arXiv subjects

Nadja Klein

Publications and source records attributed to Nadja Klein.

At least 37 records · Page 2Linked to original sources

arXiv2026

Depth as Prior Knowledge for Object Detection

Detecting small and distant objects remains challenging for object detectors due to scale variation, low resolution, and background clutter. Safety-critical applications require reliable detection of these objects for safe planning. Depth information can improve detection, but existing approaches require complex, model-specific architectural modifications. We provide a theoretical analysis followed by an empirical investigation of the depth-detection relationship. Together, they explain how depth causes systematic performance degradation and why depth-informed supervision mitigates it. We introduce DepthPrior, a framework that uses depth as prior knowledge rather than as a fused feature, providing comparable benefits without modifying detector architectures. DepthPrior consists of Depth-Based Loss Weighting (DLW) and Depth-Based Loss Stratification (DLS) during training, and Depth-Aware Confidence Thresholding (DCT) during inference. The only overhead is the initial cost of depth estimation. Experiments across four benchmarks (KITTI, MS COCO, VisDrone, SUN RGB-D) and two detectors (YOLOv11, EfficientDet) demonstrate the effectiveness of DepthPrior, achieving up to +9% mAP$_S$ and +7% mAR$_S$ for small objects, with inference recovery rates as high as 95:1 (true vs. false detections). DepthPrior offers these benefits without additional sensors, architectural changes, or performance costs. Code is available at https://github.com/mos-ks/DepthPrior.

cs.CV↗

arXiv2026

Copula-based models for spatially dependent cylindrical data

Cylindrical data frequently arise across various scientific disciplines, including meteorology (e.g., wind direction and speed), oceanography (e.g., marine current direction and speed or wave heights), ecology (e.g., telemetry), and medicine (e.g., seasonality and intensity in disease onset). Such data often occur as spatially correlated series of intensities and angles, thereby representing dependent bivariate response vectors of linear and circular components. To accommodate both the circular-linear dependence and spatial autocorrelation, while remaining flexible in marginal specifications, copula-based models for cylindrical data have been developed in the literature. However, existing approaches typically treat the copula parameters as constants unrelated to covariates, and regression specifications for marginal distributions are frequently restricted to linear predictors, thereby ignoring spatial correlation. In this work, we propose a structured additive conditional copula regression model for cylindrical data. The circular component is modeled using a wrapped Gaussian process, and the linear component follows a distributional regression model. Both components allow for the inclusion of linear covariate effects. Furthermore, by leveraging the empirical equivalence between Gaussian random fields (GRFs) and Gaussian Markov random fields, our approach avoids the computational burden typically associated with GRFs, while simultaneously allowing for non-stationarity in the covariance structure. Posterior estimation is performed via Markov chain Monte Carlo simulation. We evaluate the proposed model in a simulation study and subsequently in an analysis of wind directions and speed in Germany.

stat.ME↗

arXiv2026

Amortized Variational Inference for Partial-Label Learning: A Probabilistic Approach to Label Disambiguation

Real-world data is frequently noisy and ambiguous. In crowdsourcing, for example, human annotators may assign conflicting class labels to the same instances. Partial-label learning (PLL) addresses this challenge by training classifiers when each instance is associated with a set of candidate labels, only one of which is correct. While early PLL methods approximate the true label posterior, they are often computationally intensive. Recent deep learning approaches improve scalability but rely on surrogate losses and heuristic label refinement. We introduce a novel probabilistic framework that directly approximates the posterior distribution over true labels using amortized variational inference. Our method employs neural networks to predict variational parameters from input data, enabling efficient inference. This approach combines the expressiveness of deep learning with the rigor of probabilistic modeling, while remaining architecture-agnostic. Theoretical analysis and extensive experiments on synthetic and real-world datasets demonstrate that our method achieves state-of-the-art performance in both accuracy and efficiency.

