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When passing from the univariate to the multivariate setting, modelling extremes becomes much more intricate. In this introductory exposition, classical multivariate extreme value theory is presented from the point of view of multivariate excesses over high thresholds as modelled by the family of multivariate generalized Pareto distributions. The formulation in terms of failure sets in the sample space intersecting the sample cloud leads to the over-arching perspective of point processes. Max-stable or generalized extreme value distributions are finally obtained as limits of vectors of componentwise maxima by considering the event that a certain region of the sample space does not contain any observation., Comment: 33 pages, 4 figures, 1 table

High-impact climate damages are often driven by compounding climate conditions. For example, elevated heat stress conditions can arise from a combination of high humidity and temperature. To explore future changes in compounding hazards under a range of climate scenarios and with large ensembles, climate emulators can provide light-weight, data-driven complements to Earth System Models. Yet, only a few existing emulators can jointly emulate multiple climate variables. In this study, we present the Multi-resolution EmulatoR for CompoUnd climate Risk analYsis: MERCURY. MERCURY extends multi-resolution analysis to a spatio-temporal framework for versatile emulation of multiple variables. MERCURY leverages data-driven, image compression techniques to generate emulations in a memory-efficient manner. MERCURY consists of a regional component that represents the monthly, regional response of a given variable to yearly Global Mean Temperature (GMT) using a probabilistic regression based additive model, resolving regional cross-correlations. It then adapts a reverse lifting-scheme operator to jointly spatially disaggregate regional, monthly values to grid-cell level. We demonstrate MERCURY's capabilities on representing the humid-heat metric, Wet Bulb Globe Temperature, as derived from temperature and relative humidity emulations. The emulated WBGT spatial correlations correspond well to those of ESMs and the 95% and 97.5% quantiles of WBGT distributions are well captured, with an average of 5% deviation. MERCURY's setup allows for region-specific emulations from which one can efficiently "zoom" into the grid-cell level across multiple variables by means of the reverse lifting-scheme operator. This circumvents the traditional problem of having to emulate complete, global-fields of climate data and resulting storage requirements.

Accurate precipitation forecasts have a high socio-economic value due to their role in decision-making in various fields such as transport networks and farming. We propose a global statistical postprocessing method for grid-based precipitation ensemble forecasts. This U-Net-based distributional regression method predicts marginal distributions in the form of parametric distributions inferred by scoring rule minimization. Distributional regression U-Nets are compared to state-of-the-art postprocessing methods for daily 21-h forecasts of 3-h accumulated precipitation over the South of France. Training data comes from the M\'et\'eo-France weather model AROME-EPS and spans 3 years. A practical challenge appears when consistent data or reforecasts are not available. Distributional regression U-Nets compete favorably with the raw ensemble. In terms of continuous ranked probability score, they reach a performance comparable to quantile regression forests (QRF). However, they are unable to provide calibrated forecasts in areas associated with high climatological precipitation. In terms of predictive power for heavy precipitation events, they outperform both QRF and semi-parametric QRF with tail extensions., Comment: for associated code, see https://github.com/pic-romain/unet-pp

Proper scoring rules are an essential tool to assess the predictive performance of probabilistic forecasts. However, propriety alone does not ensure an informative characterization of predictive performance and it is recommended to compare forecasts using multiple scoring rules. With that in mind, interpretable scoring rules providing complementary information are necessary. We formalize a framework based on aggregation and transformation to build interpretable multivariate proper scoring rules. Aggregation-and-transformation-based scoring rules are able to target specific features of the probabilistic forecasts; which improves the characterization of the predictive performance. This framework is illustrated through examples taken from the literature and studied using numerical experiments showcasing its benefits. In particular, it is shown that it can help bridge the gap between proper scoring rules and spatial verification tools., Comment: for associated code, see https://github.com/pic-romain/aggregation-transformation

Causal asymmetry is based on the principle that an event is a cause only if its absence would not have been a cause. From there, uncovering causal effects becomes a matter of comparing a well-defined score in both directions. Motivated by studying causal effects at extreme levels of a multivariate random vector, we propose to construct a model-agnostic causal score relying solely on the assumption of the existence of a max-domain of attraction. Based on a representation of a Generalized Pareto random vector, we construct the causal score as the Wasserstein distance between the margins and a well-specified random variable. The proposed methodology is illustrated on a hydrologically simulated dataset of different characteristics of catchments in Switzerland: discharge, precipitation, and snowmelt.

