One major issue in learning-based model predictive control (MPC) for autonomous driving is the contradiction between the system model's prediction accuracy and computation efficiency. The more situations a system model covers, the more complex it is, along with highly nonlinear and nonconvex properties. These issues make the optimization too complicated to solve and render real-time control impractical.To address these issues, we propose a hierarchical learning residual model which leverages random forests and linear regression.The learned model consists of two levels. The low level uses linear regression to fit the residues, and the high level uses random forests to switch different linear models. Meanwhile, we adopt the linear dynamic bicycle model with error states as the nominal model.The switched linear regression model is added to the nominal model to form the system model. It reformulates the learning-based MPC as a quadratic program (QP) problem and optimization solvers can effectively solve it. Experimental path tracking results show that the driving vehicle's prediction accuracy and tracking accuracy are significantly improved compared with the nominal MPC.Compared with the state-of-the-art Gaussian process-based nonlinear model predictive control (GP-NMPC), our method gets better performance on tracking accuracy while maintaining a lower computation consumption.

With the rising complexity of numerous novel applications that serve our modern society comes the strong need to design efficient computing platforms. Designing efficient hardware is, however, a complex multi-objective problem that deals with multiple parameters and their interactions. Given that there are a large number of parameters and objectives involved in hardware design, synthesizing all possible combinations is not a feasible method to find the optimal solution. One promising approach to tackle this problem is statistical modeling of a desired hardware performance. Here, we propose a model-based active learning approach to solve this problem. Our proposed method uses Bayesian models to characterize various aspects of hardware performance. We also use transfer learning and Gaussian regression bootstrapping techniques in conjunction with active learning to create more accurate models. Our proposed statistical modeling method provides hardware models that are sufficiently accurate to perform design space exploration as well as performance prediction simultaneously. We use our proposed method to perform design space exploration and performance prediction for various hardware setups, such as micro-architecture design and OpenCL kernels for FPGA targets. Our experiments show that the number of samples required to create performance models significantly reduces while maintaining the predictive power of our proposed statistical models. For instance, in our performance prediction setting, the proposed method needs 65% fewer samples to create the model, and in the design space exploration setting, our proposed method can find the best parameter settings by exploring less than 50 samples.

Data-driven soft sensors are extensively used in industrial and chemical processes to predict hard-to-measure process variables whose real value is difficult to track during routine operations. The regression models used by these sensors often require a large number of labeled examples, yet obtaining the label information can be very expensive given the high time and cost required by quality inspections. In this context, active learning methods can be highly beneficial as they can suggest the most informative labels to query. However, most of the active learning strategies proposed for regression focus on the offline setting. In this work, we adapt some of these approaches to the stream-based scenario and show how they can be used to select the most informative data points. We also demonstrate how to use a semi-supervised architecture based on orthogonal autoencoders to learn salient features in a lower dimensional space. The Tennessee Eastman Process is used to compare the predictive performance of the proposed approaches.

Accurate time series forecasting is critical for a wide range of problems with temporal data. Ensemble modeling is a well-established technique for leveraging multiple predictive models to increase accuracy and robustness, as the performance of a single predictor can be highly variable due to shifts in the underlying data distribution. This paper proposes a new methodology for building robust ensembles of time series forecasting models. Our approach utilizes Adaptive Robust Optimization (ARO) to construct a linear regression ensemble in which the models' weights can adapt over time. We demonstrate the effectiveness of our method through a series of synthetic experiments and real-world applications, including air pollution management, energy consumption forecasting, and tropical cyclone intensity forecasting. Our results show that our adaptive ensembles outperform the best ensemble member in hindsight by 16-26% in root mean square error and 14-28% in conditional value at risk and improve over competitive ensemble techniques.