cs.LG↗

arXiv2025

Closing the Loop: Motion Prediction Models beyond Open-Loop Benchmarks

Fueled by motion prediction competitions and benchmarks, recent years have seen the emergence of increasingly large learning based prediction models, many with millions of parameters, focused on improving open-loop prediction accuracy by mere centimeters. However, these benchmarks fail to assess whether such improvements translate to better performance when integrated into an autonomous driving stack. In this work, we systematically evaluate the interplay between state-of-the-art motion predictors and motion planners. Our results show that higher open-loop accuracy does not always correlate with better closed-loop driving behavior and that other factors, such as temporal consistency of predictions and planner compatibility, also play a critical role. Furthermore, we investigate downsized variants of these models, and, surprisingly, find that in some cases models with up to 86% fewer parameters yield comparable or even superior closed-loop driving performance. Our code is available at https://github.com/aumovio/pred2plan.

cs.RO↗

arXiv2025

BaGGLS: A Bayesian Shrinkage Framework for Interpretable Modeling of Interactions in High-Dimensional Biological Data

Biological data sets are often high-dimensional, noisy, and governed by complex interactions among sparse signals. This poses major challenges for interpretability and reliable feature selection. Tasks such as identifying motif interactions in genomics exemplify these difficulties, as only a small subset of biologically relevant features (e.g., motifs) are typically active, and their effects are often non-linear and context-dependent. While statistical approaches often result in more interpretable models, deep learning models have proven effective in modeling complex interactions and prediction accuracy, yet their black-box nature limits interpretability. We introduce BaGGLS, a flexible and interpretable probabilistic binary regression model designed for high-dimensional biological inference involving feature interactions. BaGGLS incorporates a Bayesian group global-local shrinkage prior, aligned with the group structure introduced by interaction terms. This prior encourages sparsity while retaining interpretability, helping to isolate meaningful signals and suppress noise. To enable scalable inference, we employ a partially factorized variational approximation that captures posterior skewness and supports efficient learning even in large feature spaces. In extensive simulations, we can show that BaGGLS outperforms the other methods with regard to interaction detection and is many times faster than MCMC sampling under the horseshoe prior. We also demonstrate the usefulness of BaGGLS in the context of interaction discovery from motif scanner outputs and noisy attribution scores from deep learning models. This shows that BaGGLS is a promising approach for uncovering biologically relevant interaction patterns, with potential applicability across a range of high-dimensional tasks in computational biology.

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arXiv2025

Sparse Explanations of Neural Networks Using Pruned Layer-Wise Relevance Propagation

Explainability is a key component in many applications involving deep neural networks (DNNs). However, current explanation methods for DNNs commonly leave it to the human observer to distinguish relevant explanations from spurious noise. This is not feasible anymore when going from easily human-accessible data such as images to more complex data such as genome sequences. To facilitate the accessibility of DNN outputs from such complex data and to increase explainability, we present a modification of the widely used explanation method layer-wise relevance propagation. Our approach enforces sparsity directly by pruning the relevance propagation for the different layers. Thereby, we achieve sparser relevance attributions for the input features as well as for the intermediate layers. As the relevance propagation is input-specific, we aim to prune the relevance propagation rather than the underlying model architecture. This allows to prune different neurons for different inputs and hence, might be more appropriate to the local nature of explanation methods. To demonstrate the efficacy of our method, we evaluate it on two types of data: images and genome sequences. We show that our modification indeed leads to noise reduction and concentrates relevance on the most important features compared to the baseline.

cs.LG↗

arXiv2025

Uncertainty-Aware Trajectory Prediction via Rule-Regularized Heteroscedastic Deep Classification

Deep learning-based trajectory prediction models have demonstrated promising capabilities in capturing complex interactions. However, their out-of-distribution generalization remains a significant challenge, particularly due to unbalanced data and a lack of enough data and diversity to ensure robustness and calibration. To address this, we propose SHIFT (Spectral Heteroscedastic Informed Forecasting for Trajectories), a novel framework that uniquely combines well-calibrated uncertainty modeling with informative priors derived through automated rule extraction. SHIFT reformulates trajectory prediction as a classification task and employs heteroscedastic spectral-normalized Gaussian processes to effectively disentangle epistemic and aleatoric uncertainties. We learn informative priors from training labels, which are automatically generated from natural language driving rules, such as stop rules and drivability constraints, using a retrieval-augmented generation framework powered by a large language model. Extensive evaluations over the nuScenes dataset, including challenging low-data and cross-location scenarios, demonstrate that SHIFT outperforms state-of-the-art methods, achieving substantial gains in uncertainty calibration and displacement metrics. In particular, our model excels in complex scenarios, such as intersections, where uncertainty is inherently higher. Project page: https://kumarmanas.github.io/SHIFT/.

