Mark Palatucci

IROS Conference 2022 Conference Paper

Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving

• Eli Bronstein
• Mark Palatucci
• Dominik Notz
• Brandyn White
• Alex Kuefler
• Yiren Lu 0001
• Supratik Paul
• Payam Nikdel

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to arbitrary goal routes, and measure performance using a closed-loop evaluation framework with simulated interactive agents. We train policies from expert trajectories collected from real vehicles driving over 100, 000 miles in San Francisco, and demonstrate a steerable policy that can navigate robustly even in a zero-shot setting, generalizing to synthetic scenarios with novel goals that never occurred in real-world driving. We also demonstrate the importance of mixing closed-loop MGAIL losses with open-loop behavior cloning losses, and show our best policy approaches the performance of the expert. We evaluate our imitative model in both average and challenging scenarios, and show how it can serve as a useful prior to plan successful trajectories.

ICRA Conference 2022 Conference Paper

Symphony: Learning Realistic and Diverse Agents for Autonomous Driving Simulation

• Maximilian Igl
• Daewoo Kim
• Alex Kuefler
• Paul Mougin
• Punit Shah
• Kyriacos Shiarlis
• Dragomir Anguelov
• Mark Palatucci

Simulation is a crucial tool for accelerating the development of autonomous vehicles. Making simulation realistic requires models of the human road users who interact with such cars. Such models can be obtained by applying learning from demonstration (LfD) to trajectories observed by cars already on the road. However, existing LfD methods are typically insufficient, yielding policies that frequently collide or drive off the road. To address this problem, we propose Symphony, which greatly improves realism by combining conventional policies with a parallel beam search. The beam search refines these policies on the fly by pruning branches that are unfavourably evaluated by a discriminator. However, it can also harm diversity, i. e. , how well the agents cover the entire distribution of realistic behaviour, as pruning can encourage mode collapse. Symphony addresses this issue with a hierarchical approach, factoring agent behaviour into goal generation and goal conditioning. The use of such goals ensures that agent diversity neither disappears during adversarial training nor is pruned away by the beam search. Experiments on both proprietary and open Waymo datasets confirm that Symphony agents learn more realistic and diverse behaviour than several baselines.

YNIMG Journal 2012 Journal Article

Tracking neural coding of perceptual and semantic features of concrete nouns

• Gustavo Sudre
• Dean Pomerleau
• Mark Palatucci
• Leila Wehbe
• Alona Fyshe
• Riitta Salmelin
• Tom Mitchell

We present a methodological approach employing magnetoencephalography (MEG) and machine learning techniques to investigate the flow of perceptual and semantic information decodable from neural activity in the half second during which the brain comprehends the meaning of a concrete noun. Important information about the cortical location of neural activity related to the representation of nouns in the human brain has been revealed by past studies using fMRI. However, the temporal sequence of processing from sensory input to concept comprehension remains unclear, in part because of the poor time resolution provided by fMRI. In this study, subjects answered 20 questions (e. g. is it alive?) about the properties of 60 different nouns prompted by simultaneous presentation of a pictured item and its written name. Our results show that the neural activity observed with MEG encodes a variety of perceptual and semantic features of stimuli at different times relative to stimulus onset, and in different cortical locations. By decoding these features, our MEG-based classifier was able to reliably distinguish between two different concrete nouns that it had never seen before. The results demonstrate that there are clear differences between the time course of the magnitude of MEG activity and that of decodable semantic information. Perceptual features were decoded from MEG activity earlier in time than semantic features, and features related to animacy, size, and manipulability were decoded consistently across subjects. We also observed that regions commonly associated with semantic processing in the fMRI literature may not show high decoding results in MEG. We believe that this type of approach and the accompanying machine learning methods can form the basis for further modeling of the flow of neural information during language processing and a variety of other cognitive processes.

ICML Conference 2009 Conference Paper

Blockwise coordinate descent procedures for the multi-task lasso, with applications to neural semantic basis discovery

• Han Liu 0001
• Mark Palatucci
• Jian Zhang 0003

We develop a cyclical blockwise coordinate descent algorithm for the multi-task Lasso that efficiently solves problems with thousands of features and tasks. The main result shows that a closed-form Winsorization operator can be obtained for the sup-norm penalized least squares regression. This allows the algorithm to find solutions to very large-scale problems far more efficiently than existing methods. This result complements the pioneering work of Friedman, et al. (2007) for the single-task Lasso. As a case study, we use the multi-task Lasso as a variable selector to discover a semantic basis for predicting human neural activation. The learned solution outperforms the standard basis for this task on the majority of test participants, while requiring far fewer assumptions about cognitive neuroscience. We demonstrate how this learned basis can yield insights into how the brain represents the meanings of words.

NeurIPS Conference 2009 Conference Paper

Zero-shot Learning with Semantic Output Codes

• Mark Palatucci
• Dean Pomerleau
• Geoffrey Hinton
• Tom Mitchell

We consider the problem of zero-shot learning, where the goal is to learn a classifier $f: X \rightarrow Y$ that must predict novel values of $Y$ that were omitted from the training set. To achieve this, we define the notion of a semantic output code classifier (SOC) which utilizes a knowledge base of semantic properties of $Y$ to extrapolate to novel classes. We provide a formalism for this type of classifier and study its theoretical properties in a PAC framework, showing conditions under which the classifier can accurately predict novel classes. As a case study, we build a SOC classifier for a neural decoding task and show that it can often predict words that people are thinking about from functional magnetic resonance images (fMRI) of their neural activity, even without training examples for those words.

ICML Conference 2008 Conference Paper

On the chance accuracies of large collections of classifiers

• Mark Palatucci
• Andrew Carlson