Ji Zhu

Shangyi Luo, Peng Sun, Ji Zhu et al.

With the increasing presence of service robots and autonomous vehicles in human environments, navigation systems need to evolve beyond simple destination reach to incorporate social awareness. This paper introduces GSON, a novel group-based social navigation framework that leverages Large Multimodal Models (LMMs) to enhance robots' social perception capabilities. Our approach uses visual prompting to enable zero-shot extraction of social relationships among pedestrians and integrates these results with robust pedestrian detection and tracking pipelines to overcome the inherent inference speed limitations of LMMs. The planning system incorporates a mid-level planner that sits between global path planning and local motion planning, effectively preserving both global context and reactive responsiveness while avoiding disruption of the predicted social group. We validate GSON through extensive real-world mobile robot navigation experiments involving complex social scenarios such as queuing, conversations, and photo sessions. Comparative results show that our system significantly outperforms existing navigation approaches in minimizing social perturbations while maintaining comparable performance on traditional navigation metrics.

Weijing Tang, Jiaqi Ma, Qiaozhu Mei et al.

In this paper, we propose a flexible model for survival analysis using neural networks along with scalable optimization algorithms. One key technical challenge for directly applying maximum likelihood estimation (MLE) to censored data is that evaluating the objective function and its gradients with respect to model parameters requires the calculation of integrals. To address this challenge, we recognize that the MLE for censored data can be viewed as a differential-equation constrained optimization problem, a novel perspective. Following this connection, we model the distribution of event time through an ordinary differential equation and utilize efficient ODE solvers and adjoint sensitivity analysis to numerically evaluate the likelihood and the gradients. Using this approach, we are able to 1) provide a broad family of continuous-time survival distributions without strong structural assumptions, 2) obtain powerful feature representations using neural networks, and 3) allow efficient estimation of the model in large-scale applications using stochastic gradient descent. Through both simulation studies and real-world data examples, we demonstrate the effectiveness of the proposed method in comparison to existing state-of-the-art deep learning survival analysis models. The implementation of the proposed SODEN approach has been made publicly available at https://github.com/jiaqima/SODEN.

Tiffany M. Tang, Elizaveta Levina, Ji Zhu

Machine learning algorithms often assume that training samples are independent. When data points are connected by a network, the induced dependency between samples is both a challenge, reducing effective sample size, and an opportunity to improve prediction by leveraging information from network neighbors. Multiple methods taking advantage of this opportunity are now available, but many, including graph neural networks, are not easily interpretable, limiting their usefulness for understanding how a model makes its predictions. Others, such as network-assisted linear regression, are interpretable but often yield substantially worse prediction performance. We bridge this gap by proposing a family of flexible network-assisted models built upon a generalization of random forests (RF+), which achieves highly-competitive prediction accuracy and can be interpreted through feature importance measures. In particular, we develop a suite of interpretation tools that enable practitioners to not only identify important features that drive model predictions, but also quantify the importance of the network contribution to prediction. Importantly, we provide both global and local importance measures as well as sample influence measures to assess the impact of a given observation. This suite of tools broadens the scope and applicability of network-assisted machine learning for high-impact problems where interpretability and transparency are essential.

Tianxi Li, Cheng Qian, Elizaveta Levina et al.

Graphical models are commonly used to represent conditional dependence relationships between variables. There are multiple methods available for exploring them from high-dimensional data, but almost all of them rely on the assumption that the observations are independent and identically distributed. At the same time, observations connected by a network are becoming increasingly common, and tend to violate these assumptions. Here we develop a Gaussian graphical model for observations connected by a network with potentially different mean vectors, varying smoothly over the network. We propose an efficient estimation algorithm and demonstrate its effectiveness on both simulated and real data, obtaining meaningful and interpretable results on a statistics coauthorship network. We also prove that our method estimates both the inverse covariance matrix and the corresponding graph structure correctly under the assumption of network “cohesion”, which refers to the empirically observed phenomenon of network neighbors sharing similar traits.

Jiaqi Ma, Weijing Tang, Ji Zhu et al.