cs.LG↗

arXiv2025

Streamlining the Development of Active Learning Methods in Real-World Object Detection

Active learning (AL) for real-world object detection faces computational and reliability challenges that limit practical deployment. Developing new AL methods requires training multiple detectors across iterations to compare against existing approaches. This creates high costs for autonomous driving datasets where the training of one detector requires up to 282 GPU hours. Additionally, AL method rankings vary substantially across validation sets, compromising reliability in safety-critical transportation systems. We introduce object-based set similarity ($\mathrm{OSS}$), a metric that addresses these challenges. $\mathrm{OSS}$ (1) quantifies AL method effectiveness without requiring detector training by measuring similarity between training sets and target domains using object-level features. This enables the elimination of ineffective AL methods before training. Furthermore, $\mathrm{OSS}$ (2) enables the selection of representative validation sets for robust evaluation. We validate our similarity-based approach on three autonomous driving datasets (KITTI, BDD100K, CODA) using uncertainty-based AL methods as a case study with two detector architectures (EfficientDet, YOLOv3). This work is the first to unify AL training and evaluation strategies in object detection based on object similarity. $\mathrm{OSS}$ is detector-agnostic, requires only labeled object crops, and integrates with existing AL pipelines. This provides a practical framework for deploying AL in real-world applications where computational efficiency and evaluation reliability are critical. Code is available at https://mos-ks.github.io/publications/.

cs.CV↗

arXiv2025

Beware of "Explanations" of AI

Understanding the decisions made and actions taken by increasingly complex AI system remains a key challenge. This has led to an expanding field of research in explainable artificial intelligence (XAI), highlighting the potential of explanations to enhance trust, support adoption, and meet regulatory standards. However, the question of what constitutes a "good" explanation is dependent on the goals, stakeholders, and context. At a high level, psychological insights such as the concept of mental model alignment can offer guidance, but success in practice is challenging due to social and technical factors. As a result of this ill-defined nature of the problem, explanations can be of poor quality (e.g. unfaithful, irrelevant, or incoherent), potentially leading to substantial risks. Instead of fostering trust and safety, poorly designed explanations can actually cause harm, including wrong decisions, privacy violations, manipulation, and even reduced AI adoption. Therefore, we caution stakeholders to beware of explanations of AI: while they can be vital, they are not automatically a remedy for transparency or responsible AI adoption, and their misuse or limitations can exacerbate harm. Attention to these caveats can help guide future research to improve the quality and impact of AI explanations.

cs.LG↗

arXiv2025

Building Blocks for Robust and Effective Semi-Supervised Real-World Object Detection

Semi-supervised object detection (SSOD) based on pseudo-labeling significantly reduces dependence on large labeled datasets by effectively leveraging both labeled and unlabeled data. However, real-world applications of SSOD often face critical challenges, including class imbalance, label noise, and labeling errors. We present an in-depth analysis of SSOD under real-world conditions, uncovering causes of suboptimal pseudo-labeling and key trade-offs between label quality and quantity. Based on our findings, we propose four building blocks that can be seamlessly integrated into an SSOD framework. Rare Class Collage (RCC): a data augmentation method that enhances the representation of rare classes by creating collages of rare objects. Rare Class Focus (RCF): a stratified batch sampling strategy that ensures a more balanced representation of all classes during training. Ground Truth Label Correction (GLC): a label refinement method that identifies and corrects false, missing, and noisy ground truth labels by leveraging the consistency of teacher model predictions. Pseudo-Label Selection (PLS): a selection method for removing low-quality pseudo-labeled images, guided by a novel metric estimating the missing detection rate while accounting for class rarity. We validate our methods through comprehensive experiments on autonomous driving datasets, resulting in up to 6% increase in SSOD performance. Overall, our investigation and novel, data-centric, and broadly applicable building blocks enable robust and effective SSOD in complex, real-world scenarios. Code is available at https://mos-ks.github.io/publications.

