Many asymptotically minimax procedures for function estimation often rely on somewhat arbitrary and restrictive assumptions such as isotropy or spatial homogeneity. This work enhances the theoretical understanding of Bayesian additive regression trees under substantially relaxed smoothness assumptions. We provide a comprehensive study of asymptotic optimality and posterior contraction of Bayesian forests when the regression function has anisotropic smoothness that possibly varies over the function domain. The regression function can also be possibly discontinuous. We introduce a new class of sparse {\em piecewise heterogeneous anisotropic} H\"{o}lder functions and derive their minimax lower bound of estimation in high-dimensional scenarios under the $L_2$-loss. We then find that the Bayesian tree priors, coupled with a Dirichlet subset selection prior for sparse estimation in high-dimensional scenarios, adapt to unknown heterogeneous smoothness, discontinuity, and sparsity. These results show that Bayesian forests are uniquely suited for more general estimation problems that would render other default machine learning tools, such as Gaussian processes, suboptimal. Our numerical study shows that Bayesian forests often outperform other competitors such as random forests and deep neural networks, which are believed to work well for discontinuous or complicated smooth functions. Beyond nonparametric regression, we also examined posterior contraction of Bayesian forests for density estimation and binary classification using the technique developed in this study.
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Building a multi-modality multi-task neural network toward accurate and robust performance is a de-facto standard in perception task of autonomous driving. However, leveraging such data from multiple sensors to jointly optimize the prediction and planning tasks remains largely unexplored. In this paper, we present FusionAD, to the best of our knowledge, the first unified framework that fuse the information from two most critical sensors, camera and LiDAR, goes beyond perception task. Concretely, we first build a transformer based multi-modality fusion network to effectively produce fusion based features. In constrast to camera-based end-to-end method UniAD, we then establish a fusion aided modality-aware prediction and status-aware planning modules, dubbed FMSPnP that take advantages of multi-modality features. We conduct extensive experiments on commonly used benchmark nuScenes dataset, our FusionAD achieves state-of-the-art performance and surpassing baselines on average 15% on perception tasks like detection and tracking, 10% on occupancy prediction accuracy, reducing prediction error from 0.708 to 0.389 in ADE score and reduces the collision rate from 0.31% to only 0.12%.
Nested binomial sums form a particular class of sums that arise in the context of particle physics computations at higher orders in perturbation theory within QCD and QED, but that are also mathematically relevant, e.g., in combinatorics. We present the package RICA (Rule Induced Convolutions for Asymptotics), which aims at calculating Mellin representations and asymptotic expansions at infinity of those objects. These representations are of particular interest to perform analytic continuations of such sums.
A common way to evaluate the reliability of dimensionality reduction (DR) embeddings is to quantify how well labeled classes form compact, mutually separated clusters in the embeddings. This approach is based on the assumption that the classes stay as clear clusters in the original high-dimensional space. However, in reality, this assumption can be violated; a single class can be fragmented into multiple separated clusters, and multiple classes can be merged into a single cluster. We thus cannot always assure the credibility of the evaluation using class labels. In this paper, we introduce two novel quality measures -- Label-Trustworthiness and Label-Continuity (Label-T&C) -- advancing the process of DR evaluation based on class labels. Instead of assuming that classes are well-clustered in the original space, Label-T&C work by (1) estimating the extent to which classes form clusters in the original and embedded spaces and (2) evaluating the difference between the two. A quantitative evaluation showed that Label-T&C outperform widely used DR evaluation measures (e.g., Trustworthiness and Continuity, Kullback-Leibler divergence) in terms of the accuracy in assessing how well DR embeddings preserve the cluster structure, and are also scalable. Moreover, we present case studies demonstrating that Label-T&C can be successfully used for revealing the intrinsic characteristics of DR techniques and their hyperparameters.
Characterizing shapes of high-dimensional objects via Ricci curvatures plays a critical role in many research areas in mathematics and physics. However, even though several discretizations of Ricci curvatures for discrete combinatorial objects such as networks have been proposed and studied by mathematicians, the computational complexity aspects of these discretizations have escaped the attention of theoretical computer scientists to a large extent. In this paper, we study one such discretization, namely the Ollivier-Ricci curvature, from the perspective of efficient computation by fine-grained reductions and local query-based algorithms. Our main contributions are the following. (a) We relate our curvature computation problem to minimum weight perfect matching problem on complete bipartite graphs via fine-grained reduction. (b) We formalize the computational aspects of the curvature computation problems in suitable frameworks so that they can be studied by researchers in local algorithms. (c) We provide the first known lower and upper bounds on queries for query-based algorithms for the curvature computation problems in our local algorithms framework. En route, we also illustrate a localized version of our fine-grained reduction. We believe that our results bring forth an intriguing set of research questions, motivated both in theory and practice, regarding designing efficient algorithms for curvatures of objects.
