Publications

Lithium-ion batteries are one of the most commonly used energy storage device for electric vehicles. As battery chemistries continue to advance, an important question concerns how to efficiently determine charging protocols that best balance the desire for fast charging while limiting battery degradation mechanisms which shorten battery lifetime. Challenges in this optimization are the high dimensionality of the space of possible charging protocols, significant variability between batteries, and limited quantitative information on battery degradation mechanisms. Current approaches to addressing these challenges are model-based optimization and grid search. Optimization based on electrochemical models is limited by uncertainty in the underlying battery degradation mechanisms and grid search methods are expensive in terms of time, testing equipment, and cells. This article proposes a fast-charging Bayesian optimization strategy that explicitly includes constraints that limit degradation. The proposed BO-based charging approaches are sample-efficient and do not require first-principles models. Three different types of acquisition function (i.e., expected improvement, probability of improvement, and lower confidence bound) are evaluated. Their efficacies are compared for exploring and exploiting the parameter space of charging protocols for minimizing the charging time for lithium-ion batteries described by porous electrode theory. The probability-of-improvement acquisition function has lower mean and best minimum charging times than the lower-confidence-bound and expected-improvement acquisition functions. We quantify the decrease in the minimum charging time and increase in its uncertainty with increasing number of current steps used in charging protocols. Understanding ways to increase the convergence rate of Bayesian optimization, and how the convergence scales with the number of degrees of freedom in the optimization, serves as a baseline for extensions of the optimization to include battery design parameters. READ MORE

The ability to learn reward functions plays an important role in enabling the deployment of intelligent agents in the real world. However, comparing reward functions, for example as a means of evaluating reward learning methods, presents a challenge. Reward functions are typically compared by considering the behavior of optimized policies, but this approach conflates deficiencies in the reward function with those of the policy search algorithm used to optimize it. To address this challenge, Gleave et al. (2020) propose the Equivalent-Policy Invariant Comparison (EPIC) distance. EPIC avoids policy optimization, but in doing so requires computing reward values at transitions that may be impossible under the system dynamics. This is problematic for learned reward functions because it entails evaluating them outside of their training distribution, resulting in inaccurate reward values that we show can render EPIC ineffective at comparing rewards. To address this problem, we propose the Dynamics-Aware Reward Distance (DARD), a new reward pseudometric. DARD uses an approximate transition model of the environment to transform reward functions into a form that allows for comparisons that are invariant to reward shaping while only evaluating reward functions on transitions close to their training distribution. Experiments in simulated physical domains demonstrate that DARD enables reliable reward comparisons without policy optimization and is significantly more predictive than baseline methods of downstream policy performance when dealing with learned reward functions. READ MORE

Self-supervised learning (SSL) is a scalable way to learn general visual representations since it learns without labels. However, large-scale unlabeled datasets in the wild often have long-tailed label distributions, where we know little about the behavior of SSL. In this work, we systematically investigate self-supervised learning under dataset imbalance. First, we find out via extensive experiments that off-the-shelf self-supervised representations are already more robust to class imbalance than supervised representations. The performance gap between balanced and imbalanced pre-training with SSL is significantly smaller than the gap with supervised learning, across sample sizes, for both in-domain and, especially, out-of-domain evaluation. Second, towards understanding the robustness of SSL, we hypothesize that SSL learns richer features from frequent data: it may learn label-irrelevant-but-transferable features that help classify the rare classes and downstream tasks. In contrast, supervised learning has no incentive to learn features irrelevant to the labels from frequent examples. We validate this hypothesis with semi-synthetic experiments and theoretical analyses on a simplified setting. Third, inspired by the theoretical insights, we devise a re-weighted regularization technique that consistently improves the SSL representation quality on imbalanced datasets with several evaluation criteria, closing the small gap between balanced and imbalanced datasets with the same number of examples. READ MORE

The modus operandi in materials research and development is combining existing data with an understanding of the underlying physics to create and test new hypotheses via experiments or simulations. This process is traditionally driven by subject expertise and the creativity of individual researchers, who “close the loop” by updating their hypotheses and models in light of new data or knowledge acquired from the community. Since the early 2000s, there has been notable progress in the automation of each step of the scientific process. With recent advances in using machine learning for hypothesis generation and artificial intelligence for decision-making, the opportunity to automate the entire closed-loop process has emerged as an exciting research frontier. The future of fully autonomous research systems for materials science no longer feels far-fetched. Autonomous systems are poised to make the search for new materials, properties, or parameters more efficient under budget and time constraints, and in effect accelerate materials innovation. This paper provides a brief overview of closed-loop research systems of today, and our related work at the Toyota Research Institute applied across different materials challenges and identifies both limitations and future opportunities. READ MORE

In materials discovery efforts, synthetic capabilities far outpace the ability to extract meaningful data from them. To bridge this gap, machine learning methods are necessary to reduce the search space for identifying desired materials. Here, we present a machine learning–driven, closed-loop experimental process to guide the synthesis of polyelemental nanomaterials with targeted structural properties. By leveraging data from an eight-dimensional chemical space (Au-Ag-Cu-Co-Ni-Pd-Sn-Pt) as inputs, a Bayesian optimization algorithm is used to suggest previously unidentified nanoparticle compositions that target specific interfacial motifs for synthesis, results of which are iteratively shared back with the algorithm. This feedback loop resulted in successful syntheses of 18 heterojunction nanomaterials that are too complex to discover by chemical intuition alone, including extremely chemically complex biphasic nanoparticles reported to date. Platforms like the one developed here are poised to transform materials discovery across a wide swath of applications and industries. READ MORE