cs.CV↗

arXiv2025

Deep mixture of linear mixed models for complex longitudinal data

Mixtures of linear mixed models are widely used for modelling longitudinal data for which observation times differ between subjects. In typical applications, temporal trends are described using a basis expansion, with basis coefficients treated as random effects varying by subject. Additional random effects can describe variation between mixture components, or other known sources of variation in complex experimental designs. A key advantage of these models is that they provide a natural mechanism for clustering, which can be helpful for interpretation in many applications. Current versions of mixtures of linear mixed models are not specifically designed for the case where there are many observations per subject and a complex temporal trend, which requires a large number of basis functions to capture. In this case, the subject-specific basis coefficients are a high-dimensional random effects vector, for which the covariance matrix is hard to specify and estimate, especially if it varies between mixture components. To address this issue, we consider the use of recently-developed deep mixture of factor analyzers models as the prior for the random effects. The resulting deep mixture of linear mixed models is well-suited to high-dimensional settings, and we describe an efficient variational inference approach to posterior computation. The efficacy of the method is demonstrated on both real and simulated data.

stat.ME↗

arXiv2025

WeedsGalore: A Multispectral and Multitemporal UAV-based Dataset for Crop and Weed Segmentation in Agricultural Maize Fields

Weeds are one of the major reasons for crop yield loss but current weeding practices fail to manage weeds in an efficient and targeted manner. Effective weed management is especially important for crops with high worldwide production such as maize, to maximize crop yield for meeting increasing global demands. Advances in near-sensing and computer vision enable the development of new tools for weed management. Specifically, state-of-the-art segmentation models, coupled with novel sensing technologies, can facilitate timely and accurate weeding and monitoring systems. However, learning-based approaches require annotated data and show a lack of generalization to aerial imaging for different crops. We present a novel dataset for semantic and instance segmentation of crops and weeds in agricultural maize fields. The multispectral UAV-based dataset contains images with RGB, red-edge, and near-infrared bands, a large number of plant instances, dense annotations for maize and four weed classes, and is multitemporal. We provide extensive baseline results for both tasks, including probabilistic methods to quantify prediction uncertainty, improve model calibration, and demonstrate the approach's applicability to out-of-distribution data. The results show the effectiveness of the two additional bands compared to RGB only, and better performance in our target domain than models trained on existing datasets. We hope our dataset advances research on methods and operational systems for fine-grained weed identification, enhancing the robustness and applicability of UAV-based weed management. The dataset and code are available at https://github.com/GFZ/weedsgalore

cs.CV↗

arXiv2024

Boosting Distributional Copula Regression for Bivariate Right-Censored Time-to-Event Data

We propose a highly flexible distributional copula regression model for bivariate time-to-event data in the presence of right-censoring. The joint survival function of the response is constructed using parametric copulas, allowing for a separate specification of the dependence structure between the time-to-event outcome variables and their respective marginal survival distributions. The latter are specified using well-known parametric distributions such as the log-Normal, log-Logistic (proportional odds model), or Weibull (proportional hazards model) distributions. Hence, the marginal univariate event times can be specified as parametric (also known as Accelerated Failure Time, AFT) models. Embedding our model into the class of generalized additive models for location, scale and shape, possibly all distribution parameters of the joint survival function can depend on covariates. We develop a component-wise gradient-based boosting algorithm for estimation. This way, our approach is able to conduct data-driven variable selection. To the best of our knowledge, this is the first implementation of multivariate AFT models via distributional copula regression with automatic variable selection via statistical boosting. A special merit of our approach is that it works for high-dimensional (p>>n) settings. We illustrate the practical potential of our method on a high-dimensional application related to semi-competing risks responses in ovarian cancer. All of our methods are implemented in the open source statistical software R as add-on functions of the package gamboostLSS.

stat.ME↗

arXiv2024

Truly Multivariate Structured Additive Distributional Regression

Generalized additive models for location, scale and shape (GAMLSS) are a popular extension to mean regression models where each parameter of an arbitrary distribution is modelled through covariates. While such models have been developed for univariate and bivariate responses, the truly multivariate case remains extremely challenging for both computational and theoretical reasons. Alternative approaches to GAMLSS may allow for higher dimensional response vectors to be modelled jointly but often assume a fixed dependence structure not depending on covariates or are limited with respect to modelling flexibility or computational aspects. We contribute to this gap in the literature and propose a truly multivariate distributional model, which allows one to benefit from the flexibility of GAMLSS even when the response has dimension larger than two or three. Building on copula regression, we model the dependence structure of the response through a Gaussian copula, while the marginal distributions can vary across components. Our model is highly parameterized but estimation becomes feasible with Bayesian inference employing shrinkage priors. We demonstrate the competitiveness of our approach in a simulation study and illustrate how it complements existing models along the examples of childhood malnutrition and a yet unexplored data set on traffic detection in Berlin.

