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1. Characteristic and Universal Tensor Product Kernels

   Szabo, Z; Sriperumbudur, B. (January 2018, Journal of machine learning research)

   Maximum mean discrepancy (MMD), also called energy distance or N-distance in statistics and Hilbert-Schmidt independence criterion (HSIC), specifically distance covariance in statistics, are among the most popular and successful approaches to quantify the difference and independence of random variables, respectively. Thanks to their kernel-based foundations, MMD and HSIC are applicable on a wide variety of domains. Despite their tremendous success, quite little is known about when HSIC characterizes independence and when MMD with tensor product kernel can discriminate probability distributions. In this paper, we answer these questions by studying various notions of the characteristic property of the tensor product kernel. 

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2. Using Skew to Assess the Quality of GAN-generated Image Features

   Luzi, Lorenzo; Jenne, Helen; Ortiz_Marrero, Carlos; Murray, Ryan (April 2024, Transactions on machine learning research)

   The rapid advancement of Generative Adversarial Networks (GANs) necessitates the need to robustly evaluate these models. Among the established evaluation criteria, the Fréchet Inception Distance (FID) has been widely adopted due to its conceptual simplicity, fast computation time, and strong correlation with human perception. However, FID has inherent limitations, mainly stemming from its assumption that feature embeddings follow a Gaussian distribution, and therefore can be defined by their first two moments. As this does not hold in practice, in this paper we explore the importance of third-moments in image feature data and use this information to define a new measure, which we call the Skew Inception Distance (SID). We prove that SID is a pseudometric on probability distributions, show how it extends FID, and present a practical method for its computation. Our numerical experiments support that SID either tracks with FID or, in some cases, aligns more closely with human perception when evaluating image features of ImageNet data. Our work also shows that principal component analysis can be used to speed up the computation time of both FID and SID. Although we focus on using SID on image features for GAN evaluation, SID is applicable much more generally, including for the evaluation of other generative models. 

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3. Calibrated Predictive Distributions for Photometric Redshifts

   Dey, Biprateep; Zhao, David; Andrews, Brett; Newman, Jeffrey; Izbicki, Rafael; Lee, Ann (July 2022, Machine Learning for Astrophysics, proceedings of the Thirty-ninth International Conference on Machine Learning (ICML 2022))

   Many astrophysical analyses depend on estimates of redshifts (a proxy for distance) determined from photometric (i.e., imaging) data alone. Inaccurate estimates of photometric redshift uncertainties can result in large systematic errors. However, probability distribution outputs from many photometric redshift methods do not follow the frequentist definition of a Probability Density Function (PDF) for redshift — i.e., the fraction of times the true redshift falls between two limits z1 and z2 should be equal to the integral of the PDF between these limits. Previous works have used the global distribution of Probability Integral Transform (PIT) values to re-calibrate PDFs, but offsetting inaccuracies in different regions of feature space can conspire to limit the efficacy of the method. We leverage a recently developed regression technique that characterizes the local PIT distribution at any location in feature space to perform a local re-calibration of photometric redshift PDFs resulting in calibrated predictive distributions. Though we focus on an example from astrophysics, our method can produce predictive distributions which are calibrated at all locations in feature space for any use case. 

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4. Re-calibrating Photometric Redshift Probability Distributions Using Feature-space Regression

   Dey, Biprateep; Newman, Jeffrey A.; Andrews, Brett H.; Izbicki, Rafael; Lee, Ann B.; Zhao, David; Rau, Markus Michael; Malz, Alex I. (December 2021, Advances in neural information processing systems)

   Many astrophysical analyses depend on estimates of redshifts (a proxy for distance) determined from photometric (i.e., imaging) data alone. Inaccurate estimates of photometric redshift uncertainties can result in large systematic errors. However, probability distribution outputs from many photometric redshift methods do not follow the frequentist definition of a Probability Density Function (PDF) for redshift -- i.e., the fraction of times the true redshift falls between two limits z1 and z2 should be equal to the integral of the PDF between these limits. Previous works have used the global distribution of Probability Integral Transform (PIT) values to re-calibrate PDFs, but offsetting inaccuracies in different regions of feature space can conspire to limit the efficacy of the method. We leverage a recently developed regression technique that characterizes the local PIT distribution at any location in feature space to perform a local re-calibration of photometric redshift PDFs. Though we focus on an example from astrophysics, our method can produce PDFs which are calibrated at all locations in feature space for any use case. 

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5. Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation

   https://doi.org/10.15607/RSS.2021.XVII.053  

   Sun, Muchen; Baldini, Francesca; Trautman, Peter; Murphey, Todd (July 2021, Robotics: Science and Systems)

   null (Ed.)

   Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision avoidance is to couple the prediction of the agents’ trajectories with the planning of the robot’s trajectory. However, it is unclear that trajectory based cooperative collision avoidance captures the correct agent attributes. In this work we migrate from trajectory based coupling to a formalism that couples agent preference distributions. In particular, we show that preference distributions (probability density functions representing agents’ intentions) can capture higher order statistics of agent behaviors, such as willingness to cooperate. Thus, coupling in distribution space exploits more information about inter-agent cooperation than coupling in trajectory space. We thus introduce a general objective for coupled prediction and planning in distribution space, and propose an iterative best response optimization method based on variational analysis with guaranteed sufficient decrease. Based on this analysis, we develop a sampling-based motion planning framework called DistNav1 that runs in real time on a laptop CPU. We evaluate our approach on challenging scenarios from both real world datasets and simulation environments, and benchmark against a wide variety of model based and machine learning based approaches. The safety and efficiency statistics of our approach outperform all other models. Finally, we find that DistNav is competitive with human safety and efficiency performance. 

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