Meta-learning has arisen as a successful method for improving training performance by training over many similar tasks, especially with deep neural networks (DNNs). However, the theoretical understanding of when and why overparameterized models such as DNNs can generalize well in meta-learning is still limited. As an initial step towards addressing this challenge, this paper studies the generalization performance of overfitted meta-learning under a linear regression model with Gaussian features. In contrast to a few recent studies along the same line, our framework allows the number of model parameters to be arbitrarily larger than the number of features in the ground truth signal, and hence naturally captures the overparameterized regime in practical deep meta-learning. We show that the overfitted min $\ell_2$-norm solution of model-agnostic meta-learning (MAML) can be beneficial, which is similar to the recent remarkable findings on ``benign overfitting'' and ``double descent'' phenomenon in the classical (single-task) linear regression. However, due to the uniqueness of meta-learning such as task-specific gradient descent inner training and the diversity/fluctuation of the ground-truth signals among training tasks, we find new and interesting properties that do not exist in single-task linear regression. We first provide a high-probability upper bound (under reasonable tightness) on the generalization error, where certain terms decrease when the number of features increases. Our analysis suggests that benign overfitting is more significant and easier to observe when the noise and the diversity/fluctuation of the ground truth of each training task are large. Under this circumstance, we show that the overfitted min $\ell_2$-norm solution can achieve an even lower generalization error than the underparameterized solution.

Logistic Regression is a statistical method used for binary classification problems, where the goal is to predict the probability of an event occurring or not. It is a popular algorithm in machine learning, particularly in the field of supervised learning. In this blog post, we will explore the fundamentals of logistic regression and how it can be used to solve binary classification problems. We will also provide Python code examples to help you understand and implement this powerful algorithm in your own projects. Whether you're new to machine learning or an experienced practitioner, this post will provide valuable insights into logistic regression and its applications. For example, a logistic regression model could be built using patient data such as age, gender, family history, and lifestyle factors to predict whether or not a patient is at high risk for developing heart disease.

The amount of sequencing data for SARS-CoV-2 is several orders of magnitude larger than any virus. This will continue to grow geometrically for SARS-CoV-2, and other viruses, as many countries heavily finance genomic surveillance efforts. Hence, we need methods for processing large amounts of sequence data to allow for effective yet timely decision-making. Such data will come from heterogeneous sources: aligned, unaligned, or even unassembled raw nucleotide or amino acid sequencing reads pertaining to the whole genome or regions (e.g., spike) of interest. In this work, we propose \emph{ViralVectors}, a compact feature vector generation from virome sequencing data that allows effective downstream analysis. Such generation is based on \emph{minimizers}, a type of lightweight "signature" of a sequence, used traditionally in assembly and read mapping -- to our knowledge, the first use minimizers in this way. We validate our approach on different types of sequencing data: (a) 2.5M SARS-CoV-2 spike sequences (to show scalability); (b) 3K Coronaviridae spike sequences (to show robustness to more genomic variability); and (c) 4K raw WGS reads sets taken from nasal-swab PCR tests (to show the ability to process unassembled reads). Our results show that ViralVectors outperforms current benchmarks in most classification and clustering tasks.

Social media enables the rapid spread of many kinds of information, from memes to social movements. However, little is known about how information crosses linguistic boundaries. We apply causal inference techniques on the European Twitter network to quantify multilingual users' structural role and communication influence in cross-lingual information exchange. Overall, multilinguals play an essential role; posting in multiple languages increases betweenness centrality by 13%, and having a multilingual network neighbor increases monolinguals' odds of sharing domains and hashtags from another language 16-fold and 4-fold, respectively. We further show that multilinguals have a greater impact on diffusing information less accessible to their monolingual compatriots, such as information from far-away countries and content about regional politics, nascent social movements, and job opportunities. By highlighting information exchange across borders, this work sheds light on a crucial component of how information and ideas spread around the world.

Two projection based feedforward network learning methods for model(cid:173) free regression problems are studied and compared in this paper: one is the popular back-propagation learning (BPL); the other is the projection pursuit learning (PPL). In terms of learning efficiency, both methods have comparable training speed when based on a Gauss(cid:173) Newton optimization algorithm while the PPL is more parsimonious. In terms of learning robustness toward noise outliers, the BPL is more sensi(cid:173) tive to the outliers.

We present a new method for obtaining local error bars for nonlinear regression, i.e., estimates of the confidence in predicted values that de(cid:173) pend on the input. We approach this problem by applying a maximum(cid:173) likelihood framework to an assumed distribution of errors. We demon(cid:173) strate our method first on computer-generated data with locally varying, normally distributed target noise. We then apply it to laser data from the Santa Fe Time Series Competition where the underlying system noise is known quantization error and the error bars give local estimates of model misspecification. In both cases, the method also provides a weighted(cid:173) regression effect that improves generalization performance.