stat.ME↗

arXiv2024

Calibrated Multivariate Regression with Localized PIT Mappings

Calibration ensures that predicted uncertainties align with observed uncertainties. While there is an extensive literature on recalibration methods for univariate probabilistic forecasts, work on calibration for multivariate forecasts is much more limited. This paper introduces a novel post-hoc recalibration approach that addresses multivariate calibration for potentially misspecified models. Our method involves constructing local mappings between vectors of marginal probability integral transform values and the space of observations, providing a flexible and model free solution applicable to continuous, discrete, and mixed responses. We present two versions of our approach: one uses K-nearest neighbors, and the other uses normalizing flows. Each method has its own strengths in different situations. We demonstrate the effectiveness of our approach on two real data applications: recalibrating a deep neural network's currency exchange rate forecast and improving a regression model for childhood malnutrition in India for which the multivariate response has both discrete and continuous components.

stat.ME↗

arXiv2024

From Counting Stations to City-Wide Estimates: Data-Driven Bicycle Volume Extrapolation

Shifting to cycling in urban areas reduces greenhouse gas emissions and improves public health. Street-level bicycle volume information would aid cities in planning targeted infrastructure improvements to encourage cycling and provide civil society with evidence to advocate for cyclists' needs. Yet, the data currently available to cities and citizens often only comes from sparsely located counting stations. This paper extrapolates bicycle volume beyond these few locations to estimate bicycle volume for the entire city of Berlin. We predict daily and average annual daily street-level bicycle volumes using machine-learning techniques and various public data sources. These include app-based crowdsourced data, infrastructure, bike-sharing, motorized traffic, socioeconomic indicators, weather, and holiday data. Our analysis reveals that the best-performing model is XGBoost, and crowdsourced cycling and infrastructure data are most important for the prediction. We further simulate how collecting short-term counts at predicted locations improves performance. By providing ten days of such sample counts for each predicted location to the model, we are able to halve the error and greatly reduce the variability in performance among predicted locations.

cs.CY↗

arXiv2024

Dropout Regularization in Extended Generalized Linear Models based on Double Exponential Families

Even though dropout is a popular regularization technique, its theoretical properties are not fully understood. In this paper we study dropout regularization in extended generalized linear models based on double exponential families, for which the dispersion parameter can vary with the features. A theoretical analysis shows that dropout regularization prefers rare but important features in both the mean and dispersion, generalizing an earlier result for conventional generalized linear models. To illustrate, we apply dropout to adaptive smoothing with B-splines, where both the mean and dispersion parameters are modeled flexibly. The important B-spline basis functions can be thought of as rare features, and we confirm in experiments that dropout is an effective form of regularization for mean and dispersion parameters that improves on a penalized maximum likelihood approach with an explicit smoothness penalty. An application to traffic detection data from Berlin further illustrates the benefits of our method.

stat.ML↗

arXiv2024

Enhanced variable selection for boosting sparser and less complex models in distributional copula regression

Structured additive distributional copula regression allows to model the joint distribution of multivariate outcomes by relating all distribution parameters to covariates. Estimation via statistical boosting enables accounting for high-dimensional data and incorporating data-driven variable selection, both of which are useful given the complexity of the model class. However, as known from univariate (distributional) regression, the standard boosting algorithm tends to select too many variables with minor importance, particularly in settings with large sample sizes, leading to complex models with difficult interpretation. To counteract this behavior and to avoid selecting base-learners with only a negligible impact, we combined the ideas of probing, stability selection and a new deselection approach with statistical boosting for distributional copula regression. In a simulation study and an application to the joint modelling of weight and length of newborns, we found that all proposed methods enhance variable selection by reducing the number of false positives. However, only stability selection and the deselection approach yielded similar predictive performance to classical boosting. Finally, the deselection approach is better scalable to larger datasets and led to a competitive predictive performance, which we further illustrated in a genomic cohort study from the UK Biobank by modelling the joint genetic predisposition for two phenotypes.

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