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Control systems often need to satisfy strict safety requirements. Safety index provides a handy way to evaluate the safety level of the system and derive the resulting safe control policies. However, designing safety index functions under control limits is difficult and requires a great amount of expert knowledge. This paper proposes a framework for synthesizing the safety index for general control systems using sum-of-squares programming. Our approach is to show that ensuring the non-emptiness of safe control on the safe set boundary is equivalent to a local manifold positiveness problem. We then prove that this problem is equivalent to sum-of-squares programming via the Positivstellensatz of algebraic geometry. We validate the proposed method on robot arms with different degrees of freedom and ground vehicles. The results show that the synthesized safety index guarantees safety and our method is effective even in high-dimensional robot systems.

This paper studies the impact of bootstrap procedure on the eigenvalue distributions of the sample covariance matrix under the high-dimensional factor structure. We provide asymptotic distributions for the top eigenvalues of bootstrapped sample covariance matrix under mild conditions. After bootstrap, the spiked eigenvalues which are driven by common factors will converge weakly to Gaussian limits via proper scaling and centralization. However, the largest non-spiked eigenvalue is mainly determined by order statistics of bootstrap resampling weights, and follows extreme value distribution. Based on the disparate behavior of the spiked and non-spiked eigenvalues, we propose innovative methods to test the number of common factors. According to the simulations and a real data example, the proposed methods are the only ones performing reliably and convincingly under the existence of both weak factors and cross-sectionally correlated errors. Our technical details contribute to random matrix theory on spiked covariance model with convexly decaying density and unbounded support, or with general elliptical distributions.

Mixtures of experts (MoE) models are a popular framework for modeling heterogeneity in data, for both regression and classification problems in statistics and machine learning, due to their flexibility and the abundance of available statistical estimation and model choice tools. Such flexibility comes from allowing the mixture weights (or gating functions) in the MoE model to depend on the explanatory variables, along with the experts (or component densities). This permits the modeling of data arising from more complex data generating processes when compared to the classical finite mixtures and finite mixtures of regression models, whose mixing parameters are independent of the covariates. The use of MoE models in a high-dimensional setting, when the number of explanatory variables can be much larger than the sample size, is challenging from a computational point of view, and in particular from a theoretical point of view, where the literature is still lacking results for dealing with the curse of dimensionality, for both the statistical estimation and feature selection problems. We consider the finite MoE model with soft-max gating functions and Gaussian experts for high-dimensional regression on heterogeneous data, and its $l_1$-regularized estimation via the Lasso. We focus on the Lasso estimation properties rather than its feature selection properties. We provide a lower bound on the regularization parameter of the Lasso function that ensures an $l_1$-oracle inequality satisfied by the Lasso estimator according to the Kullback--Leibler loss.

A two dimensional eigenvalue problem (2DEVP) of a Hermitian matrix pair $(A, C)$ is introduced in this paper. The 2DEVP can be viewed as a linear algebraic formulation of the well-known eigenvalue optimization problem of the parameter matrix $H(\mu) = A - \mu C$. We present fundamental properties of the 2DEVP such as the existence, the necessary and sufficient condition for the finite number of 2D-eigenvalues and variational characterizations. We use eigenvalue optimization problems from the minmax of two Rayleigh quotients and the computation of distance to instability to show their connections with the 2DEVP and new insights of these problems derived from the properties of the 2DEVP.

Interval-censored multi-state data arise in many studies of chronic diseases, where the health status of a subject can be characterized by a finite number of disease states and the transition between any two states is only known to occur over a broad time interval. We formulate the effects of potentially time-dependent covariates on multi-state processes through semiparametric proportional intensity models with random effects. We adopt nonparametric maximum likelihood estimation (NPMLE) under general interval censoring and develop a stable expectation-maximization (EM) algorithm. We show that the resulting parameter estimators are consistent and that the finite-dimensional components are asymptotically normal with a covariance matrix that attains the semiparametric efficiency bound and can be consistently estimated through profile likelihood. In addition, we demonstrate through extensive simulation studies that the proposed numerical and inferential procedures perform well in realistic settings. Finally, we provide an application to a major epidemiologic cohort study.

Stochastic kriging has been widely employed for simulation metamodeling to predict the response surface of complex simulation models. However, its use is limited to cases where the design space is low-dimensional because, in general, the sample complexity (i.e., the number of design points required for stochastic kriging to produce an accurate prediction) grows exponentially in the dimensionality of the design space. The large sample size results in both a prohibitive sample cost for running the simulation model and a severe computational challenge due to the need to invert large covariance matrices. Based on tensor Markov kernels and sparse grid experimental designs, we develop a novel methodology that dramatically alleviates the curse of dimensionality. We show that the sample complexity of the proposed methodology grows only slightly in the dimensionality, even under model misspecification. We also develop fast algorithms that compute stochastic kriging in its exact form without any approximation schemes. We demonstrate via extensive numerical experiments that our methodology can handle problems with a design space of more than 10,000 dimensions, improving both prediction accuracy and computational efficiency by orders of magnitude relative to typical alternative methods in practice.

