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Researcher profile

Zhigen Zhao

Zhigen Zhao contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
RoboticsComputer VisionMachine Learningmath.STMethodologyStatistics Theory

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Published work

4 published item(s)

preprint2026arXiv

EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices

Egocentric video is increasingly used as a data source for robot learning, activity understanding, and embodied AI research, but collecting it at scale remains fragmented in practice: each candidate host device, such as an Android phone, iPhone, iPad, smart glasses, or extended reality (XR) headset, exposes a different SDK, a different policy on raw camera access, and different limitations on external USB cameras and on-device tracking. Synchronized ego-view and wrist-view capture is therefore typically obtained by either committing to a single proprietary platform or building one-off rigs that do not transfer across devices. To address this gap, we present EgoKit, a toolkit that exposes the same egocentric recording workflow across six heterogeneous host devices. Across all supported devices, EgoKit presents the same recording interaction and produces locally stored video with a uniform log format; on XR headsets, it additionally logs head pose and OpenXR-standard 26-joint hand tracking aligned to the video streams. The companion accessories, including two wrist cameras with mounts, a head strap, and a USB-C hub, add wrist-view capture to any supported host without custom hardware fabrication. EgoKit is available at \url{https://egokit.chuange.org/}.

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

Rate optimal multiple testing procedure in high-dimensional regression

In the high dimensional regression analysis when the number of predictors is much larger than the sample size, an important question is to select the important variable which are relevant to the response variable of interest. Variable selection and the multiple testing are both tools to address this issue. However, there is little discussion on the connection of these two areas. When the signal strength is strong enough such that the selection consistency is achievable, it seems to be unnecessary to control the false discovery rate. In this paper, we consider the regime where the signals are both rare and weak such that the selection consistency is not achievable and propose a method which controls the false discovery rate asymptotically. It is theoretically shown that the false non-discovery rate of the proposed method converges to zero at the optimal rate. Numerical results are provided to demonstrate the advantage of the proposed method.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Adversarially Regularized Policy Learning Guided by Trajectory Optimization

Recent advancement in combining trajectory optimization with function approximation (especially neural networks) shows promise in learning complex control policies for diverse tasks in robot systems. Despite their great flexibility, the large neural networks for parameterizing control policies impose significant challenges. The learned neural control policies are often overcomplex and non-smooth, which can easily cause unexpected or diverging robot motions. Therefore, they often yield poor generalization performance in practice. To address this issue, we propose adVErsarially Regularized pOlicy learNIng guided by trajeCtory optimizAtion (VERONICA) for learning smooth control policies. Specifically, our proposed approach controls the smoothness (local Lipschitz continuity) of the neural control policies by stabilizing the output control with respect to the worst-case perturbation to the input state. Our experiments on robot manipulation show that our proposed approach not only improves the sample efficiency of neural policy learning but also enhances the robustness of the policy against various types of disturbances, including sensor noise, environmental uncertainty, and model mismatch.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

On F-Modelling based Empirical Bayes Estimation of Variances

We consider the problem of empirical Bayes estimation of multiple variances when provided with sample variances. Assuming an arbitrary prior on the variances, we derive different versions of the Bayes estimators using different loss functions. For one particular loss function, the resulting Bayes estimator relies on the marginal cumulative distribution function of the sample variances only. When replacing it with the empirical distribution function, we obtain an empirical Bayes version called F-modeling based empirical Bayes estimator of variances. We provide theoretical properties of this estimator and further demonstrate its advantages through extensive simulations and real data analysis.

0 citations0 reviewsNo code linkedOpen access