arXiv subjects

Junming Shi

Publications and source records attributed to Junming Shi.

4 recordsLinked to original sources

arXiv2026

AMP2026: A Multi-Platform Marine Robotics Dataset for Tracking and Mapping

Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial Marine Perception Dataset (AMP2026), a multi-platform marine robotics dataset collected across multiple field deployments designed to support research in two primary areas: multi-view tracking and marine environment mapping. The dataset includes synchronized data from aerial drones, boat-mounted cameras, and submerged robotic platforms, along with associated localization and telemetry information. The goal of this work is to provide a publicly available dataset enabling research in marine perception and multi-robot observation scenarios. This paper describes the data collection methodology, sensor configurations, dataset organization, and intended research tasks supported by the dataset.

cs.RO↗

arXiv2025

Stable Multi-Drone GNSS Tracking System for Marine Robots

Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational demands, or infrastructure dependence. In this work, we present a multi-drone GNSS-based tracking system for surface and near-surface marine robots. Our approach combines efficient visual detection, lightweight multi-object tracking, GNSS-based triangulation, and a confidence-weighted Extended Kalman Filter (EKF) to provide stable GNSS estimation in real time. We further introduce a cross-drone tracking ID alignment algorithm that enforces global consistency across views, enabling robust multi-robot tracking with cooperative aerial coverage. We validate our system in diversified complex settings to show the accuracy and robustness of the proposed algorithm.

cs.RO↗

arXiv2025

Constructing Confidence Intervals for Infinite-Dimensional Functional Parameters by Highly Adaptive Lasso

Estimating the conditional mean function is a central task in statistical learning. In this paper, we consider estimation and inference for a nonparametric class of real-valued cadlag functions with bounded sectional variation (Gill et al., 1995), using the Highly Adaptive Lasso (HAL) (van der Laan, 2015; Benkeser and van der Laan, 2016; van der Laan, 2023), a flexible empirical risk minimizer over linear combinations of tensor products of zero- or higher-order spline basis functions under an L1 norm constraint. Building on recent theoretical advances in asymptotic normality and uniform convergence rates for higher-order spline HAL estimators, this work focuses on constructing robust confidence intervals for HAL-based estimators of conditional means. First, we propose a targeted HAL with a debiasing step to remove the regularization bias of the targeted conditional mean and also consider a relaxed HAL estimator to reduce such bias within the working model. Second, we propose both global and local undersmoothing strategies to adaptively enlarge the working model and further reduce bias relative to variance. Third, we combine these estimation strategies with delta-method-based variance estimators to construct confidence intervals for the conditional mean. Through extensive simulation studies, we evaluate different combinations of our estimation procedures, model selection strategies, and confidence-interval constructions. The results show that our proposed approaches substantially reduce bias relative to variance and yield confidence intervals with coverage rates close to nominal levels across different scenarios. Finally, we demonstrate the general applicability of our framework by estimating conditional average treatment effect (CATE) functions, highlighting how HAL-based inference methods extend to other infinite-dimensional, non-pathwise-differentiable parameters.

stat.ME↗

arXiv2024

HAL-Based Plug-in Estimation with Pointwise Asymptotic Normality of the Causal Dose-Response Curve

Estimating and obtaining reliable inference for the marginally adjusted causal dose-response curve for continuous treatments without relying on parametric assumptions is a well-known statistical challenge. Parametric models risk introducing significant bias through model misspecification, compromising the accurate representation of the underlying data and dose-response relationship. On the other hand, nonparametric models face difficulties as the dose-response curve is not pathwise differentiable, preventing consistent estimation at standard rates. The Highly Adaptive Lasso (HAL) maximum likelihood estimator offers a promising approach to this issue. In this paper, we introduce a HAL-based plug-in estimator for the causal dose-response curve, bridge theoretical development and empirical application, and assess its empirical performance against other estimators. This work emphasizes not just theoretical proofs, but also demonstrates their application through comprehensive simulations, thereby filling an essential gap between theory and practice. Our comprehensive simulations demonstrate that the HAL-based estimator achieves pointwise asymptotic normality with valid inference and consistently outperforms existing approaches for estimating the causal dose-response curve.

stat.ME↗