We introduce Hyper-Conditioned Neural Autoregressive Flow (HCNAF); a powerful universal distribution approximator designed to model arbitrarily complex conditional probability density functions. HCNAF consists of a neural-net based conditional autoregressive flow (AF) and a hyper-network that can take large conditions in nonautoregressive fashion and outputs the network parameters of the AF. Like other flow models, HCNAF performs exact likelihood inference. We demonstrate the effectiveness and attributes of HCNAF, including its generalization capability over unseen conditions and show that HCNAF outperforms recent flow models in a conditional density estimation task for MNIST. We also show that HCNAF scales up to complex high-dimensional prediction problems of the magnitude of self-driving and that HCNAF yields a state-of-the-art performance in a public self-driving dataset.

No abstract

No abstract

No abstract

The task of predicting stochastic behaviors of road agents in diverse environments is a challenging problem for autonomous driving. To best understand scene contexts and produce diverse possible future states of the road agents adaptively in different environments, a prediction model should be probabilistic, multi-modal, context-driven, and general. We present Conditionalizing Variational AutoEncoders via Hypernetworks (CVAE-H); a conditional VAE that extensively leverages hypernetwork and performs generative tasks for high-dimensional problems like the prediction task. We first evaluate CVAE-H on simple generative experiments to show that CVAE-H is probabilistic, multimodal, context-driven, and general. Then, we demonstrate that the proposed model effectively solves a self-driving prediction problem by producing accurate predictions of road agents in various environments.