Recent works have shown an interest in investigating the frequentist asymptotic properties of Bayesian procedures for high-dimensional linear models under sparsity constraints. However, there exists a gap in the literature regarding analogous theoretical findings for non-linear models within the high-dimensional setting. The current study provides a novel contribution, focusing specifically on a non-linear mixed-effects model. In this model, the residual variance is assumed to be known, while the covariance matrix of the random effects and the regression vector are unknown and must be estimated. The prior distribution for the sparse regression coefficients consists of a mixture of a point mass at zero and a Laplace distribution, while an Inverse-Wishart prior is employed for the covariance parameter of the random effects. First, the effective dimension of this model is bounded with high posterior probabilities. Subsequently, we derive posterior contraction rates for both the covariance parameter and the prediction term of the response vector. Finally, under additional assumptions, the posterior distribution is shown to contract for recovery of the unknown sparse regression vector at the same rate as observed in the linear case.

Generating accurate extremes from an observational data set is crucial when seeking to estimate risks associated with the occurrence of future extremes which could be larger than those already observed. Applications range from the occurrence of natural disasters to financial crashes. Generative approaches from the machine learning community do not apply to extreme samples without careful adaptation. Besides, asymptotic results from extreme value theory (EVT) give a theoretical framework to model multivariate extreme events, especially through the notion of multivariate regular variation. Bridging these two fields, this paper details a variational autoencoder (VAE) approach for sampling multivariate heavy-tailed distributions, i.e., distributions likely to have extremes of particularly large intensities. We illustrate the relevance of our approach on a synthetic data set and on a real data set of discharge measurements along the Danube river network. The latter shows the potential of our approach for flood risks' assessment. In addition to outperforming the standard VAE for the tested data sets, we also provide a comparison with a competing EVT-based generative approach. On the tested cases, our approach improves the learning of the dependency structure between extremes.

In extreme value theory and other related risk analysis fields, probability weighted moments (PWM) have been frequently used to estimate the parameters of classical extreme value distributions. This method-of-moment technique can be applied when second moments are finite, a reasonable assumption in many environmental domains like climatological and hydrological studies. Three advantages of PWM estimators can be put forward: their simple interpretations, their rapid numerical implementation and their close connection to the well-studied class of U-statistics. Concerning the later, this connection leads to precise asymptotic properties, but non asymptotic bounds have been lacking when off-the-shelf techniques (Chernoff method) cannot be applied, as exponential moment assumptions become unrealistic in many extreme value settings. In addition, large values analysis is not immune to the undesirable effect of outliers, for example, defective readings in satellite measurements or possible anomalies in climate model runs. Recently, the treatment of outliers has sparked some interest in extreme value theory, but results about finite sample bounds in a robust extreme value theory context are yet to be found, in particular for PWMs or tail index estimators. In this work, we propose a new class of robust PWM estimators, inspired by the median-of-means framework of Devroye et al. (2016). This class of robust estimators is shown to satisfy a sub-Gaussian inequality when the assumption of finite second moments holds. Such non asymptotic bounds are also derived under the general contamination model. Our main proposition confirms theoretically a trade-off between efficiency and robustness. Our simulation study indicates that, while classical estimators of PWMs can be highly sensitive to outliers.

The statistical modeling of discrete extremes has received less attention than their continuous counterparts in the Extreme Value Theory (EVT) literature. One approach to the transition from continuous to discrete extremes is the modeling of threshold exceedances of integer random variables by the discrete version of the generalized Pareto distribution. However, the optimal choice of thresholds defining exceedances remains a problematic issue. Moreover, in a regression framework, the treatment of the majority of non-extreme data below the selected threshold is either ignored or separated from the extremes. To tackle these issues, we expand on the concept of employing a smooth transition between the bulk and the upper tail of the distribution. In the case of zero inflation, we also develop models with an additional parameter. To incorporate possible predictors, we relate the parameters to additive smoothed predictors via an appropriate link, as in the generalized additive model (GAM) framework. A penalized maximum likelihood estimation procedure is implemented. We illustrate our modeling proposal with a real dataset of avalanche activity in the French Alps. With the advantage of bypassing the threshold selection step, our results indicate that the proposed models are more flexible and robust than competing models, such as the negative binomial distribution, Comment: 19 pages, 6 figures including and 3 Tables

