In many cases of network analysis, it is more attractive to study how a network varies under different conditions than an individual static network. We propose a novel graphical model, namely Latent Differential Graph Model, where the networks under two different conditions are represented by two semiparametric elliptical distributions respectively, and the variation of these two networks (i.e., differential graph) is characterized by the difference between their latent precision matrices. We propose an estimator for the differential graph based on quasi likelihood maximization with nonconvex regularization. We show that our estimator attains a faster statistical rate in parameter estimation than the state-of-the-art methods, and enjoys oracle property under mild conditions. Thorough experiments on both synthetic and real world data support our theory.

In many cases of network analysis, it is more attractive to study how a network varies under different conditions than an individual static network. We propose a novel graphical model, namely Latent Differential Graph Model, where the networks under two different conditions are represented by two semiparametric elliptical distributions respectively, and the variation of these two networks (i.e., differential graph) is characterized by the difference between their latent precision matrices. We propose an estimator for the differential graph based on quasi likelihood maximization with nonconvex regularization. We show that our estimator attains a faster statistical rate in parameter estimation than the state-of-the-art methods, and enjoys oracle property under mild conditions. Thorough experiments on both synthetic and real world data support our theory.

Often in machine learning, data are collected as a combination of multiple conditions, e.g., the voice recordings of multiple persons, each labeled with an ID.

Abstract-- Foot drop is commonly managed using Functional Electrical Stimulation (FES), typically delivered via open-loop controllers with fixed stimulation intensities. While users may manually adjust the intensity through external controls, this approach risks overstimulation, leading to muscle fatigue and discomfort, or understimulation, which compromises dorsiflexion and increases fall risk. In this study, we propose a novel closed-loop FES controller that dynamically adjusts the stimulation intensity based on real-time toe clearance, providing "assistance as needed". We evaluate this system by inducing foot drop in healthy participants and comparing the effects of the closed-loop controller with a traditional open-loop controller across various walking conditions, including different speeds and surface inclinations. Kinematic data reveal that our closed-loop controller maintains adequate toe clearance without significantly affecting the joint angles of the hips, the knees, and the ankles, and while using significantly lower stimulation intensities compared to the open-loop controller . These findings suggest that the proposed method not only matches the effectiveness of existing systems but also offers the potential for reduced muscle fatigue and improved long-term user comfort and adherence.

Often in machine learning, data are collected as a combination of multiple conditions, e.g., the voice recordings of multiple persons, each labeled with an ID. How could we build a model that captures the latent information related to these conditions and generalize to a new one with few data? We present a new model called Latent Variable Multiple Output Gaussian Processes (LVMOGP) that allows to jointly model multiple conditions for regression and generalize to a new condition with a few data points at test time. LVMOGP infers the posteriors of Gaussian processes together with a latent space representing the information about different conditions. We derive an efficient variational inference method for LVMOGP for which the computational complexity is as low as sparse Gaussian processes. We show that LVMOGP significantly outperforms related Gaussian process methods on various tasks with both synthetic and real data.

Human supervisors in multi-robot systems are primarily responsible for monitoring robots, but can also be assigned with secondary tasks. These tasks can act as interruptions and can be categorized as either intrinsic, i.e., being directly related to the monitoring task, or extrinsic, i.e., being unrelated. In this paper, we investigate the impact of these two types of interruptions through a user study ($N=39$), where participants monitor a number of remote mobile robots while intermittently being interrupted by either a robot fault correction task (intrinsic) or a messaging task (extrinsic). We find that task performance of participants does not change significantly with the interruptions but depends greatly on the number of robots. However, interruptions result in an increase in perceived workload, and extrinsic interruptions have a more negative effect on workload across all NASA-TLX scales. Participants also reported switching between extrinsic interruptions and the primary task to be more difficult compared to the intrinsic interruption case. Statistical significance of these results is confirmed using ANOVA and one-sample t-test. These findings suggest that when deciding task assignment in such supervision systems, one should limit interruptions from secondary tasks, especially extrinsic ones, in order to limit user workload.

Bearings are one of the vital components of rotating machines that are prone to unexpected faults. Therefore, bearing fault diagnosis and condition monitoring is essential for reducing operational costs and downtime in numerous industries. In various production conditions, bearings can be operated under a range of loads and speeds, which causes different vibration patterns associated with each fault type. Normal data is ample as systems usually work in desired conditions. On the other hand, fault data is rare, and in many conditions, there is no data recorded for the fault classes. Accessing fault data is crucial for developing data-driven fault diagnosis tools that can improve both the performance and safety of operations. To this end, a novel algorithm based on Conditional Generative Adversarial Networks (CGANs) is introduced. Trained on the normal and fault data on any actual fault conditions, this algorithm generates fault data from normal data of target conditions. The proposed method is validated on a real-world bearing dataset, and fault data are generated for different conditions. Several state-of-the-art classifiers and visualization models are implemented to evaluate the quality of the synthesized data. The results demonstrate the efficacy of the proposed algorithm.

With development of deep learning, researchers have developed generative models in generating realistic images. One of such generative models, a PixelCNNs model with Vector Quantized Variational AutoEncoder 2 (VQ-VAE-2), can generate more various images than other models. However, a PixelCNNs model with VQ-VAE-2, I call it PC-VQ2, requires sufficiently much training data like other deep learning models. Its practical applications are often limited in domains where collecting sufficient data is not difficult. To solve the problem, researchers have recently proposed more data-efficient methods for training generative models with limited unlabeled data from scratch. However, no such methods in PC-VQ2s have been researched. This study provides the first step in this direction, considering generation of images using PC-VQ2s and limited unlabeled data. In this study, I propose a training strategy for training a PC-VQ2 with limited data from scratch, phased data augmentation. In the strategy, ranges of parameters of data augmentation is narrowed in phases through learning. Quantitative evaluation shows that the phased data augmentation enables the model with limited data to generate images competitive with the one with sufficient data in diversity and outperforming it in fidelity. The evaluation suggests that the proposed method should be useful for training a PC-VQ2 with limited data efficiently to generate various and natural images.

Acute cholangitis is a potentially life-threatening bacterial infection that often is associated with gallstones. Symptoms include fever, jaundice, right upper quadrant pain, and elevated liver enzymes. While these may seem like distinctive, telltale symptoms, they are similar to those of a much different condition: alcohol-associated hepatitis. This challenges emergency department staff and other health care professionals who need to diagnose and treat patients with liver enzyme abnormalities and systemic inflammatory responses. New Mayo Clinic research finds that machine-learning algorithms can help health care staff distinguish the two conditions.

If you've been off-roading before, it's likely you remember bouncing around the back of a 4x4. But the days of clinging on for dear life could soon be a thing of the past, if a new concept car is anything to go by. The concept vehicle, called The Huntress, features wheels that can twist autonomously to cope with uneven terrains. If you've been off-roading before, it's likely you remember bouncing around the back of a 4x4. The Huntress is an electric off-road concept car designed by Connery Xu, that wouldn't be out of place in the Transformers franchise.