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We consider the problem of finite-time identification of linear dynamical systems from $T$ samples of a single trajectory. Recent results have predominantly focused on the setup where no structural assumption is made on the system matrix $A^* \in \mathbb{R}^{n \times n}$, and have consequently analyzed the ordinary least squares (OLS) estimator in detail. We assume prior structural information on $A^*$ is available, which can be captured in the form of a convex set $\mathcal{K}$ containing $A^*$. For the solution of the ensuing constrained least squares estimator, we derive non-asymptotic error bounds in the Frobenius norm that depend on the local size of $\mathcal{K}$ at $A^*$. To illustrate the usefulness of these results, we instantiate them for four examples, namely when (i) $A^*$ is sparse and $\mathcal{K}$ is a suitably scaled $\ell_1$ ball; (ii) $\mathcal{K}$ is a subspace; (iii) $\mathcal{K}$ consists of matrices each of which is formed by sampling a bivariate convex function on a uniform $n \times n$ grid (convex regression); (iv) $\mathcal{K}$ consists of matrices each row of which is formed by uniform sampling (with step size $1/T$) of a univariate Lipschitz function. In all these situations, we show that $A^*$ can be reliably estimated for values of $T$ much smaller than what is needed for the unconstrained setting.

We consider the problem of making nonparametric inference in multi-dimensional diffusion models from low-frequency data. Statistical analysis in this setting is notoriously challenging due to the intractability of the likelihood and its gradient, and computational methods have thus far largely resorted to expensive simulation-based techniques. In this article, we propose a new computational approach which is motivated by PDE theory and is built around the characterisation of the transition densities as solutions of the associated heat (Fokker-Planck) equation. Employing optimal regularity results from the theory of parabolic PDEs, we prove a novel characterisation for the gradient of the likelihood. Using these developments, for the nonlinear inverse problem of recovering the diffusivity (in divergence form models), we then show that the numerical evaluation of the likelihood and its gradient can be reduced to standard elliptic eigenvalue problems, solvable by powerful finite element methods. This enables the efficient implementation of a large class of statistical algorithms, including (i) preconditioned Crank-Nicolson and Langevin-type methods for posterior sampling, and (ii) gradient-based descent optimisation schemes to compute maximum likelihood and maximum-a-posteriori estimates. We showcase the effectiveness of these methods via extensive simulation studies in a nonparametric Bayesian model with Gaussian process priors. Interestingly, the optimisation schemes provided satisfactory numerical recovery while exhibiting rapid convergence towards stationary points despite the problem nonlinearity; thus our approach may lead to significant computational speed-ups. The reproducible code is available online at //github.com/MattGiord/LF-Diffusion.

We generalize McDiarmid's inequality for functions with bounded differences on a high probability set, using an extension argument. Those functions concentrate around their conditional expectations. We further extend the results to concentration in general metric spaces.

Differential privacy has emerged as an significant cornerstone in the realm of scientific hypothesis testing utilizing confidential data. In reporting scientific discoveries, Bayesian tests are widely adopted since they effectively circumnavigate the key criticisms of P-values, namely, lack of interpretability and inability to quantify evidence in support of the competing hypotheses. We present a novel differentially private Bayesian hypotheses testing framework that arise naturally under a principled data generative mechanism, inherently maintaining the interpretability of the resulting inferences. Furthermore, by focusing on differentially private Bayes factors based on widely used test statistics, we circumvent the need to model the complete data generative mechanism and ensure substantial computational benefits. We also provide a set of sufficient conditions to establish results on Bayes factor consistency under the proposed framework. The utility of the devised technology is showcased via several numerical experiments.

Premonoidal and Freyd categories are both generalized by non-cartesian Freyd categories: effectful categories. We construct string diagrams for effectful categories in terms of the string diagrams for a monoidal category with a freely added object. We show that effectful categories are pseudomonoids in a monoidal bicategory of promonads with a suitable tensor product.

Capturing the extremal behaviour of data often requires bespoke marginal and dependence models which are grounded in rigorous asymptotic theory, and hence provide reliable extrapolation into the upper tails of the data-generating distribution. We present a toolbox of four methodological frameworks, motivated by modern extreme value theory, that can be used to accurately estimate extreme exceedance probabilities or the corresponding level in either a univariate or multivariate setting. Our frameworks were used to facilitate the winning contribution of Team Yalla to the EVA (2023) Conference Data Challenge, which was organised for the 13$^\text{th}$ International Conference on Extreme Value Analysis. This competition comprised seven teams competing across four separate sub-challenges, with each requiring the modelling of data simulated from known, yet highly complex, statistical distributions, and extrapolation far beyond the range of the available samples in order to predict probabilities of extreme events. Data were constructed to be representative of real environmental data, sampled from the fantasy country of "Utopia"

The Hierarchy Of Time-Surfaces (HOTS) algorithm, a neuromorphic approach for feature extraction from event data, presents promising capabilities but faces challenges in accuracy and compatibility with neuromorphic hardware. In this paper, we introduce Sup3r, a Semi-Supervised algorithm aimed at addressing these challenges. Sup3r enhances sparsity, stability, and separability in the HOTS networks. It enables end-to-end online training of HOTS networks replacing external classifiers, by leveraging semi-supervised learning. Sup3r learns class-informative patterns, mitigates confounding features, and reduces the number of processed events. Moreover, Sup3r facilitates continual and incremental learning, allowing adaptation to data distribution shifts and learning new tasks without forgetting. Preliminary results on N-MNIST demonstrate that Sup3r achieves comparable accuracy to similarly sized Artificial Neural Networks trained with back-propagation. This work showcases the potential of Sup3r to advance the capabilities of HOTS networks, offering a promising avenue for neuromorphic algorithms in real-world applications.

Contraction coefficients give a quantitative strengthening of the data processing inequality. As such, they have many natural applications whenever closer analysis of information processing is required. However, it is often challenging to calculate these coefficients. As a remedy we discuss a quantum generalization of Doeblin coefficients. These give an efficiently computable upper bound on many contraction coefficients. We prove several properties and discuss generalizations and applications. In particular, we give additional stronger bounds for PPT channels and introduce reverse Doeblin coefficients that bound certain expansion coefficients.

The article introduces a method to learn dynamical systems that are governed by Euler--Lagrange equations from data. The method is based on Gaussian process regression and identifies continuous or discrete Lagrangians and is, therefore, structure preserving by design. A rigorous proof of convergence as the distance between observation data points converges to zero is provided. Next to convergence guarantees, the method allows for quantification of model uncertainty, which can provide a basis of adaptive sampling techniques. We provide efficient uncertainty quantification of any observable that is linear in the Lagrangian, including of Hamiltonian functions (energy) and symplectic structures, which is of interest in the context of system identification. The article overcomes major practical and theoretical difficulties related to the ill-posedness of the identification task of (discrete) Lagrangians through a careful design of geometric regularisation strategies and through an exploit of a relation to convex minimisation problems in reproducing kernel Hilbert spaces.

Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental information. However, in scenarios like nighttime or dense forests, external sensors often fail to function properly, necessitating robots to rely on proprioceptive sensors to perceive diverse obstacles in the environment and respond promptly. This task is undeniably challenging. Our research finds that methods based on collision detection can enhance a robot's perception of environmental obstacles. In this work, we propose an end-to-end learning-based quadruped robot motion controller that relies solely on proprioceptive sensing. This controller can accurately detect, localize, and agilely respond to collisions in unknown and complex 3D environments, thereby improving the robot's traversability in complex environments. We demonstrate in both simulation and real-world experiments that our method enables quadruped robots to successfully traverse challenging obstacles in various complex environments.