When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these conditions, standard locomotion controllers can fail easily. In this article, we propose a complete control scheme to work with heavy robots in torque control. The full centroidal dynamics is used to generate walking gaits online, link deflections are taken into account to estimate the robot posture and all postural instructions are designed to avoid conflicting with each other, improving balance. These choices reduce model and control errors, allowing our centroidal stabilizer to compensate for the remaining residual errors. The stabilizer and motion generator are designed together to ensure feasibility under the assumption of bounded errors. We deploy this scheme to control the locomotion of the humanoid robot Talos, whose hip links flex when walking. It allows us to reach steps of 35~cm, for an average speed of 25~cm/sec, which is among the best performances so far for torque-controlled electric robots., Comment: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan

High-dimensional variable selection, with many more covariates than observations, is widely documented in standard regression models, but there are still few tools to address it in non-linear mixed-effects models where data are collected repeatedly on several individuals. In this work, variable selection is approached from a Bayesian perspective and a selection procedure is proposed, combining the use of a spike-and-slab prior and the Stochastic Approximation version of the Expectation Maximisation (SAEM) algorithm. Similarly to Lasso regression, the set of relevant covariates is selected by exploring a grid of values for the penalisation parameter. The SAEM approach is much faster than a classical MCMC (Markov chain Monte Carlo) algorithm and our method shows very good selection performances on simulated data. Its flexibility is demonstrated by implementing it for a variety of nonlinear mixed effects models. The usefulness of the proposed method is illustrated on a problem of genetic markers identification, relevant for genomic-assisted selection in plant breeding.

The theoretical advances on the properties of scoring rules over the past decades have broadened the use of scoring rules in probabilistic forecasting. In meteorological forecasting, statistical postprocessing techniques are essential to improve the forecasts made by deterministic physical models. Numerous state-of-the-art statistical postprocessing techniques are based on distributional regression evaluated with the Continuous Ranked Probability Score (CRPS). However, theoretical properties of such evaluation with the CRPS have solely considered the unconditional framework (i.e. without covariates) and infinite sample sizes. We extend these results and study the rate of convergence in terms of CRPS of distributional regression methods. We find the optimal minimax rate of convergence for a given class of distributions and show that the k-nearest neighbor method and the kernel method reach this optimal minimax rate., Comment: Preprint of the article available online in International Journal of Forecasting

State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor modality is seldom used in state estimation. In this paper, we propose to use joint torque measurements to estimate the centroidal states of legged robots. To do so, we project the whole-body dynamics of a legged robot into the nullspace of the contact constraints, allowing expression of the dynamics independent of the contact forces. Using the constrained dynamics and the centroidal momentum matrix, we are able to directly relate joint torques and centroidal states dynamics. Using the resulting model as the process model of an Extended Kalman Filter (EKF), we fuse the torque measurement in the centroidal state estimation problem. Through real-world experiments on a quadruped robot with different gaits, we demonstrate that the estimated centroidal states from our torque-based EKF drastically improve the recovery of these quantities compared to direct computation.

Machine learning classification methods usually assume that all possible classes are sufficiently present within the training set. Due to their inherent rarities, extreme events are always under-represented and classifiers tailored for predicting extremes need to be carefully designed to handle this under-representation. In this paper, we address the question of how to assess and compare classifiers with respect to their capacity to capture extreme occurrences. This is also related to the topic of scoring rules used in forecasting literature. In this context, we propose and study a risk function adapted to extremal classifiers. The inferential properties of our empirical risk estimator are derived under the framework of multivariate regular variation and hidden regular variation. A simulation study compares different classifiers and indicates their performance with respect to our risk function. To conclude, we apply our framework to the analysis of extreme river discharges in the Danube river basin. The application compares different predictive algorithms and test their capacity at forecasting river discharges from other river stations.

