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Zihao Yuan

Publications and source records attributed to Zihao Yuan.

10 recordsLinked to original sources

Safe and Sharp Honest Inference for Nonparametric Estimation via Empirical Bernstein Calibration

Constructing honest confidence intervals often depends on reliable bias control and accurate calibration based on asymptotic normality, including standard-normal and folded-normal calibration. Substantial progress has been made in correcting or controlling smoothing bias, including robust bias correction and bias-aware inference. We first show that, even after smoothing bias has been well corrected or controlled, asymptotic-normality-based calibration may still be a binding source of finite-sample undercoverage. Thus, the resulting intervals may struggle to achieve the minimax shrinkage rate and uniformly small undercoverage error simultaneously. Instead of using distributional approximation, we calibrate the radius directly by combining an empirical Bernstein bound, a data-driven variance proxy, Lepski-type bandwidth selection, and a bias-aware fixed-length-radius criterion. The formal theory covers nonparametric regression and density estimation, with regression results ranging from local-polynomial to sieve estimators. The resulting empirical Bernstein confidence intervals are safe and sharp. Uniformly over functions with $S$-th order local smoothness, both one-sided and two-sided intervals attain nominal coverage up to $o(n^{-2S/(2S+1)})$, or exponential remainders under bounded or sub-Gaussian conditions, while their widths shrink at the minimax rate $n^{-S/(2S+1)}$ (or up to a $\sqrt{\log n}$-level factor). The calibration principle is modular and can also be combined with other existing bias-control strategies, like robust bias correction. Thus, the contribution of this paper is not a bias-control device but a new angle of calibration. Compared with asymptotic-normality-based calibration, empirical Bernstein calibration safely and conveniently converts the specified smoothness into both coverage accuracy and interval-length efficiency. Simulations support the theory.

math.ST

Validating spatial-temporal separability for stationary processes

A crucial assumption to reduce computational complexity in spatial-temporal data analysis is separability, which factors the covariance structure into a purely spatial and a purely temporal component. In this paper, we develop statistical inference tools for validating this assumption for a second-order stationary process under both domain-expanding-infill asymptotics and domain-expanding asymptotics. In contrast to previous work on this subject, the methodology neither requires the assumption of normally distributed data, nor uses spectral methods. Our approach is based on nonparametric estimates of measures for the deviation between the covariance matrix and separable approximations, which vanish if and only if the assumption of separability is satisfied. We derive the asymptotic distributions of appropriate estimators for these measures with non-standard limiting distributions and use these results to develop inference tools for validating the assumption of separability. More specifically, we derive confidence intervals for the deviation measures, tests for the hypothesis of exact separability, and for the hypothesis that the deviation from separability is smaller than a prespecified threshold.

math.ST

Self-Normalized Concentration Inequalities of Marginal Mean with Sample Variance Only

(This is the third version of a working paper.) We develop a family of self-normalized concentration inequalities for marginal mean under martingale-difference structure and $ϕ/\tildeϕ$-mixing conditions, where the latter includes many processes that are not strongly mixing. The variance term is fully data-observable: naive sample variance in the martingale case and an empirical block long-run variance under mixing conditions. Thus, no predictable variance proxy is required. No specific assumption on the decay of the mixing coefficients (e.g. summability) is needed for the validity. The constants are explicit and the bounds are ready to use.

math.ST

Look-to-Touch: A Vision-Enhanced Proximity and Tactile Sensor for Distance and Geometry Perception in Robotic Manipulation

Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with additional sensors, which makes the system bulky and limits its adaptability to unstructured environments. In this work, we present a vision-enhanced camera-based dual-modality sensor, which realizes full-scale distance sensing from 50 cm to -3 mm while simultaneously keeping ultra-high-resolution texture sensing and reconstruction capabilities. Unlike conventional designs with fixed opaque gel layers, our sensor features a partially transparent sliding window, enabling mechanical switching between tactile and visual modes. For each sensing mode, a dynamic distance sensing model and a contact geometry reconstruction model are proposed. Through integration with soft robotic fingers, we systematically evaluate the performance of each mode, as well as in their synergistic operation. Experimental results show robust distance tracking across various speeds, nanometer-scale roughness detection, and sub-millimeter 3D texture reconstruction. The combination of both modalities improves the robot's efficiency in executing grasping tasks. Furthermore, the embedded mechanical transmission in the sensor allows for fine-grained intra-hand adjustments and precise manipulation, unlocking new capabilities for soft robotic hands.

cs.RO

Bernstein-type Inequalities and Nonparametric Estimation under Near-Epoch Dependence

The major contributions of this paper lie in two aspects. Firstly, we focus on deriving Bernstein-type inequalities for both geometric and algebraic irregularly-spaced NED random fields, which contain time series as special case. Furthermore, by introducing the idea of "effective dimension" to the index set of random field, our results reflect that the sharpness of inequalities are only associated with this "effective dimension". Up to the best of our knowledge, our paper may be the first one reflecting this phenomenon. Hence, the first contribution of this paper can be more or less regarded as an update of the pioneering work from \citeA{xu2018sieve}. Additionally, as a corollary of our first contribution, a Bernstein-type inequality for geometric irregularly-spaced $α$-mixing random fields is also obtained. The second aspect of our contributions is that, based on the inequalities mentioned above, we show the $L_{\infty}$ convergence rate of the many interesting kernel-based nonparametric estimators. To do this, two deviation inequalities for the supreme of empirical process are derived under NED and $α$-mixing conditions respectively. Then, for irregularly-spaced NED random fields, we prove the attainability of optimal rate for local linear estimator of nonparametric regression, which refreshes another pioneering work on this topic, \citeA{jenish2012nonparametric}. Subsequently, we analyze the uniform convergence rate of uni-modal regression under the same NED conditions as well. Furthermore, by following the guide of \citeA{rigollet2009optimal}, we also prove that the kernel-based plug-in density level set estimator could be optimal up to a logarithm factor. Meanwhile, when the data is collected from $α$-mixing random fields, we also derive the uniform convergence rate of a simple local polynomial density estimator \cite{cattaneo2020simple}.

