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Although the multi-jointed underactuated manipulator is highly dexterous, its grasping capacity does not match that of the parallel jaw gripper. This work introduces a fractal gripper to enhance the grasping capacity of multi-joint underactuated manipulators, preserving their passive clamping features. We describe in detail the working principle and manufacturing process of the fractal gripper. This work, inspired by the 'Fractal Vise' structure, resulted in the invention of a fractal gripper with mode switching capabilities. The fractal gripper inherits the inherent adaptive properties of the fractal structure and realizes the self-resetting function by integrating spring into the original design, thereby enhancing the efficiency of object grasping tasks. The fractal gripper prevents object damage by distributing pressure evenly and applying it at multiple points through its fractal structure during closure. Objects of various shapes are effectively grasped by the fractal gripper, which ensures a safe and secure grasp. The superior performance was provided by the force distribution characteristics of the fractal gripper. By applying the flexible polymer PDMS, which possesses superior elasticity, to the fractal structure's wrapping surface, potential scratching during grasping is effectively prevented, thus protecting the object's geometric surface. Grab experiments with objects of diverse shapes and sizes confirm fractal gripper multi-scale adaptability and superior grasping stability.

Interpolation of data on non-Euclidean spaces is an active research area fostered by its numerous applications. This work considers the Hermite interpolation problem: finding a sufficiently smooth manifold curve that interpolates a collection of data points on a Riemannian manifold while matching a prescribed derivative at each point. We propose a novel procedure relying on the general concept of retractions to solve this problem on a large class of manifolds, including those for which computing the Riemannian exponential or logarithmic maps is not straightforward, such as the manifold of fixed-rank matrices. We analyze the well-posedness of the method by introducing and showing the existence of retraction-convex sets, a generalization of geodesically convex sets. We extend to the manifold setting a classical result on the asymptotic interpolation error of Hermite interpolation. We finally illustrate these results and the effectiveness of the method with numerical experiments on the manifold of fixed-rank matrices and the Stiefel manifold of matrices with orthonormal columns.

Digital credentials represent a cornerstone of digital identity on the Internet. To achieve privacy, certain functionalities in credentials should be implemented. One is selective disclosure, which allows users to disclose only the claims or attributes they want. This paper presents a novel approach to selective disclosure that combines Merkle hash trees and Boneh-Lynn-Shacham (BLS) signatures. Combining these approaches, we achieve selective disclosure of claims in a single credential and creation of a verifiable presentation containing selectively disclosed claims from multiple credentials signed by different parties. Besides selective disclosure, we enable issuing credentials signed by multiple issuers using this approach.

There is currently a focus on statistical methods which can use historical trial information to help accelerate the discovery, development and delivery of medicine. Bayesian methods can be constructed so that the borrowing is "dynamic" in the sense that the similarity of the data helps to determine how much information is used. In the time to event setting with one historical data set, a popular model for a range of baseline hazards is the piecewise exponential model where the time points are fixed and a borrowing structure is imposed on the model. Although convenient for implementation this approach effects the borrowing capability of the model. We propose a Bayesian model which allows the time points to vary and a dependency to be placed between the baseline hazards. This serves to smooth the posterior baseline hazard improving both model estimation and borrowing characteristics. We explore a variety of prior structures for the borrowing within our proposed model and assess their performance against established approaches. We demonstrate that this leads to improved type I error in the presence of prior data conflict and increased power. We have developed accompanying software which is freely available and enables easy implementation of the approach.

Mendelian randomization uses genetic variants as instrumental variables to make causal inferences about the effects of modifiable risk factors on diseases from observational data. One of the major challenges in Mendelian randomization is that many genetic variants are only modestly or even weakly associated with the risk factor of interest, a setting known as many weak instruments. Many existing methods, such as the popular inverse-variance weighted (IVW) method, could be biased when the instrument strength is weak. To address this issue, the debiased IVW (dIVW) estimator, which is shown to be robust to many weak instruments, was recently proposed. However, this estimator still has non-ignorable bias when the effective sample size is small. In this paper, we propose a modified debiased IVW (mdIVW) estimator by multiplying a modification factor to the original dIVW estimator. After this simple correction, we show that the bias of the mdIVW estimator converges to zero at a faster rate than that of the dIVW estimator under some regularity conditions. Moreover, the mdIVW estimator has smaller variance than the dIVW estimator.We further extend the proposed method to account for the presence of instrumental variable selection and balanced horizontal pleiotropy. We demonstrate the improvement of the mdIVW estimator over the dIVW estimator through extensive simulation studies and real data analysis.

We introduce the concept of Automated Causal Discovery (AutoCD), defined as any system that aims to fully automate the application of causal discovery and causal reasoning methods. AutoCD's goal is to deliver all causal information that an expert human analyst would and answer a user's causal queries. We describe the architecture of such a platform, and illustrate its performance on synthetic data sets. As a case study, we apply it on temporal telecommunication data. The system is general and can be applied to a plethora of causal discovery problems.

The classical approach to analyzing extreme value data is the generalized Pareto distribution (GPD). When the GPD is used to explain a target variable with the large dimension of covariates, the shape and scale function of covariates included in GPD are sometimes modeled using the generalized additive models (GAM). In contrast to many results of application, there are no theoretical results on the hybrid technique of GAM and GPD, which motivates us to develop its asymptotic theory. We provide the rate of convergence of the estimator of shape and scale functions, as well as its local asymptotic normality.

Creating large-scale high-quality labeled datasets is a major bottleneck in supervised machine learning workflows. Threshold-based auto-labeling (TBAL), where validation data obtained from humans is used to find a confidence threshold above which the data is machine-labeled, reduces reliance on manual annotation. TBAL is emerging as a widely-used solution in practice. Given the long shelf-life and diverse usage of the resulting datasets, understanding when the data obtained by such auto-labeling systems can be relied on is crucial. This is the first work to analyze TBAL systems and derive sample complexity bounds on the amount of human-labeled validation data required for guaranteeing the quality of machine-labeled data. Our results provide two crucial insights. First, reasonable chunks of unlabeled data can be automatically and accurately labeled by seemingly bad models. Second, a hidden downside of TBAL systems is potentially prohibitive validation data usage. Together, these insights describe the promise and pitfalls of using such systems. We validate our theoretical guarantees with extensive experiments on synthetic and real datasets.

Zero-shot Learning (ZSL), which aims to predict for those classes that have never appeared in the training data, has arisen hot research interests. The key of implementing ZSL is to leverage the prior knowledge of classes which builds the semantic relationship between classes and enables the transfer of the learned models (e.g., features) from training classes (i.e., seen classes) to unseen classes. However, the priors adopted by the existing methods are relatively limited with incomplete semantics. In this paper, we explore richer and more competitive prior knowledge to model the inter-class relationship for ZSL via ontology-based knowledge representation and semantic embedding. Meanwhile, to address the data imbalance between seen classes and unseen classes, we developed a generative ZSL framework with Generative Adversarial Networks (GANs). Our main findings include: (i) an ontology-enhanced ZSL framework that can be applied to different domains, such as image classification (IMGC) and knowledge graph completion (KGC); (ii) a comprehensive evaluation with multiple zero-shot datasets from different domains, where our method often achieves better performance than the state-of-the-art models. In particular, on four representative ZSL baselines of IMGC, the ontology-based class semantics outperform the previous priors e.g., the word embeddings of classes by an average of 12.4 accuracy points in the standard ZSL across two example datasets (see Figure 4).