Vítor Santos

Lucas Cardoso, Vitor Santos, José Ribeiro et al.

Benchmarking is a fundamental practice in machine learning (ML) for comparing the performance of classification algorithms. However, traditional evaluation methods often overlook a critical aspect: the joint consideration of dataset complexity and an algorithm's ability to generalize. Without this dual perspective, assessments may favor models that perform well on easy instances while failing to capture their true robustness. To address this limitation, this study introduces a novel evaluation methodology that combines Item Response Theory (IRT) with the Glicko-2 rating system, originally developed to measure player strength in competitive games. IRT assesses classifier ability based on performance over difficult instances, while Glicko-2 updates performance metrics - such as rating, deviation, and volatility - via simulated tournaments between classifiers. This combined approach provides a fairer and more nuanced measure of algorithm capability. A case study using the OpenML-CC18 benchmark showed that only 15% of the datasets are truly challenging and that a reduced subset with 50% of the original datasets offers comparable evaluation power. Among the algorithms tested, Random Forest achieved the highest ability score. The results highlight the importance of improving benchmark design by focusing on dataset quality and adopting evaluation strategies that reflect both difficulty and classifier proficiency.

Daniel Coelho, Miguel Oliveira, Vitor Santos

Current approaches of Reinforcement Learning (RL) applied in urban Autonomous Driving (AD) focus on decoupling the perception training from the driving policy training. The main reason is to avoid training a convolution encoder alongside a policy network, which is known to have issues related to sample efficiency, degenerated feature representations, and catastrophic self-overfitting. However, this paradigm can lead to representations of the environment that are not aligned with the downstream task, which may result in suboptimal performances. To address this limitation, this paper proposes RLAD, the first Reinforcement Learning from Pixels (RLfP) method applied in the urban AD domain. We propose several techniques to enhance the performance of an RLfP algorithm in this domain, including: i) an image encoder that leverages both image augmentations and Adaptive Local Signal Mixing (A-LIX) layers; ii) WayConv1D, which is a waypoint encoder that harnesses the 2D geometrical information of the waypoints using 1D convolutions; and iii) an auxiliary loss to increase the significance of the traffic lights in the latent representation of the environment. Experimental results show that RLAD significantly outperforms all state-of-the-art RLfP methods on the NoCrash benchmark. We also present an infraction analysis on the NoCrash-regular benchmark, which indicates that RLAD performs better than all other methods in terms of both collision rate and red light infractions.