We introduce two new tools to assess the validity of statistical distributions. These tools are based on components derived from a new statistical quantity, the $comparison$ $curve$. The first tool is a graphical representation of these components on a $bar$ $plot$ (B plot), which can provide a detailed appraisal of the validity of the statistical model, in particular when supplemented by acceptance regions related to the model. The knowledge gained from this representation can sometimes suggest an existing $goodness$-$of$-$fit$ test to supplement this visual assessment with a control of the type I error. Otherwise, an adaptive test may be preferable and the second tool is the combination of these components to produce a powerful $\chi^2$-type goodness-of-fit test. Because the number of these components can be large, we introduce a new selection rule to decide, in a data driven fashion, on their proper number to take into consideration. In a simulation, our goodness-of-fit tests are seen to be powerwise competitive with the best solutions that have been recommended in the context of a fully specified model as well as when some parameters must be estimated. Practical examples show how to use these tools to derive principled information about where the model departs from the data.

We show that under minimal assumptions on a random vector $X\in\mathbb{R}^d$, and with high probability, given $m$ independent copies of $X$, the coordinate distribution of each vector $(\langle X_i,\theta \rangle)_{i=1}^m$ is dictated by the distribution of the true marginal $\langle X,\theta \rangle$. Formally, we show that with high probability, \[\sup_{\theta \in S^{d-1}} \left( \frac{1}{m}\sum_{i=1}^m \left|\langle X_i,\theta \rangle^\sharp - \lambda^\theta_i \right|^2 \right)^{1/2} \leq c \left( \frac{d}{m} \right)^{1/4},\] where $\lambda^{\theta}_i = m\int_{(\frac{i-1}{m}, \frac{i}{m}]} F_{ \langle X,\theta \rangle }^{-1}(u)^2 \,du$ and $a^\sharp$ denotes the monotone non-decreasing rearrangement of $a$. The proof follows from the optimal estimate on the worst Wasserstein distance between a marginal of $X$ and its empirical counterpart, $\frac{1}{m} \sum_{i=1}^m \delta_{\langle X_i, \theta \rangle}$. We then use the accurate information on the structures of the vectors $(\langle X_i,\theta \rangle)_{i=1}^m$ to construct the first non-gaussian ensemble that yields the optimal estimate in the Dvoretzky-Milman Theorem: the ensemble exhibits almost Euclidean sections in arbitrary normed spaces of the same dimension as the gaussian embedding -- despite being very far from gaussian (in fact, it happens to be heavy-tailed).

In the well-known complexity class NP, many combinatorial problems can be found, whose optimization counterpart are important for many practical settings. Those problems usually consider full knowledge about the input and optimize on this specific input. In a practical setting, however, uncertainty in the input data is a usual phenomenon, whereby this is normally not covered in optimization versions of NP problems. One concept to model the uncertainty in the input data, is \textit{recoverable robustness}. In this setting, a solution on the input is calculated, whereby a possible recovery to a good solution should be guaranteed, whenever uncertainty manifests itself. That is, a solution $\texttt{s}_0$ for the base scenario $\textsf{S}_0$ as well as a solution \texttt{s} for every possible scenario of scenario set \textsf{S} has to be calculated. In other words, not only solution $\texttt{s}_0$ for instance $\textsf{S}_0$ is calculated but solutions \texttt{s} for all scenarios from \textsf{S} are prepared to correct possible errors through uncertainty. This paper introduces a specific concept of recoverable robust problems: Hamming Distance Recoverable Robust Problems. In this setting, solutions $\texttt{s}_0$ and \texttt{s} have to be calculated, such that $\texttt{s}_0$ and \texttt{s} may only differ in at most $\kappa$ elements. That is, one can recover from a harmful scenario by choosing a different solution, which is not too far away from the first solution. This paper surveys the complexity of Hamming distance recoverable robust version of optimization problems, typically found in NP for different types of scenarios. The complexity is primarily situated in the lower levels of the polynomial hierarchy. The main contribution of the paper is that recoverable robust problems with compression-encoded scenarios and $m \in \mathbb{N}$ recoveries are $\Sigma^P_{2m+1}$-complete.

Substantial progress has been made recently on developing provably accurate and efficient algorithms for low-rank matrix factorization via nonconvex optimization. While conventional wisdom often takes a dim view of nonconvex optimization algorithms due to their susceptibility to spurious local minima, simple iterative methods such as gradient descent have been remarkably successful in practice. The theoretical footings, however, had been largely lacking until recently. In this tutorial-style overview, we highlight the important role of statistical models in enabling efficient nonconvex optimization with performance guarantees. We review two contrasting approaches: (1) two-stage algorithms, which consist of a tailored initialization step followed by successive refinement; and (2) global landscape analysis and initialization-free algorithms. Several canonical matrix factorization problems are discussed, including but not limited to matrix sensing, phase retrieval, matrix completion, blind deconvolution, robust principal component analysis, phase synchronization, and joint alignment. Special care is taken to illustrate the key technical insights underlying their analyses. This article serves as a testament that the integrated consideration of optimization and statistics leads to fruitful research findings.