math.ST

Exponential Inequalities for Some Mixing Processes and Dynamic Systems

Many important dynamic systems, time series models or even algorithms exhibit non-strong mixing properties. In this paper, we introduce the general concept of $\mathcal{C}_{p,\mathcal{F}}$-mixing to cover such cases, where assumptions on the dependence structure become stronger with increasing $p\in [1, \infty].$ We derive a series of sharp exponential-type (or Bernstein-type) inequalities under this dependence concept for $p=1$ and $p=\infty$. More specifically, $\mathcal{C}_{\infty,\mathcal{F}}$-mixing is equal to the widely discussed $\mathcal{C}$-mixing \citep{maume2006exponential}, and we prove a refinement of an Berntsein-type inequality in \cite{hang2017bernstein} for $\mathcal{C}$-mixing processes under more general assumptions. As there exist many stochastic processes and dynamic systems, which are not $\mathcal{C}$ (or $\mathcal{C}_{\infty,\mathcal{F}}$)-mixing, we derive Bernstein-type inequalities for $\mathcal{C}_{1,\mathcal{F}}$-mixing processes as well and we use this result to investigate the convergence rates of plug-in-type estimators of the local conditional mode set for vector-valued output, in particular in situations where the density is less smooth.

math.ST

Mechanics of soft-body rolling motion without external torque

The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through functional imaging and ablation experiments, we demonstrate that the sequential actuation of axial muscles within an appropriate range of angles is critical for generating rolling. We model the interplay between muscle contraction, hydrostatic skeleton deformation, and body-environment interactions, and systematically explain how sequential muscle actuation generates the rolling motion. Additionally, we constructed a pneumatic soft robot to mimic the larval rolling strategy, successfully validating our model. This mechanics model of soft-body rolling motion not only advances the study of related neural circuits, but also holds potential for applications in soft robotics.

cond-mat.soft

An Note on Why Geographically Weighted Regression Overcomes Multidimensional-Kernel-Based Varying-Coefficient Model

It is widely known that geographically weighted regression(GWR) is essentially same as varying-coefficient model. In the former research about varying-coefficient model, scholars tend to use multidimensional-kernel-based locally weighted estimation(MLWE) so that information of both distance and direction is considered. However, when we construct the local weight matrix of geographically weighted estimation, distance among the locations in the neighbor is the only factor controlling the value of entries of weight matrix. In other word, estimation of GWR is distance-kernel-based. Thus, in this paper, under stationary and limited dependent data with multidimensional subscripts, we analyze the local mean squared properties of without any assumption of the form of coefficient functions and compare it with MLWE. According to the theoretical and simulation results, geographically-weighted locally linear estimation(GWLE) is asymptotically more efficient than MLWE. Furthermore, a relationship between optimal bandwith selection and design of scale parameters is also obtained.

econ.EM

A Nonparametric Approach to Measure the Heterogeneous Spatial Association: Under Spatial Temporal Data

Spatial association and heterogeneity are two critical areas in the research about spatial analysis, geography, statistics and so on. Though large amounts of outstanding methods has been proposed and studied, there are few of them tend to study spatial association under heterogeneous environment. Additionally, most of the traditional methods are based on distance statistic and spatial weighted matrix. However, in some abstract spatial situations, distance statistic can not be applied since we can not even observe the geographical locations directly. Meanwhile, under these circumstances, due to invisibility of spatial positions, designing of weight matrix can not absolutely avoid subjectivity. In this paper, a new entropy-based method, which is data-driven and distribution-free, has been proposed to help us investigate spatial association while fully taking the fact that heterogeneity widely exist. Specifically, this method is not bounded with distance statistic or weight matrix. Asymmetrical dependence is adopted to reflect the heterogeneity in spatial association for each individual and the whole discussion in this paper is performed on spatio-temporal data with only assuming stationary m-dependent over time.

econ.EM

Hardware-Driven Nonlinear Activation for Stochastic Computing Based Deep Convolutional Neural Networks

Recently, Deep Convolutional Neural Networks (DCNNs) have made unprecedented progress, achieving the accuracy close to, or even better than human-level perception in various tasks. There is a timely need to map the latest software DCNNs to application-specific hardware, in order to achieve orders of magnitude improvement in performance, energy efficiency and compactness. Stochastic Computing (SC), as a low-cost alternative to the conventional binary computing paradigm, has the potential to enable massively parallel and highly scalable hardware implementation of DCNNs. One major challenge in SC based DCNNs is designing accurate nonlinear activation functions, which have a significant impact on the network-level accuracy but cannot be implemented accurately by existing SC computing blocks. In this paper, we design and optimize SC based neurons, and we propose highly accurate activation designs for the three most frequently used activation functions in software DCNNs, i.e, hyperbolic tangent, logistic, and rectified linear units. Experimental results on LeNet-5 using MNIST dataset demonstrate that compared with a binary ASIC hardware DCNN, the DCNN with the proposed SC neurons can achieve up to 61X, 151X, and 2X improvement in terms of area, power, and energy, respectively, at the cost of small precision degradation.In addition, the SC approach achieves up to 21X and 41X of the area, 41X and 72X of the power, and 198200X and 96443X of the energy, compared with CPU and GPU approaches, respectively, while the error is increased by less than 3.07%. ReLU activation is suggested for future SC based DCNNs considering its superior performance under a small bit stream length.

cs.CV