Advancing lithium-ion battery technology requires the optimization of cycling protocols. A new data-driven methodology is demonstrated for rapid, accurate prediction of the cycle life obtained by new cycling protocols using a single test lasting only 3 cycles, enabling rapid exploration of cycling protocol design spaces with orders of magnitude reduction in testing time. We achieve this by combining lifetime early prediction with a hierarchical Bayesian model (HBM) to rapidly predict performance distributions without the need for extensive repetitive testing. The methodology is applied to a comprehensive dataset of lithium-iron-phosphate/graphite comprising 29 different fast-charging protocols. HBM alone provides high protocol-lifetime prediction performance, with 6.5% of overall test average percent error, after cycling only one battery to failure. By combining HBM with a battery lifetime prediction model, we achieve a test error of 8.8% using a single 3-cycle test. In addition, the generalizability of the HBM approach is demonstrated for lithium-manganese-cobalt-oxide/graphite cells. READ MORE

We propose a computational model to estimate a person’s attended awareness of their environment. We define “attended awareness” to be those parts of a potentially dynamic scene which a person has attended to in recent history and which they are still likely to be physically aware of. Our model takes as input scene information in the form of a video and noisy gaze estimates, and outputs visual saliency, a refined gaze estimate and an estimate of the person’s attended awareness. In order to test our model, we capture a new dataset with a high-precision gaze tracker including 24.5 hours of gaze sequences from 23 subjects attending to videos of driving scenes. The dataset also contains third-party annotations of the subjects’ attended awareness based on observations of their scan path. Our results show that our model is able to reasonably estimate attended awareness in a controlled setting, and in the future could potentially be extended to real egocentric driving data to help enable more effective ahead-of-time warnings in safety systems and thereby augment driver performance. We also demonstrate our model’s effectiveness on the tasks of saliency, gaze calibration and denoising, using both our dataset and an existing saliency dataset. We make our model and dataset available at https://github.com/ToyotaResearchInstitute/att-aware/. READ MORE

Deep learning models for semantic segmentation rely on expensive, large-scale, manually annotated datasets. Labelling is a tedious process that can take hours per image. Automatically annotating video sequences by propagating sparsely labeled frames through time is a more scalable alternative. In this work, we propose a novel label propagation method, termed Warp-Refine Propagation, that combines semantic cues with geometric cues to efficiently auto-label videos. Our method learns to refine geometrically-warped labels and infuse them with learned semantic priors in a semi-supervised setting by leveraging cycle consistency across time. We quantitatively show that our method improves label-propagation by a noteworthy margin of 13.1 mIoU on the ApolloScape dataset. Furthermore, by training with the auto-labelled frames, we achieve competitive results on three semantic-segmentation benchmarks, improving the state-of-the-art by a large margin of 1.8 and 3.61 mIoU on NYU-V2 and KITTI, while matching the current best results on Cityscapes. READ MORE

The ability to reliably estimate physiological signals from video is a powerful tool in low-cost, pre-clinical health monitoring. In this work we propose a new approach to remote photoplethysmography (rPPG) – the measurement of blood volume changes from observations of a person's face or skin. Similar to current state-of-the-art methods for rPPG, we apply neural networks to learn deep representations with invariance to nuisance image variation. In contrast to such methods, we employ a fully self-supervised training approach, which has no reliance on expensive ground truth physiological training data. Our proposed method uses contrastive learning with a weak prior over the frequency and temporal smoothness of the target signal of interest. We evaluate our approach on four rPPG datasets, showing that comparable or better results can be achieved compared to recent supervised deep learning methods but without using any annotation. In addition, we incorporate a learned saliency resampling module into both our unsupervised approach and supervised baseline. We show that by allowing the model to learn where to sample the input image, we can reduce the need for hand-engineered features while providing some interpretability into the model's behavior and possible failure modes. We release code for our complete training and evaluation pipeline to encourage reproducible progress in this exciting new direction. In addition, we used our proposed approach as the basis of our winning entry to the ICCV 2021 Vision 4 Vitals Workshop Challenge. READ MORE

Modeling multi-modal high-level intent is important for ensuring diversity in trajectory prediction. Existing approaches explore the discrete nature of human intent before predicting continuous trajectories, to improve accuracy and support explainability. However, these approaches often assume the intent to remain fixed over the prediction horizon, which is problematic in practice, especially over longer horizons. To overcome this limitation, we introduce HYPER, a general and expressive hybrid prediction framework that models evolving human intent. By modeling traffic agents as a hybrid discrete-continuous system, our approach is capable of predicting discrete intent changes over time. We learn the probabilistic hybrid model via a maximum likelihood estimation problem and leverage neural proposal distributions to sample adaptively from the exponentially growing discrete space. The overall approach affords a better trade-off between accuracy and coverage. We train and validate our model on the Argoverse dataset, and demonstrate its effectiveness through comprehensive ablation studies and comparisons with state-of-the-art models. READ MORE