Deep-learning-based techniques have been widely adopted for autonomous driving software stacks for mass production in recent years, focusing primarily on perception modules, with some work extending this method to prediction modules. However, the downstream planning and control modules are still designed with hefty handcrafted rules, dominated by optimization-based methods such as quadratic programming or model predictive control. This results in a performance bottleneck for autonomous driving systems in that corner cases simply cannot be solved by enumerating hand-crafted rules. We present a deep-learning-based approach that brings prediction, decision, and planning modules together with the attempt to overcome the rule-based methods' deficiency in real-world applications of autonomous driving, especially for urban scenes. The DNN model we proposed is solely trained with 10 hours of human driver data, and it supports all mass-production ADAS features available on the market to date. This method is deployed onto a Jiyue test car with no modification to its factory-ready sensor set and compute platform. the feasibility, usability, and commercial potential are demonstrated in this article.
Document-level relation extraction (RE) aims to identify the relations between entities throughout an entire document. It needs complex reasoning skills to synthesize various knowledge such as coreferences and commonsense. Large-scale knowledge graphs (KGs) contain a wealth of real-world facts, and can provide valuable knowledge to document-level RE. In this paper, we propose an entity knowledge injection framework to enhance current document-level RE models. Specifically, we introduce coreference distillation to inject coreference knowledge, endowing an RE model with the more general capability of coreference reasoning. We also employ representation reconciliation to inject factual knowledge and aggregate KG representations and document representations into a unified space. The experiments on two benchmark datasets validate the generalization of our entity knowledge injection framework and the consistent improvement to several document-level RE models.
Relation extraction (RE) aims to identify the semantic relations between named entities in text. Recent years have witnessed it raised to the document level, which requires complex reasoning with entities and mentions throughout an entire document. In this paper, we propose a novel model to document-level RE, by encoding the document information in terms of entity global and local representations as well as context relation representations. Entity global representations model the semantic information of all entities in the document, entity local representations aggregate the contextual information of multiple mentions of specific entities, and context relation representations encode the topic information of other relations. Experimental results demonstrate that our model achieves superior performance on two public datasets for document-level RE. It is particularly effective in extracting relations between entities of long distance and having multiple mentions.
In this paper, we focus on automatic disease diagnosis with reinforcement learning (RL) methods in task-oriented dialogues setting. Different from conventional RL tasks, the action space for disease diagnosis (i.e., symptoms) is inevitably large, especially when the number of diseases increases. However, existing approaches to this problem employ a flat RL policy, which typically works well in simple tasks but has significant challenges in complex scenarios like disease diagnosis. Towards this end, we propose to integrate a hierarchical policy of two levels into the dialogue policy learning. The high level policy consists of a model named master that is responsible for triggering a model in low level, the low level policy consists of several symptom checkers and a disease classifier. Experimental results on both self-constructed real-world and synthetic datasets demonstrate that our hierarchical framework achieves higher accuracy in disease diagnosis compared with existing systems. Besides, the datasets (http://www.sdspeople.fudan.edu.cn/zywei/data/Fudan-Medical-Dialogue2.0) and codes (https://github.com/nnbay/MeicalChatbot-HRL) are all available now.