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Ana Ferreira

Publications and source records attributed to Ana Ferreira.

9 recordsLinked to original sources
arXiv2022

CW-ERM: Improving Autonomous Driving Planning with Closed-loop Weighted Empirical Risk Minimization

The imitation learning of self-driving vehicle policies through behavioral cloning is often carried out in an open-loop fashion, ignoring the effect of actions to future states. Training such policies purely with Empirical Risk Minimization (ERM) can be detrimental to real-world performance, as it biases policy networks towards matching only open-loop behavior, showing poor results when evaluated in closed-loop. In this work, we develop an efficient and simple-to-implement principle called Closed-loop Weighted Empirical Risk Minimization (CW-ERM), in which a closed-loop evaluation procedure is first used to identify training data samples that are important for practical driving performance and then we these samples to help debias the policy network. We evaluate CW-ERM in a challenging urban driving dataset and show that this procedure yields a significant reduction in collisions as well as other non-differentiable closed-loop metrics.

cs.LG↗
arXiv2022

Stability of cycles in a game of Rock-Scissors-Paper-Lizard-Spock

We study a system of ordinary differential equations in R5 that is used as a model both in population dynamics and in game theory, and is known to exhibit a heteroclinic network consisting in the union of four types of elementary heteroclinic cycles. We show the asymptotic stability of the network for parameter values in a range compatible with both population and game dynamics. We obtain estimates of the relative attractiveness of each one of the cycles by computing their stability indices. For the parameter values ensuring the asymptotic stability of the network we relate the attractiveness properties of each cycle to the others. In particular, for three of the cycles we show that if one of them has a weak form of attractiveness, then the other two are completely unstable. We also show the existence of an open region in parameter space where all four cycles are completely unstable and the network is asymptotically stable, giving rise to intricate dynamics that has been observed numerically by other authors.

math.DS↗
arXiv2020

Spatial dependence and space-time trend in extreme events

The statistical theory of extremes is extended to observations that are non-stationary and not independent. The non-stationarity over time and space is controlled via the scedasis (tail scale) in the marginal distributions. Spatial dependence stems from multivariate extreme value theory. We establish asymptotic theory for both the weighted sequential tail empirical process and the weighted tail quantile process based on all observations, taken over time and space. The results yield two statistical tests for homoscedasticity in the tail, one in space and one in time. Further, we show that the common extreme value index can be estimated via a pseudo-maximum likelihood procedure based on pooling all (non-stationary and dependent) observations. Our leading example and application is rainfall in Northern Germany.

math.ST↗
arXiv2018

Road safety of passing maneuvers: a bivariate extreme value theory approach under non-stationary conditions

Observed accidents have been the main resource for road safety analysis over the past decades. Although such reliance seems quite straightforward, the rare nature of these events has made safety difficult to assess, especially for new and innovative traffic treatments. Surrogate measures of safety have allowed to step away from traditional safety performance functions and analyze safety performance without relying on accident records. In recent years, the use of extreme value theory (EV) models in combination with surrogate safety measures to estimate accident probabilities has gained popularity within the safety community. In this paper we extend existing efforts on EV for accident probability estimation for two dependent surrogate measures. Using detailed trajectory data from a driving simulator, we model the joint probability of head-on and rear-end collisions in passing maneuvers. In our estimation we account for driver specific characteristics and road infrastructure variables. We show that accounting for these factors improve the head-on collision probability estimation. This work highlights the importance of considering driver and road heterogeneity in evaluating related safety events, of relevance to interventions both for in-vehicle and infrastructure-based solutions. Such features are essential to keep up with the expectations from surrogate safety measures for the integrated analysis of accident phenomena.

stat.AP↗
arXiv2017

Estimating space-time trend and dependence of heavy rainfall

A new approach for evaluating time-trends in extreme values accounting also for spatial dependence is proposed. Based on exceedances over a space-time threshold, estimators for a trend function and for extreme value parameters are given, leading to a homogenization procedure for then applying stationary extreme value processes. Extremal dependence over space is further evaluated through variogram analysis including anisotropy. We detect significant inhomogeneities and trends in the extremal behaviour of daily precipitation data over a time period of 84 years and from 68 observational weather stations in North-West Germany. We observe that the trend is not monotonous over time in general. Asymptotic normality of the estimators under maximum domain of attraction conditions are proven.

stat.ME↗
arXiv2017

Maximum likelihood estimators based on the block maxima method

The extreme value index is a fundamental parameter in univariate Extreme Value Theory (EVT). It captures the tail behavior of a distribution and is central in the extrapolation beyond observed data. Among other semi-parametric methods (such as the popular Hill's estimator), the Block Maxima (BM) and Peaks-Over-Threshold (POT) methods are widely used for assessing the extreme value index and related normalizing constants. We provide asymptotic theory for the maximum likelihood estimators (MLE) based on the BM method. Our main result is the asymptotic normality of the MLE with a non-trivial bias depending on the extreme value index and on the so-called second order parameter. Our approach combines asymptotic expansions of the likelihood process and of the empirical quantile process of block maxima. The results permit to complete the comparison of most common semi-parametric estimators in EVT (MLE and probability weighted moment estimators based on the POT or BM methods) through their asymptotic variances, biases and optimal mean square errors.

math.ST↗
arXiv2014

On the block maxima method in extreme value theory: PWM estimators

In extreme value theory, there are two fundamental approaches, both widely used: the block maxima (BM) method and the peaks-over-threshold (POT) method. Whereas much theoretical research has gone into the POT method, the BM method has not been studied thoroughly. The present paper aims at providing conditions under which the BM method can be justified. We also provide a theoretical comparative study of the methods, which is in general consistent with the vast literature on comparing the methods all based on simulated data and fully parametric models. The results indicate that the BM method is a rather efficient method under usual practical conditions. In this paper, we restrict attention to the i.i.d. case and focus on the probability weighted moment (PWM) estimators of Hosking, Wallis and Wood [Technometrics (1985) 27 251-261].

math.ST↗
arXiv2014

The generalized Pareto process; with a view towards application and simulation

In extreme value statistics, the peaks-over-threshold method is widely used. The method is based on the generalized Pareto distribution characterizing probabilities of exceedances over high thresholds in $\mathbb {R}^d$. We present a generalization of this concept in the space of continuous functions. We call this the generalized Pareto process. Differently from earlier papers, our definition is not based on a distribution function but on functional properties, and does not need a reference to a related max-stable process. As an application, we use the theory to simulate wind fields connected to disastrous storms on the basis of observed extreme but not disastrous storms. We also establish the peaks-over-threshold approach in function space.

math.PR↗