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Zachary McNulty

Publications and source records attributed to Zachary McNulty.

3 recordsLinked to original sources

Self-Balancing Sequential Sampling: Fast Convergence with Controlled Predictability

Many instances of sequential sampling, including audit and inspection scheduling, representative sampling, and treatment assignment, require selections to be distributed evenly without becoming easy to anticipate or exploit. We study a family of sequential sampling rules that adaptively bias sampling probabilities in order to achieve faster convergence of the empirical distribution to a desired target law, while keeping the resulting samples as unpredictable as possible. The resulting self-balancing sampler is simple to implement, arises naturally among a class of Markovian samplers sharing a certain invariance property, and admits a stochastic mirror-descent interpretation. Our main results show that (i) this self-balancing sampler converges at the fastest possible $O(n^{-1})$ rate with explicit dependence on biasing parameters, beating the standard $O(n^{-1/2})$ rate of IID sampling, (ii) it is the unique solution to a natural entropy-regularized optimization problem which balances the convergence rate of the empirical law and the unpredictability of the samples, and (iii) in the weak-biasing regime, the properly centered counts process converges to an Ornstein-Uhlenbeck process in the diffusive limit. Together, these results support a practical framework for reducing repeated selections and long gaps in coverage without making future selections overly predictable.

math.PR

An Improved Bipartition Cover Bound for the Multispecies Coalescent Model

Bipartition cover probabilities quantify whether a collection of gene trees contains every bipartition of the underlying species tree, a condition that underlies finite-sample guarantees for summary methods such as ASTRAL. We study this problem under the multispecies coalescent (MSC) model and derive topology-free upper bounds on the number of loci required to obtain a bipartition cover with prescribed confidence, improving upon the existing bounds of Uricchio et al. (2016). Practically, our bounds remain below biologically realistic numbers of loci across a substantially broader range of parameter settings, expanding their usefulness for empirical datasets. Theoretically, our analysis sharpens our understanding of coalescence under the MSC model and develops new asymptotics for these bounds and absorption times under Kingman's coalescent in the natural short branch regime. We further compare our new bounds with existing work using simulations under a variety of different species-tree topologies.

math.PR

Automated Plan Refinement for Improving Efficiency of Robotic Layup of Composite Sheets

The automation of composite sheet layup is essential to meet the increasing demand for composite materials in various industries. However, draping plans for the robotic layup of composite sheets are not robust. A plan that works well under a certain condition does not work well in a different condition. Changes in operating conditions due to either changes in material properties or working environment may lead a draping plan to exhibit suboptimal performance. In this paper, we present a comprehensive framework aimed at refining plans based on the observed execution performance. Our framework prioritizes the minimization of uncompacted regions while simultaneously improving time efficiency. To achieve this, we integrate human expertise with data-driven decision-making to refine expert-crafted plans for diverse production environments. We conduct experiments to validate the effectiveness of our approach, revealing significant reductions in the number of corrective paths required compared to initial expert-crafted plans. Through a combination of empirical data analysis, action-effectiveness modeling, and search-based refinement, our system achieves superior time efficiency in robotic layup. Experimental results demonstrate the efficacy of our approach in optimizing the layup process, thereby advancing the state-of-the-art in composite manufacturing automation.

cs.RO