Bayes-consistency only holds for the full family of measurable functions, which of course is distinct from the more restricted hypothesis set used by a learning algorithm. Therefore, a hypothesis setdependent notion of H-consistency has been proposed by Long and Servedio (2013) in the realizable setting, used by Zhang and Agarwal (2020) for linear models, and generalized by Kuznetsov et al. (2014) to the structured prediction case. Long and Servedio (2013) showed that there exists a case where a Bayes-consistent loss is not H-consistent while inconsistent losses can be H-consistent. Zhang and Agarwal (2020) further investigated the phenomenon in (Long and Servedio, 2013) and showed that the situation of losses that are not H-consistent with linear models can be remedied by carefully choosing a larger piecewise linear hypothesis set. Kuznetsov et al. (2014) proved positive results for the H-consistency of several multi-class ensemble algorithms, as an extension of H-consistency results in (Long and Servedio, 2013). Recently, the notions of H-calibration and H-consistency have been used by Bao et al. (2020); Awasthi et al. (2021a) in the study of adversarial binary classification losses, as defined in (Goodfellow et al., 2014; Madry et al., 2017; Tsipras et al., 2018; Carlini and Wagner, 2017; Awasthi et al., 2023).

Human beings are able to transfer the policies swiftly to a structurally similar task.

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In machine learning, the loss functions optimized during training often differ from the target loss that defines task performance due to computational intractability or lack of differentiability. We present an in-depth study of the target loss estimation error relative to the surrogate loss estimation error. Our analysis leads to $H$-consistency bounds, which are guarantees accounting for the hypothesis set $H$. These bounds offer stronger guarantees than Bayes-consistency or $H$-calibration and are more informative than excess error bounds. We begin with binary classification, establishing tight distribution-dependent and -independent bounds. We provide explicit bounds for convex surrogates (including linear models and neural networks) and analyze the adversarial setting for surrogates like $ρ$-margin and sigmoid loss. Extending to multi-class classification, we present the first $H$-consistency bounds for max, sum, and constrained losses, covering both non-adversarial and adversarial scenarios. We demonstrate that in some cases, non-trivial $H$-consistency bounds are unattainable. We also investigate comp-sum losses (e.g., cross-entropy, MAE), deriving their first $H$-consistency bounds and introducing smooth adversarial variants that yield robust learning algorithms. We develop a comprehensive framework for deriving these bounds across various surrogates, introducing new characterizations for constrained and comp-sum losses. Finally, we examine the growth rates of $H$-consistency bounds, establishing a universal square-root growth rate for smooth surrogates in binary and multi-class tasks, and analyze minimizability gaps to guide surrogate selection.

The tailsitter vertical takeoff and landing (VTOL) UAV is widely used due to its lower dead weight, which eliminates the actuators and mechanisms for tilting. However, the tailsitter UAV is susceptible to wind disturbances in multi-rotor mode, as it exposes a large frontal fuselage area. To address this issue, our tailsitter UAV features a reconfigurable wing design, allowing wings to retract in multi-rotor mode and extend in fixed- wing mode. Considering power efficiency, we design a coaxial heterogeneous dual-rotor configuration, which significantly re- duces the total power consumption. To reduce structural weight and simplify structural complexity, we employ a swashplateless mechanism with an improved design to control pitch and roll in multi-rotor mode. We optimize the structure of the swashplateless mechanism by adding flapping hinges, which reduces vibration during cyclic acceleration and deceleration. Finally, we perform comprehensive transition flight tests to validate stable flight performance across the entire flight envelope of the tailsitter UAV.