In epidemiological studies, zero-inflated and hurdle models are commonly used to handle excess zeros in reported infectious disease cases. However, they can not model the persistence (from presence to presence) and reemergence (from absence to presence) of a disease separately. Covariates can sometimes have different effects on the reemergence and persistence of a disease. Recently, a zero-inflated Markov switching negative binomial model was proposed to accommodate this issue. We present a Markov switching negative binomial hurdle model as a competitor of that approach, as hurdle models are often also used as alternatives to zero-inflated models for accommodating excess zeroes. We begin the comparison by inspecting the underlying assumptions made by both models. Hurdle models assume perfect detection of the disease cases while zero-inflated models implicitly assume the case counts can be under-reported, thus we investigate when a negative binomial distribution can approximate the true distribution of reported counts. A comparison of the fit of the two types of Markov switching models is undertaken on chikungunya cases across the neighborhoods of Rio de Janeiro. We find that, among the fitted models, the Markov switching negative binomial zero-inflated model produces the best predictions and both Markov switching models produce remarkably better predictions than more traditional negative binomial hurdle and zero-inflated models.
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As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as unexpected open set environments and the complexity of black-box models. At the same time, the evolution of deep learning introduces larger, multimodal foundational models, offering multi-modal visual and textual understanding. In this paper, we harness these multimodal foundation models to enhance the robustness and adaptability of autonomous driving systems, enabling out-of-distribution, end-to-end, multimodal, and more explainable autonomy. Specifically, we present an approach to apply end-to-end open-set (any environment/scene) autonomous driving that is capable of providing driving decisions from representations queryable by image and text. To do so, we introduce a method to extract nuanced spatial (pixel/patch-aligned) features from transformers to enable the encapsulation of both spatial and semantic features. Our approach (i) demonstrates unparalleled results in diverse tests while achieving significantly greater robustness in out-of-distribution situations, and (ii) allows the incorporation of latent space simulation (via text) for improved training (data augmentation via text) and policy debugging. We encourage the reader to check our explainer video at //www.youtube.com/watch?v=4n-DJf8vXxo&feature=youtu.be and to view the code and demos on our project webpage at //drive-anywhere.github.io/.
With their combined spectral depth and geometric resolution, hyperspectral remote sensing images embed a wealth of complex, non-linear information that challenges traditional computer vision techniques. Yet, deep learning methods known for their representation learning capabilities prove more suitable for handling such complexities. Unlike applications that focus on single-label, pixel-level classification methods for hyperspectral remote sensing images, we propose a multi-label, patch-level classification method based on a two-component deep-learning network. We use patches of reduced spatial dimension and a complete spectral depth extracted from the remote sensing images. Additionally, we investigate three training schemes for our network: Iterative, Joint, and Cascade. Experiments suggest that the Joint scheme is the best-performing scheme; however, its application requires an expensive search for the best weight combination of the loss constituents. The Iterative scheme enables the sharing of features between the two parts of the network at the early stages of training. It performs better on complex data with multi-labels. Further experiments showed that methods designed with different architectures performed well when trained on patches extracted and labeled according to our sampling method.
Due to the limited availability of data, existing few-shot learning methods trained from scratch fail to achieve satisfactory performance. In contrast, large-scale pre-trained models such as CLIP demonstrate remarkable few-shot and zero-shot capabilities. To enhance the performance of pre-trained models for downstream tasks, fine-tuning the model on downstream data is frequently necessary. However, fine-tuning the pre-trained model leads to a decrease in its generalizability in the presence of distribution shift, while the limited number of samples in few-shot learning makes the model highly susceptible to overfitting. Consequently, existing methods for fine-tuning few-shot learning primarily focus on fine-tuning the model's classification head or introducing additional structure. In this paper, we introduce a fine-tuning approach termed Feature Discrimination Alignment (FD-Align). Our method aims to bolster the model's generalizability by preserving the consistency of spurious features across the fine-tuning process. Extensive experimental results validate the efficacy of our approach for both ID and OOD tasks. Once fine-tuned, the model can seamlessly integrate with existing methods, leading to performance improvements. Our code can be found in //github.com/skingorz/FD-Align.
We study the problem of determining the emergent behaviors that are possible given a functionally heterogeneous swarm of robots with limited capabilities. Prior work has considered behavior search for homogeneous swarms and proposed the use of novelty search over either a hand-specified or learned behavior space followed by clustering to return a taxonomy of emergent behaviors to the user. In this paper, we seek to better understand the role of novelty search and the efficacy of using clustering to discover novel emergent behaviors. Through a large set of experiments and ablations, we analyze the effect of representations, evolutionary search, and various clustering methods in the search for novel behaviors in a heterogeneous swarm. Our results indicate that prior methods fail to discover many interesting behaviors and that an iterative human-in-the-loop discovery process discovers more behaviors than random search, swarm chemistry, and automated behavior discovery. The combined discoveries of our experiments uncover 23 emergent behaviors, 18 of which are novel discoveries. To the best of our knowledge, these are the first known emergent behaviors for heterogeneous swarms of computation-free agents. Videos, code, and appendix are available at the project website: //sites.google.com/view/heterogeneous-bd-methods
Reconfigurable Intelligent Surfaces (RIS) technology are a promising physical-layer candidate for sixth-generation (6G) cellular networks. This paper provides a system-level performance assessment of RIS-assisted multi-input multi-output (MIMO) cellular networks in terms of downlink coverage probability and ergodic rate. To capture the inherent randomness in the spatial deployments of both Base Stations (BSs) and RISs, we propose a new stochastic geometry model for such systems based on the Matern Cluster Process (MCP). This model consists in randomly distributed RISs around BSs, whose placement is according to a Poisson Point Process (PPP). The RISs provide the multipath diversity and the multiple antenna receiver provide the antenna diversity. The system is assumed to use the orthogonal frequency division multiplexing (OFDM) technique to modulate the former and employ the maximal ratio combining (MRC) technique at the receiver to exploit the latter. We show that the coverage probability and the ergodic rate can be evaluated when considering RISs operate as batched powerless beamformers. The resulting analytical expressions provide a generic methodology to evaluate the impact of key RIS-related parameters, such as the size of RIS and the density of nodes, on system level performance. Numerical evaluations of the analytical expressions and Monte-Carlo simulations jointly validate the proposed analytical approach and provide valuable insights into the design of future RIS-assisted radio cellular networks.
