A Scalable and Extensible Framework for Superposition-Structured Models

In many learning tasks, structural models usually lead to better interpretability and higher generalization performance. In recent years, however, the simple structural models such as lasso are frequently proved to be insufficient. Accordingly, there has been a lot of work on "superposition-structured" models where multiple structural constraints are imposed. To efficiently solve these "superposition-structured" statistical models, we develop a framework based on a proximal Newton-type method. Employing the smoothed conic dual approach with the LBFGS updating formula, we propose a scalable and extensible proximal quasi-Newton (SEP-QN) framework. Empirical analysis on various datasets shows that our framework is potentially powerful, and achieves super-linear convergence rate for optimizing some popular "superposition-structured" statistical models such as the fused sparse group lasso

Robot Composite Learning and the Nunchaku Flipping Challenge

Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. In this paper, we present a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation. The method tackles advanced motor skills that require dynamic time-critical maneuver, complex contact control, and handling partly soft partly rigid objects. We also introduce the "nunchaku flipping challenge", an extreme test that puts hard requirements to all these three aspects. Continued from our previous presentations, this paper introduces the latest update of the composite learning scheme and the physical success of the nunchaku flipping challenge

High-dimensional genome-wide association study and misspecified mixed model analysis

We study behavior of the restricted maximum likelihood (REML) estimator under a misspecified linear mixed model (LMM) that has received much attention in recent gnome-wide association studies. The asymptotic analysis establishes consistency of the REML estimator of the variance of the errors in the LMM, and convergence in probability of the REML estimator of the variance of the random effects in the LMM to a certain limit, which is equal to the true variance of the random effects multiplied by the limiting proportion of the nonzero random effects present in the LMM. The aymptotic results also establish convergence rate (in probability) of the REML estimators as well as a result regarding convergence of the asymptotic conditional variance of the REML estimator. The asymptotic results are fully supported by the results of empirical studies, which include extensive simulation studies that compare the performance of the REML estimator (under the misspecified LMM) with other existing methods.Comment: 3 figure

Carbon Quantum Dots: A Component of Efficient Visible Light Photocatalysts

Carbon quantum dots (CQDs) have been developed as a new member of nanocarbons, characterized by the relatively easy preparation from a wide spectrum of carbonaceous precursors through either bottom-up or top-down routes. Attractive optoelectronic properties have been observed with CQDs, including efficient light absorption, variable photoluminescence (PL), unique up-conversion PL and prominent electron transport ability, which make CQDs an important component with great potential in the design of efficient visible light-driven photocatalysts. In this chapter, detailed contribution of CQDs to the enhanced visible light-driven photocatalysis will be included, in the classification of the role as electron mediator, photosensitizer, spectral converter and sole photocatalyst