Sampling-based planners are the predominant motion planning paradigm for robots. Majority of sampling-based planners use a global random sampling scheme to guarantee completeness. However, these schemes are sample inefficient as the majority of the samples are wasted in narrow passages. Consequently, information about the local structure is neglected. Local sampling-based motion planners, on the other hand, take sequential decisions of random walks to samples valid trajectories in configuration space. However, current approaches do not adapt their strategies according to the success and failures of past samples. In this work, we introduce a local sampling-based motion planner with a Bayesian update scheme for modelling a sampling proposal distribution. The proposal distribution is sequentially updated based on previous sample outcomes, consequently shaping the proposal distribution according to local obstacles and constraints in the configuration space. Thus, through learning from past observed outcomes, we can maximise the likelihood of sampling in regions that have a higher probability to form trajectories within narrow passages.

Researchers are often faced with the challenge of developing statistical models with incomplete data. Exacerbating this situation is the possibility that either the researcher's complete-data model or the model of the missing-data mechanism is misspecified. In this article, we create a formal theoretical framework for developing statistical models and detecting model misspecification in the presence of incomplete data where maximum likelihood estimates are obtained by maximizing the observable-data likelihood function when the missing-data mechanism is assumed ignorable. First, we provide sufficient regularity conditions on the researcher's complete-data model to characterize the asymptotic behavior of maximum likelihood estimates in the simultaneous presence of both missing data and model misspecification. These results are then used to derive robust hypothesis testing methods for possibly misspecified models in the presence of Missing at Random (MAR) or Missing Not at Random (MNAR) missing data.

Bayes' Theorem is something that confuses and frustrates many, but is not as awful as many make it out to be. While the formula for "Bae's Theorem" given in the graphic above is silly, doesn't make mathematical sense, and borders on being NSFW, it does help illustrate what the problem statement is (something that throws many, as intuitively it seems kind of backwards). Given that Netflix is occurring, one would want to know the probability of'chill', NOT the other way around. Granted, the right side of the equation is complete nonsense, but the left-side is actually a good mnemonic device, especially given that part of the reason so many students tune-out while learning mathematics is due to the dry sterility of the presentation. The theorem essentially states that: the probability of event A given event B is equal to the probability of B given event A times the probability of event A divided by the probability of B. Which seems very complex without breaking it down bit by bit.

In this paper, we aimed at reviewing present literature on employing nonlinear analysis in combination with machine learning methods, in depression detection or prediction task. We are focusing on an affordable data-driven approach, applicable for everyday clinical practice, and in particular, those based on electroencephalographic (EEG) recordings. Among those studies utilizing EEG, we are discussing a group of applications used for detecting the depression based on the resting state EEG (detection studies) and interventional studies (using stimulus in their protocols or aiming to predict the outcome of therapy). We conclude with a discussion and review of guidelines to improve the reliability of developed models that could serve the improvement of diagnostic and more accurate treatment of depression.

A hierarchical Bayesian classifier is trained at pixel scale with spectral data from the CRISM (Compact Reconnaissance Imaging Spectrometer for Mars) imagery. Its utility in detecting rare phases is demonstrated with new geologic discoveries near the Mars-2020 rover landing site. Akaganeite is found in sediments on the Jezero crater floor and in fluvial deposits at NE Syrtis. Jarosite and silica are found on the Jezero crater floor while chlorite-smectite and Al phyllosilicates are found in the Jezero crater walls. These detections point to a multi-stage, multi-chemistry history of water in Jezero crater and the surrounding region and provide new information for guiding the Mars-2020 rover's landed exploration. In particular, the akaganeite, silica, and jarosite in the floor deposits suggest either a later episode of salty, Fe-rich waters that post-date Jezero delta or groundwater alteration of portions of the Jezero sedimentary sequence.

