:
- 369 to 378
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
The emergence of mobile apps (e.g., location-based services, geo-social networks, ride-sharing) led to the collection of vast amounts of trajectory data that greatly benefit the understanding of individual mobility. One problem of particular interest is next-location prediction, which facilitates location-based advertising, point-of-interest recommendation, traffic optimization,etc. However, using individual trajectories to build prediction models introduces serious privacy concerns, since exact whereabouts of users can disclose sensitive information such as their health status or lifestyle choices. Several research efforts focused on privacy-preserving next-location prediction, but they have serious limitations: some use outdated privacy models (e.g., k-anonymity), while others employ learning models with limited expressivity (e.g., matrix factorization). More recent approaches(e.g., DP-SGD) integrate the powerful differential privacy model with neural networks, but they provide only generic and difficult-to-tune methods that do not perform well on location data, which is inherently skewed and sparse.We propose a technique that builds upon DP-SGD, but adapts it for the requirements of next-location prediction. We focus on user-level privacy, a strong privacy guarantee that protects users regardless of how much data they contribute. Central to our approach is the use of the skip-gram model, and its negative sampling technique. Our work is the first to propose differentially-private learning with skip-grams. In addition, we devise data grouping techniques within the skip-gram framework that pool together trajectories from multiple users in order to accelerate learning and improve model accuracy. Experiments conducted on real datasets demonstrate that our approach significantly boosts prediction accuracy compared to existing DP-SGD techniques.more » « less
-
The emergence of mobile apps (e.g., location-based services,geo-social networks, ride-sharing) led to the collection of vast amounts of trajectory data that greatly benefit the understanding of individual mobility. One problem of particular interest is next-location prediction, which facilitates location-based advertising, point-of-interest recommendation, traffic optimization,etc. However, using individual trajectories to build prediction models introduces serious privacy concerns, since exact whereabouts of users can disclose sensitive information such as their health status or lifestyle choices. Several research efforts focused on privacy-preserving next-location prediction, but they have serious limitations: some use outdated privacy models (e.g., k-anonymity), while others employ learning models with limited expressivity (e.g., matrix factorization). More recent approaches(e.g., DP-SGD) integrate the powerful differential privacy model with neural networks, but they provide only generic and difficult-to-tune methods that do not perform well on location data, which is inherently skewed and sparse.We propose a technique that builds upon DP-SGD, but adapts it for the requirements of next-location prediction. We focus on user-level privacy, a strong privacy guarantee that protects users regardless of how much data they contribute. Central toour approach is the use of the skip-gram model, and its negative sampling technique. Our work is the first to propose differentially-private learning with skip-grams. In addition, we devise data grouping techniques within the skip-gram framework that pool together trajectories from multiple users in order to acceleratelearning and improve model accuracy. Experiments conducted on real datasets demonstrate that our approach significantly boosts prediction accuracy compared to existing DP-SGD techniques.more » « less
-
This work studies the problem of predicting human intent to interact with a robot in a public environment. To facilitate research in this problem domain, we first contribute the People Approaching Robots Database (PAR-D), a new collection of datasets for intent prediction in Human-Robot Interaction. The database includes a subset of the ATC Approach Trajectory dataset [28] with augmented ground truth labels. It also includes two new datasets collected with a robot photographer on two locations of a university campus. Then, we contribute a novel human-annotated baseline for predicting intent. Our results suggest that the robot’s environment and the amount of time that a person is visible impacts human performance in this prediction task. We also provide computational baselines for intent prediction in PAR-D by comparing the performance of several machine learning models, including ones that directly model pedestrian interaction intent and others that predict motion trajectories as an intermediary step. From these models, we find that trajectory prediction seems useful for inferring intent to interact with a robot in a public environment.more » « less
-
Trajectory inference methods are essential for analyzing the developmental paths of cells in single-cell sequencing datasets. It provides insights into cellular differentiation, transitions, and lineage hierarchies, helping unravel the dynamic processes underlying development and disease progression. However, many existing tools lack a coherent statistical model and reliable uncertainty quantification, limiting their utility and robustness. In this paper, we introduce VITAE (Variational Inference for Trajectory by AutoEncoder), a statistical approach that integrates a latent hierarchical mixture model with variational autoencoders to infer trajectories. The statistical hierarchical model enhances the interpretability of our framework, while the posterior approximations generated by our variational autoencoder ensure computational efficiency and provide uncertainty quantification of cell projections along trajectories. Specifically, VITAE enables simultaneous trajectory inference and data integration, improving the accuracy of learning a joint trajectory structure in the presence of biological and technical heterogeneity across datasets. We show that VITAE outperforms other state-of-the-art trajectory inference methods on both real and synthetic data under various trajectory topologies. Furthermore, we apply VITAE to jointly analyze three distinct single-cell RNA sequencing datasets of the mouse neocortex, unveiling comprehensive developmental lineages of projection neurons. VITAE effectively reduces batch effects within and across datasets and uncovers finer structures that might be overlooked in individual datasets. Additionally, we showcase VITAE’s efficacy in integrative analyses of multiomic datasets with continuous cell population structures.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1145/3274895.3274908
