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Zhigen Zhao

Zhigen Zhao appears in the imported research catalog. Authorship, coauthor and topic links are available while profile ownership is still unclaimed.

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Applicationsmath.STMethodologyRoboticsStatistics TheoryComputer VisionMachine Learning

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Published work

8 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
preprint2016arXiv

On consistency and sparsity for sliced inverse regression in high dimensions

We provide here a framework to analyze the phase transition phenomenon of slice inverse regression (SIR), a supervised dimension reduction technique introduced by \cite{Li:1991}. Under mild conditions, the asymptotic ratio $ρ= \lim p/n$ is the phase transition parameter and the SIR estimator is consistent if and only if $ρ= 0$. When dimension $p$ is greater than $n$, we propose a diagonal thresholding screening SIR (DT-SIR) algorithm. This method provides us with an estimate of the eigen-space of the covariance matrix of the conditional expectation $var(\mathbf{E}[\boldsymbol{x}|y])$. The desired dimension reduction space is then obtained by multiplying the inverse of the covariance matrix on the eigen-space. Under certain sparsity assumptions on both the covariance matrix of predictors and the loadings of the directions, we prove the consistency of DT-SIR in estimating the dimension reduction space in high dimensional data analysis. Extensive numerical experiments demonstrate superior performances of the proposed method in comparison to its competitors.

0 citations0 reviewsNo code linkedOpen access
preprint2014arXiv

An empirical Bayes testing procedure for detecting variants in analysis of next generation sequencing data

Because of the decreasing cost and high digital resolution, next-generation sequencing (NGS) is expected to replace the traditional hybridization-based microarray technology. For genetics study, the first-step analysis of NGS data is often to identify genomic variants among sequenced samples. Several statistical models and tests have been developed for variant calling in NGS study. The existing approaches, however, are based on either conventional Bayesian or frequentist methods, which are unable to address the multiplicity and testing efficiency issues simultaneously. In this paper, we derive an optimal empirical Bayes testing procedure to detect variants for NGS study. We utilize the empirical Bayes technique to exploit the across-site information among many testing sites in NGS data. We prove that our testing procedure is valid and optimal in the sense of rejecting the maximum number of nonnulls while the Bayesian false discovery rate is controlled at a given nominal level. We show by both simulation studies and real data analysis that our testing efficiency can be greatly enhanced over the existing frequentist approaches that fail to pool and utilize information across the multiple testing sites.

0 citations0 reviewsNo code linkedOpen access
preprint2014arXiv

Applying multiple testing procedures to detect change in East African vegetation

The study of vegetation fluctuations gives valuable information toward effective land use and development. We consider this problem for the East African region based on the Normalized Difference Vegetation Index (NDVI) series from satellite remote sensing data collected between 1982 and 2006 over 8-kilometer grid points. We detect areas with significant increasing or decreasing monotonic vegetation changes using a multiple testing procedure controlling the mixed directional false discovery rate (mdFDR). Specifically, we use a three-stage directional Benjamini--Hochberg (BH) procedure with proven mdFDR control under independence and a suitable adaptive version of it. The performance of these procedures is studied through simulations before applying them to the vegetation data. Our analysis shows increasing vegetation in the Northern hemisphere as well as coastal Tanzania and generally decreasing Southern hemisphere vegetation trends, which are consistent with historical evidence.

0 citations0 reviewsNo code linkedOpen access
preprint2014arXiv

Capturing the Severity of Type II Errors in High-Dimensional Multiple Testing

The severity of type II errors is frequently ignored when deriving a multiple testing procedure, even though utilizing it properly can greatly help in making correct decisions. This paper puts forward a theory behind developing a multiple testing procedure that can incorporate the type II error severity and is optimal in the sense of minimizing a measure of false non-discoveries among all procedures controlling a measure of false discoveries. The theory is developed under a general model allowing arbitrary dependence by taking a compound decision theoretic approach to multiple testing with a loss function incorporating the type II error severity. We present this optimal procedure in its oracle form and offer numerical evidence of its superior performance over relevant competitors.

0 citations0 reviewsNo code linkedOpen access