Testing non-nested structural equation models

In this paper, we apply Vuong's (1989) likelihood ratio tests of non-nested models to the comparison of non-nested structural equation models. Similar tests have been previously applied in SEM contexts (especially to mixture models), though the non-standard output required to conduct the tests has limited their previous use and study. We review the theory underlying the tests and show how they can be used to construct interval estimates for differences in non-nested information criteria. Through both simulation and application, we then study the tests' performance in non-mixture SEMs and describe their general implementation via free R packages. The tests offer researchers a useful tool for non-nested SEM comparison, with barriers to test implementation now removed.Comment: 24 pages, 6 figure

European White Book on Real-Time Power Hardware in the Loop Testing : DERlab Report No. R- 005.0

The European White Book on Real-Time-Powerhardware-in-the-Loop testing is intended to serve as a reference document on the future of testing of electrical power equipment, with specifi c focus on the emerging hardware-in-the-loop activities and application thereof within testing facilities and procedures. It will provide an outlook of how this powerful tool can be utilised to support the development, testing and validation of specifi cally DER equipment. It aims to report on international experience gained thus far and provides case studies on developments and specifi c technical issues, such as the hardware/software interface. This white book compliments the already existing series of DERlab European white books, covering topics such as grid-inverters and grid-connected storag

Analysis of Testing-Based Forward Model Selection

This paper introduces and analyzes a procedure called Testing-based forward model selection (TBFMS) in linear regression problems. This procedure inductively selects covariates that add predictive power into a working statistical model before estimating a final regression. The criterion for deciding which covariate to include next and when to stop including covariates is derived from a profile of traditional statistical hypothesis tests. This paper proves probabilistic bounds, which depend on the quality of the tests, for prediction error and the number of selected covariates. As an example, the bounds are then specialized to a case with heteroskedastic data, with tests constructed with the help of Huber-Eicker-White standard errors. Under the assumed regularity conditions, these tests lead to estimation convergence rates matching other common high-dimensional estimators including Lasso

Deep Drone Racing: From Simulation to Reality with Domain Randomization

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of autonomous, vision-based drone racing in dynamic environments. A racing drone must traverse a track with possibly moving gates at high speed. We enable this functionality by combining the performance of a state-of-the-art planning and control system with the perceptual awareness of a convolutional neural network (CNN). The resulting modular system is both platform- and domain-independent: it is trained in simulation and deployed on a physical quadrotor without any fine-tuning. The abundance of simulated data, generated via domain randomization, makes our system robust to changes of illumination and gate appearance. To the best of our knowledge, our approach is the first to demonstrate zero-shot sim-to-real transfer on the task of agile drone flight. We extensively test the precision and robustness of our system, both in simulation and on a physical platform, and show significant improvements over the state of the art.Comment: Accepted as a Regular Paper to the IEEE Transactions on Robotics Journal. arXiv admin note: substantial text overlap with arXiv:1806.0854

Model Adaptation with Synthetic and Real Data for Semantic Dense Foggy Scene Understanding

This work addresses the problem of semantic scene understanding under dense fog. Although considerable progress has been made in semantic scene understanding, it is mainly related to clear-weather scenes. Extending recognition methods to adverse weather conditions such as fog is crucial for outdoor applications. In this paper, we propose a novel method, named Curriculum Model Adaptation (CMAda), which gradually adapts a semantic segmentation model from light synthetic fog to dense real fog in multiple steps, using both synthetic and real foggy data. In addition, we present three other main stand-alone contributions: 1) a novel method to add synthetic fog to real, clear-weather scenes using semantic input; 2) a new fog density estimator; 3) the Foggy Zurich dataset comprising $3808$ real foggy images, with pixel-level semantic annotations for $16$ images with dense fog. Our experiments show that 1) our fog simulation slightly outperforms a state-of-the-art competing simulation with respect to the task of semantic foggy scene understanding (SFSU); 2) CMAda improves the performance of state-of-the-art models for SFSU significantly by leveraging unlabeled real foggy data. The datasets and code are publicly available.Comment: final version, ECCV 201