signSGD is popular in nonconvex optimization due to its communication efficiency. Yet, existing analyses of signSGD rely on assuming that data are sampled with replacement in each iteration, contradicting the practical implementation where data are randomly reshuffled and sequentially fed into the algorithm. We bridge this gap by proving the first convergence result of signSGD with random reshuffling (SignRR) for nonconvex optimization. Given the dataset size $n$, the number of epochs of data passes $T$, and the variance bound of a stochastic gradient $\sigma^2$, we show that SignRR has the same convergence rate $O(\log(nT)/\sqrt{nT} + \|\sigma\|_1)$ as signSGD \citep{bernstein2018signsgd}. We then present SignRVR and SignRVM, which leverage variance-reduced gradients and momentum updates respectively, both converging at $O(\log(nT)/\sqrt{nT})$. In contrast with the analysis of signSGD, our results do not require an extremely large batch size in each iteration to be of the same order as the total number of iterations \citep{bernstein2018signsgd} or the signs of stochastic and true gradients match element-wise with a minimum probability of 1/2 \citep{safaryan2021stochastic}. We also extend our algorithms to cases where data are distributed across different machines, yielding dist-SignRVR and dist-SignRVM, both converging at $O(\log(n_0T)/\sqrt{n_0T})$, where $n_0$ is the dataset size of a single machine. We back up our theoretical findings through experiments on simulated and real-world problems, verifying that randomly reshuffled sign methods match or surpass existing baselines.
Automatically generating function summaries for binaries is an extremely valuable but challenging task, since it involves translating the execution behavior and semantics of the low-level language (assembly code) into human-readable natural language. However, most current works on understanding assembly code are oriented towards generating function names, which involve numerous abbreviations that make them still confusing. To bridge this gap, we focus on generating complete summaries for binary functions, especially for stripped binary (no symbol table and debug information in reality). To fully exploit the semantics of assembly code, we present a control flow graph and pseudo code guided binary code summarization framework called CP-BCS. CP-BCS utilizes a bidirectional instruction-level control flow graph and pseudo code that incorporates expert knowledge to learn the comprehensive binary function execution behavior and logic semantics. We evaluate CP-BCS on 3 different binary optimization levels (O1, O2, and O3) for 3 different computer architectures (X86, X64, and ARM). The evaluation results demonstrate CP-BCS is superior and significantly improves the efficiency of reverse engineering.
Device-directed speech detection (DDSD) is the binary classification task of distinguishing between queries directed at a voice assistant versus side conversation or background speech. State-of-the-art DDSD systems use verbal cues, e.g acoustic, text and/or automatic speech recognition system (ASR) features, to classify speech as device-directed or otherwise, and often have to contend with one or more of these modalities being unavailable when deployed in real-world settings. In this paper, we investigate fusion schemes for DDSD systems that can be made more robust to missing modalities. Concurrently, we study the use of non-verbal cues, specifically prosody features, in addition to verbal cues for DDSD. We present different approaches to combine scores and embeddings from prosody with the corresponding verbal cues, finding that prosody improves DDSD performance by upto 8.5% in terms of false acceptance rate (FA) at a given fixed operating point via non-linear intermediate fusion, while our use of modality dropout techniques improves the performance of these models by 7.4% in terms of FA when evaluated with missing modalities during inference time.
The recent proliferation of knowledge graphs (KGs) coupled with incomplete or partial information, in the form of missing relations (links) between entities, has fueled a lot of research on knowledge base completion (also known as relation prediction). Several recent works suggest that convolutional neural network (CNN) based models generate richer and more expressive feature embeddings and hence also perform well on relation prediction. However, we observe that these KG embeddings treat triples independently and thus fail to cover the complex and hidden information that is inherently implicit in the local neighborhood surrounding a triple. To this effect, our paper proposes a novel attention based feature embedding that captures both entity and relation features in any given entity's neighborhood. Additionally, we also encapsulate relation clusters and multihop relations in our model. Our empirical study offers insights into the efficacy of our attention based model and we show marked performance gains in comparison to state of the art methods on all datasets.
High spectral dimensionality and the shortage of annotations make hyperspectral image (HSI) classification a challenging problem. Recent studies suggest that convolutional neural networks can learn discriminative spatial features, which play a paramount role in HSI interpretation. However, most of these methods ignore the distinctive spectral-spatial characteristic of hyperspectral data. In addition, a large amount of unlabeled data remains an unexploited gold mine for efficient data use. Therefore, we proposed an integration of generative adversarial networks (GANs) and probabilistic graphical models for HSI classification. Specifically, we used a spectral-spatial generator and a discriminator to identify land cover categories of hyperspectral cubes. Moreover, to take advantage of a large amount of unlabeled data, we adopted a conditional random field to refine the preliminary classification results generated by GANs. Experimental results obtained using two commonly studied datasets demonstrate that the proposed framework achieved encouraging classification accuracy using a small number of data for training.
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