We consider a family of problems that are concerned about making predictions for the majority of unlabeled, graph-structured data samples based on a small proportion of labeled samples. Relational information among the data samples, often encoded in the graph/network structure, is shown to be helpful for these semi-supervised learning tasks. However, conventional graph-based regularization methods and recent graph neural networks do not fully leverage the interrelations between the features, the graph, and the labels. In this work, we propose a flexible generative framework for graph-based semi-supervised learning, which approaches the joint distribution of the node features, labels, and the graph structure. Borrowing insights from random graph models in network science literature, this joint distribution can be instantiated using various distribution families. For the inference of missing labels, we exploit recent advances of scalable variational inference techniques to approximate the Bayesian posterior. We conduct thorough experiments on benchmark datasets for graph-based semi-supervised learning. Results show that the proposed methods outperform the state-of-the-art models in most settings.

Kevin He, Jian Kang, Hyokyoung Grace Hong et al.

Modern bio-technologies have produced a vast amount of high-throughput data with the number of predictors far greater than the sample size. In order to identify more novel biomarkers and understand biological mechanisms, it is vital to detect signals weakly associated with outcomes among ultrahigh-dimensional predictors. However, existing screening methods, which typically ignore correlation information, are likely to miss these weak signals. By incorporating the inter-feature dependence, we propose a covariance-insured screening methodology to identify predictors that are jointly informative but only marginally weakly associated with outcomes. The validity of the method is examined via extensive simulations and real data studies for selecting potential genetic factors related to the onset of cancer.

Tianxi Li, Elizaveta Levina, Ji Zhu

While many statistical models and methods are now available for network analysis, resampling network data remains a challenging problem. Cross-validation is a useful general tool for model selection and parameter tuning, but is not directly applicable to networks since splitting network nodes into groups requires deleting edges and destroys some of the network structure. Here we propose a new network resampling strategy based on splitting node pairs rather than nodes applicable to cross-validation for a wide range of network model selection tasks. We provide a theoretical justification for our method in a general setting and examples of how our method can be used in specific network model selection and parameter tuning tasks. Numerical results on simulated networks and on a citation network of statisticians show that this cross-validation approach works well for model selection.

Jie Cheng, Tianxi Li, Elizaveta Levina et al.

While graphical models for continuous data (Gaussian graphical models) and discrete data (Ising models) have been extensively studied, there is little work on graphical models linking both continuous and discrete variables (mixed data), which are common in many scientific applications. We propose a novel graphical model for mixed data, which is simple enough to be suitable for high-dimensional data, yet flexible enough to represent all possible graph structures. We develop a computationally efficient regression-based algorithm for fitting the model by focusing on the conditional log-likelihood of each variable given the rest. The parameters have a natural group structure, and sparsity in the fitted graph is attained by incorporating a group lasso penalty, approximated by a weighted $\ell_1$ penalty for computational efficiency. We demonstrate the effectiveness of our method through an extensive simulation study and apply it to a music annotation data set (CAL500), obtaining a sparse and interpretable graphical model relating the continuous features of the audio signal to categorical variables such as genre, emotions, and usage associated with particular songs. While we focus on binary discrete variables, we also show that the proposed methodology can be easily extended to general discrete variables.

Jie Cheng, Elizaveta Levina, Pei Wang et al.

There has been a lot of work fitting Ising models to multivariate binary data in order to understand the conditional dependency relationships between the variables. However, additional covariates are frequently recorded together with the binary data, and may influence the dependence relationships. Motivated by such a dataset on genomic instability collected from tumor samples of several types, we propose a sparse covariate dependent Ising model to study both the conditional dependency within the binary data and its relationship with the additional covariates. This results in subject-specific Ising models, where the subject's covariates influence the strength of association between the genes. As in all exploratory data analysis, interpretability of results is important, and we use L1 penalties to induce sparsity in the fitted graphs and in the number of selected covariates. Two algorithms to fit the model are proposed and compared on a set of simulated data, and asymptotic results are established. The results on the tumor dataset and their biological significance are discussed in detail.