We study the problem of reconstructing the Faber--Schauder coefficients of a continuous function $f$ from discrete observations of its antiderivative $F$. Our approach starts with formulating this problem through piecewise quadratic spline interpolation. We then provide a closed-form solution and an in-depth error analysis. These results lead to some surprising observations, which also throw new light on the classical topic of quadratic spline interpolation itself: They show that the well-known instabilities of this method can be located exclusively within the final generation of estimated Faber--Schauder coefficients, which suffer from non-locality and strong dependence on the initial value and the given data. By contrast, all other Faber--Schauder coefficients depend only locally on the data, are independent of the initial value, and admit uniform error bounds. We thus conclude that a robust and well-behaved estimator for our problem can be obtained by simply dropping the final-generation coefficients from the estimated Faber--Schauder coefficients.
Whisper is a recent Automatic Speech Recognition (ASR) model displaying impressive robustness to both out-of-distribution inputs and random noise. In this work, we show that this robustness does not carry over to adversarial noise. We show that we can degrade Whisper performance dramatically, or even transcribe a target sentence of our choice, by generating very small input perturbations with Signal Noise Ratio of 35-45dB. We also show that by fooling the Whisper language detector we can very easily degrade the performance of multilingual models. These vulnerabilities of a widely popular open-source model have practical security implications and emphasize the need for adversarially robust ASR.
Strong stability is a property of time integration schemes for ODEs that preserve temporal monotonicity of solutions in arbitrary (inner product) norms. It is proved that explicit Runge--Kutta schemes of order $p\in 4\mathbb{N}$ with $s=p$ stages for linear autonomous ODE systems are not strongly stable, closing an open stability question from [Z.~Sun and C.-W.~Shu, SIAM J. Numer. Anal. 57 (2019), 1158--1182]. Furthermore, for explicit Runge--Kutta methods of order $p\in\mathbb{N}$ and $s>p$ stages, we prove several sufficient as well as necessary conditions for strong stability. These conditions involve both the stability function and the hypocoercivity index of the ODE system matrix. This index is a structural property combining the Hermitian and skew-Hermitian part of the system matrix.
This work puts forth low-complexity Riemannian subspace descent algorithms for the minimization of functions over the symmetric positive definite (SPD) manifold. Different from the existing Riemannian gradient descent variants, the proposed approach utilizes carefully chosen subspaces that allow the update to be written as a product of the Cholesky factor of the iterate and a sparse matrix. The resulting updates avoid the costly matrix operations like matrix exponentiation and dense matrix multiplication, which are generally required in almost all other Riemannian optimization algorithms on SPD manifold. We further identify a broad class of functions, arising in diverse applications, such as kernel matrix learning, covariance estimation of Gaussian distributions, maximum likelihood parameter estimation of elliptically contoured distributions, and parameter estimation in Gaussian mixture model problems, over which the Riemannian gradients can be calculated efficiently. The proposed uni-directional and multi-directional Riemannian subspace descent variants incur per-iteration complexities of $\mathcal{O}(n)$ and $\mathcal{O}(n^2)$ respectively, as compared to the $\mathcal{O}(n^3)$ or higher complexity incurred by all existing Riemannian gradient descent variants. The superior runtime and low per-iteration complexity of the proposed algorithms is also demonstrated via numerical tests on large-scale covariance estimation problems.
A variant of the standard notion of branching bisimilarity for processes with discrete relative timing is proposed which is coarser than the standard notion. Using a version of ACP (Algebra of Communicating Processes) with abstraction for processes with discrete relative timing, it is shown that the proposed variant allows of both the functional correctness and the performance properties of the PAR (Positive Acknowledgement with Retransmission) protocol to be analyzed. In the version of ACP concerned, the difference between the standard notion of branching bisimilarity and its proposed variant is characterized by a single axiom schema.
Internet of Things (IoT) systems require highly scalable infrastructure to adaptively provide services to meet various performance requirements. Combining Software-Defined Networking (SDN) with Mobile Edge Cloud (MEC) technology brings more flexibility for IoT systems. We present a four-tier task processing architecture for MEC and vehicular networks, which includes processing tasks locally within a vehicle, on neighboring vehicles, on an edge cloud, and on a remote cloud. The flexible network connection is controlled by SDN. We propose a CPU resource allocation algorithm, called Partial Idle Resource Strategy (PIRS) with Vehicle to Vehicle (V2V) communications, based on Asymmetric Nash Bargaining Solution (ANBS) in Game Theory. PIRS encourages vehicles in the same location to cooperate by sharing part of their spare CPU resources. In our simulations, we adopt four applications running on the vehicles to generate workload. We compare the proposed algorithm with Non-Cooperation Strategy (NCS) and All Idle Resource Strategy (AIRS). In NCS, the vehicles execute tasks generated by the applications in their own On-Board Units (OBU), while in AIRS vehicles provide all their CPU resources to help other vehicles offloading requests. Our simulation results show that our PIRS strategy can execute more tasks on the V2V layer and lead to fewer number of task (and their length) to be offloaded to the cloud, reaching up to 28% improvement compared to NCS and up to 10% improvement compared to AIRS.
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