Pyramid Bayesian Method for Model Uncertainty Evaluation of Semantic Segmentation in Autonomous Driving

With the fast-developing deep learning models in the field of autonomous driving, the research on the uncertainty estimation of deep learning models has also prevailed. Herein, a pyramid Bayesian deep learning method is proposed for the model uncertainty evaluation of semantic segmentation. Semantic segmentation is one of the most important perception problems in understanding visual scene, which is critical for autonomous driving. This study to optimize Bayesian SegNet for uncertainty evaluation. This paper first simplifies the network structure of Bayesian SegNet by reducing the number of MC-Dropout layer and then introduces the pyramid pooling module to improve the performance of Bayesian SegNet. mIoU and mPAvPU are used as evaluation matrics to test the proposed method on the public Cityscapes dataset. The experimental results show that the proposed method improves the sampling effect of the Bayesian SegNet, shortens the sampling time, and improves the network performance.

Formulation and properties of a divergence used to compare probability measures without absolute continuity

This paper develops a new divergence that generalizes relative entropy and can be used to compare probability measures without a requirement of absolute continuity. We establish properties of the divergence, and in particular derive and exploit a representation as an infimum convolution of optimal transport cost and relative entropy. Also included are examples of computation and approximation of the divergence, and the demonstration of properties that are useful when one quantifies model uncertainty.

Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints

As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as failure to successfully make and maintain contact can be catastrophic. Here, we model uncertainty in terrain geometry and friction characteristics, and combine a risk-sensitive objective with chance constraints to provide a trade-off between robustness to uncertainty and constraint satisfaction with an arbitrarily high feasibility guarantee. We evaluate our approach in two simple examples: a push-block system for benchmarking and a single-legged hopper. We demonstrate that chance constraints alone produce trajectories similar to those produced using strict complementarity constraints; however, when equipped with a robust objective, we show the chance constraints can mediate a trade-off between robustness to uncertainty and strict constraint satisfaction. Thus, our study may represent an important step towards reasoning about contact uncertainty in motion planning.