On Offline Evaluation of Vision-based Driving Models

Autonomous driving models should ideally be evaluated by deploying them on a fleet of physical vehicles in the real world. Unfortunately, this approach is not practical for the vast majority of researchers. An attractive alternative is to evaluate models offline, on a pre-collected validation dataset with ground truth annotation. In this paper, we investigate the relation between various online and offline metrics for evaluation of autonomous driving models. We find that offline prediction error is not necessarily correlated with driving quality, and two models with identical prediction error can differ dramatically in their driving performance. We show that the correlation of offline evaluation with driving quality can be significantly improved by selecting an appropriate validation dataset and suitable offline metrics. The supplementary video can be viewed at https://www.youtube.com/watch?v=P8K8Z-iF0cYComment: Published at the ECCV 2018 conferenc

Loss of brain inter-frequency hubs in Alzheimer's disease

Alzheimer's disease (AD) causes alterations of brain network structure and function. The latter consists of connectivity changes between oscillatory processes at different frequency channels. We proposed a multi-layer network approach to analyze multiple-frequency brain networks inferred from magnetoencephalographic recordings during resting-states in AD subjects and age-matched controls. Main results showed that brain networks tend to facilitate information propagation across different frequencies, as measured by the multi-participation coefficient (MPC). However, regional connectivity in AD subjects was abnormally distributed across frequency bands as compared to controls, causing significant decreases of MPC. This effect was mainly localized in association areas and in the cingulate cortex, which acted, in the healthy group, as a true inter-frequency hub. MPC values significantly correlated with memory impairment of AD subjects, as measured by the total recall score. Most predictive regions belonged to components of the default-mode network that are typically affected by atrophy, metabolism disruption and amyloid-beta deposition. We evaluated the diagnostic power of the MPC and we showed that it led to increased classification accuracy (78.39%) and sensitivity (91.11%). These findings shed new light on the brain functional alterations underlying AD and provide analytical tools for identifying multi-frequency neural mechanisms of brain diseases.Comment: 27 pages, 6 figures, 3 tables, 3 supplementary figure

Adaptive Resonance: An Emerging Neural Theory of Cognition

Adaptive resonance is a theory of cognitive information processing which has been realized as a family of neural network models. In recent years, these models have evolved to incorporate new capabilities in the cognitive, neural, computational, and technological domains. Minimal models provide a conceptual framework, for formulating questions about the nature of cognition; an architectural framework, for mapping cognitive functions to cortical regions; a semantic framework, for precisely defining terms; and a computational framework, for testing hypotheses. These systems are here exemplified by the distributed ART (dART) model, which generalizes localist ART systems to allow arbitrarily distributed code representations, while retaining basic capabilities such as stable fast learning and scalability. Since each component is placed in the context of a unified real-time system, analysis can move from the level of neural processes, including learning laws and rules of synaptic transmission, to cognitive processes, including attention and consciousness. Local design is driven by global functional constraints, with each network synthesizing a dynamic balance of opposing tendencies. The self-contained working ART and dART models can also be transferred to technology, in areas that include remote sensing, sensor fusion, and content-addressable information retrieval from large databases.Office of Naval Research and the defense Advanced Research Projects Agency (N00014-95-1-0409, N00014-1-95-0657); National Institutes of Health (20-316-4304-5