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Geoffrey Liu

Publications and source records attributed to Geoffrey Liu.

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Average Treatment Effect Estimation with Non-binary Instrumental Variables

Non-binary instrumental variables, especially continuous ones, are common in practice. A binary recoding induces a Wald ratio but may discard useful variation and reduce efficiency. Although fully nonparametric approaches can in principle use the entire instrument, they often require high-dimensional nuisance estimation which can be unstable with rich covariates. We address this problem by developing a generalized Wald estimand for binary treatments that uses the full variation in a non-binary instrument. Under standard instrumental-variable assumptions and a homogeneity condition, the estimand yields a common identification formula for categorical and continuous instruments. We further develop its semiparametric efficiency theory and construct a locally efficient debiased estimator using risk-minimization reparameterizations and double cross-fitting to accommodate flexible machine learning while improving numerical stability. The central technical challenge is that the many Wald ratios generated by a non-binary instrument must agree, thereby imposing overidentifying restrictions on the observed-data law. In this setting, characterizing the tangent space is nonstandard: it requires a second-order parametric submodel, a construction that, to our knowledge, has not been standard in semiparametric efficiency theory. Simulations show stable performance across sample sizes and greater efficiency than estimators based on dichotomized instruments. In an application to the Princess Margaret Cancer Centre lung cancer cohort, associational analyses link excess body weight to lower two-year mortality, a seemingly protective pattern often called the obesity paradox. The proposed instrumental-variable analysis instead suggests increased mortality, pointing to residual confounding behind this paradox.

stat.ME

Smart Speech Segmentation using Acousto-Linguistic Features with look-ahead

Segmentation for continuous Automatic Speech Recognition (ASR) has traditionally used silence timeouts or voice activity detectors (VADs), which are both limited to acoustic features. This segmentation is often overly aggressive, given that people naturally pause to think as they speak. Consequently, segmentation happens mid-sentence, hindering both punctuation and downstream tasks like machine translation for which high-quality segmentation is critical. Model-based segmentation methods that leverage acoustic features are powerful, but without an understanding of the language itself, these approaches are limited. We present a hybrid approach that leverages both acoustic and language information to improve segmentation. Furthermore, we show that including one word as a look-ahead boosts segmentation quality. On average, our models improve segmentation-F0.5 score by 9.8% over baseline. We show that this approach works for multiple languages. For the downstream task of machine translation, it improves the translation BLEU score by an average of 1.05 points.

cs.CL

Behavioral Repertoires for Soft Tensegrity Robots

Mobile soft robots offer compelling applications in fields ranging from urban search and rescue to planetary exploration. A critical challenge of soft robotic control is that the nonlinear dynamics imposed by soft materials often result in complex behaviors that are counterintuitive and hard to model or predict. As a consequence, most behaviors for mobile soft robots are discovered through empirical trial and error and hand-tuning. A second challenge is that soft materials are difficult to simulate with high fidelity -- leading to a significant reality gap when trying to discover or optimize new behaviors. In this work we employ a Quality Diversity Algorithm running model-free on a physical soft tensegrity robot that autonomously generates a behavioral repertoire with no a priori knowledge of the robot dynamics, and minimal human intervention. The resulting behavior repertoire displays a diversity of unique locomotive gaits useful for a variety of tasks. These results help provide a road map for increasing the behavioral capabilities of mobile soft robots through real-world automation.

cs.RO