Radio tomographic imaging (RTI) is an emerging technology for localization of physical objects in a geographical area covered by wireless networks. With attenuation measurements collected at spatially distributed sensors, RTI capitalizes on spatial loss fields (SLFs) measuring the absorption of radio frequency waves at spatial locations along the propagation path. These SLFs can be utilized for interference management in wireless communication networks, environmental monitoring, and survivor localization after natural disasters such as earthquakes. Key to the success of RTI is to accurately model shadowing as the weighted line integral of the SLF. To learn the SLF exhibiting statistical heterogeneity induced by spatially diverse environments, the present work develops a Bayesian framework entailing a piecewise homogeneous SLF with an underlying hidden Markov random field model. Utilizing variational Bayes techniques, the novel approach yields efficient field estimators at affordable complexity. A data-adaptive sensor selection strategy is also introduced to collect informative measurements for effective reconstruction of the SLF. Numerical tests using synthetic and real datasets demonstrate the capabilities of the proposed approach to radio tomography and channel-gain estimation.

--Shallow water environments create a challenging channel for communications. In this paper, we focus on the challenges posed by the frequency-selective signal distortion called the Doppler effect. We explore the design and performance of machine learning (ML) based demodulation methods -- (1) Deep Belief Network-feed forward Neural Network (DBN-NN) and (2) Deep Belief Network-Convolutional Neural Network (DBN-CNN) in the physical layer of Shallow Water Acoustic Communication (SW AC). The proposed method comprises of a ML based feature extraction method and classification technique. First, the feature extraction converts the received signals to feature images. An analysis of the ML based proposed demodulation shows that despite the presence of instantaneous frequencies, the performance of the algorithm shows an invariance with a small 2dB error margin in terms of bit error rate (BER).

Neural currents in the brain can be estimated from MEG/EEG recordings by solving the inverse problem (Hamalainen et al. 1993; Mosher, Leahy, and Lewis 1999) . The inverse problem is ill - posed: several current distributions can produce the same or similar electric and magnetic fields outside the head and the e stimates therefore become sensitive to measurement noise (Hamalainen et al. 1993; Helmholtz 1853) . These difficulties limit the spatial resolution and reliability of neural current estimates derived from MEG/EEG signals. To deal with this ill - posedness of the inve rse problem, constraints limiting the space of possible neural current configurations and regularization are often used. Solving the inverse problem requires a forward model that calculates the MEG/EEG signals from given current distributions in the brain (Sarvas 1987; Mosher, Leahy, and Lewis 1999; Stenroos, Hunold, and Haueisen 2014) . Popular methods for solving the inverse problem include discrete current dipole models (Schneider 1972; Scherg and Cramon 1985; Moshe r, Lewis, and Leahy 1992; Leahy et al. 1998) as well as distributed current models (Hamalainen and Ilmoniemi 1994; Uutela, Hamalainen, and Somersalo 1999; Baillet, Mosher, and Leahy 2001; Stenbacka et al. 2002) . Importantly, most source estimation methods are derived sample by sample, i.e., without assuming any relationship between the current distributions across time.

Dimensionality reduction on Riemannian manifolds is challenging due to the complex nonlinear data structures. While probabilistic principal geodesic analysis~(PPGA) has been proposed to generalize conventional principal component analysis (PCA) onto manifolds, its effectiveness is limited to data with a single modality. In this paper, we present a novel Gaussian latent variable model that provides a unique way to integrate multiple PGA models into a maximum-likelihood framework. This leads to a well-defined mixture model of probabilistic principal geodesic analysis (MPPGA) on sub-populations, where parameters of the principal subspaces are automatically estimated by employing an Expectation Maximization algorithm. We further develop a mixture Bayesian PGA (MBPGA) model that automatically reduces data dimensionality by suppressing irrelevant principal geodesics. We demonstrate the advantages of our model in the contexts of clustering and statistical shape analysis, using synthetic sphere data, real corpus callosum, and mandible data from human brain magnetic resonance~(MR) and CT images.

In the realm of unsupervised learning algorithms, Gaussian Mixture Models or GMMs are special citizens. GMMs are based on the assumption that all data points come from a fine mixture of Gaussian distributions with unknown parameters. They are parametric generative models that attempt to learn the true data distribution. Hence, once we learn the Gaussian parameters, we can generate data from the same distribution as the source. We can think of GMMs as the soft generalization of the K-Means clustering algorithm.