We propose an integrated prediction and planning system for autonomous driving which uses rational inverse planning to recognise the goals of other vehicles. Goal recognition informs a Monte Carlo Tree Search (MCTS) algorithm to plan optimal maneuvers for the ego vehicle. Inverse planning and MCTS utilise a shared set of defined maneuvers and macro actions to construct plans which are explainable by means of rationality principles. Evaluation in simulations of urban driving scenarios demonstrate the system's ability to robustly recognise the goals of other vehicles, enabling our vehicle to exploit non-trivial opportunities to significantly reduce driving times. In each scenario, we extract intuitive explanations for the predictions which justify the system's decisions.• A method for goal recognition and multi-modal trajectory prediction via rational inverse planning.
Convolutional Neural Networks, or CNNs, are the state of the art for image classification, but typically come at the cost of a large memory footprint. This limits their usefulness in edge computing applications, where memory is often a scarce resource. Recently, there has been significant progress in the field of image classification on such memory-constrained devices, with novel contributions like the ProtoNN, Bonsai and FastGRNN algorithms. These have been shown to reach up to 98.2% accuracy on optical character recognition using MNIST-10, with a memory footprint as little as 6KB. However, their potential on more complex multi-class and multi-channel image classification has yet to be determined. In this paper, we compare CNNs with ProtoNN, Bonsai and FastGRNN when applied to 3-channel image classification using CIFAR-10. For our analysis, we use the existing Direct Convolution algorithm to implement the CNNs memory-optimally and propose new methods of adjusting the FastGRNN model to work with multi-channel images. We extend the evaluation of each algorithm to a memory size budget of 8KB, 16KB, 32KB, 64KB and 128KB to show quantitatively that Direct Convolution CNNs perform best for all chosen budgets, with a top performance of 65.7% accuracy at a memory footprint of 58.23KB.
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