Heavy rainfall distributional modeling is essential in any impact studies linked to the water cycle, e.g.\ flood risks. Still, statistical analyses that both take into account the temporal and multivariate nature of extreme rainfall are rare, and often, a complex de-clustering step is needed to make extreme rainfall temporally independent. A natural question is how to bypass this de-clustering in a multivariate context. To address this issue, we introduce the stable sums method. Our goal is to incorporate time and space extreme dependencies in the analysis of heavy tails. To reach our goal, we build on large deviations of regularly varying stationary time series. Numerical experiments demonstrate that our novel approach enhances return levels inference in two ways. First, it is robust concerning time dependencies. We implement it alike on independent and dependent observations. In the univariate setting, it improves the accuracy of confidence intervals compared to the main estimators requiring temporal de-clustering. Second, it thoughtfully integrates the spatial dependencies. In simulation, the multivariate stable sums method has a smaller mean squared error than its component-wise implementation. We apply our method to infer high return levels of daily fall precipitation amounts from a national network of weather stations in France.

Accurate estimation of daily rainfall return levels associated with large return periods is needed for a number of hydrological planning purposes, including protective infrastructure, dams, and retention basins. This is especially relevant at small spatial scales. The ERA-5 reanalysis product provides seasonal daily precipitation over Europe on a 0.25 x 0.25 grid (about 27 x 27 km). This translates more than 20,000 land grid points and leads to models with a large number of parameters when estimating return levels. To bypass this abundance of parameters, we build on the regional frequency analysis (RFA), a well-known strategy in statistical hydrology. This approach consists in identifying homogeneous regions, by gathering locations with similar distributions of extremes up to a normalizing factor and developing sparse regional models. In particular, we propose a step-by-step blueprint that leverages a recently developed and fast clustering algorithm to infer return level estimates over large spatial domains. This enables us to produce maps of return level estimates of ERA-5 reanalysis daily precipitation over continental Europe for various return periods and seasons. We discuss limitations and practical challenges and also provide a git hub repository. We show that a relatively parsimonious model with only a spatially varying scale parameter can compete well against statistical models of higher complexity., Comment: 13 pages and 11 figures

A recurrent question in climate risk analysis is determining how climate change will affect heavy precipitation patterns. Dividing the globe into homogeneous sub-regions should improve the modelling of heavy precipitation by inferring common regional distributional parameters. In addition, in the detection and attribution (D&A) field, biases due to model errors in global climate models (GCMs) should be considered to attribute the anthropogenic forcing effect. Within this D&A context, we propose an efficient clustering algorithm that, compared to classical regional frequency analysis (RFA) techniques, is covariate-free and accounts for dependence. It is based on a new non-parametric dissimilarity that combines both the RFA constraint and the pairwise dependence. We derive asymptotic properties of our dissimilarity estimator, and we interpret it for generalised extreme value distributed pairs. As a D&A application, we cluster annual daily precipitation maxima of 16 GCMs from the coupled model intercomparison project. We combine the climatologically consistent subregions identified for all GCMs. This improves the spatial clusters coherence and outperforms methods either based on margins or on dependence. Finally, by comparing the natural forcings partition with the one with all forcings, we assess the impact of anthropogenic forcing on precipitation extreme patterns., Comment: 16 pages, 6 figures, proofs are attached

We propose a simple approach to implement a tunable, high power and narrow linewidth laser source based on a series of highly coherent tones from an electro-optic frequency comb and a set of 3 DFB slave lasers. We experimentally demonstrate approximately 1.25 THz (10 nm) of tuning within the C-Band centered at 192.9 THz (1555 nm). The output power is approximately 100 mW (20 dBm), with a side band suppression ratio greater than 55 dB, and a linewidth below 400 Hz across the full range of tunability. This approach is scalable and may be extended to cover a significantly broader optical spectral range.

Some properties of chaotic dynamical systems can be probed through features of recurrences, also called analogs. In practice, analogs are nearest neighbours of the state of a system, taken from a large database called the catalog. Analogs have been used in many atmospheric applications including forecasts, downscaling, predictability estimation, and attribution of extreme events. The distances of the analogs to the target state condition the performances of analog applications. These distances can be viewed as random variables, and their probability distributions can be related to the catalog size and properties of the system at stake. A few studies have focused on the first moments of return time statistics for the best analog, fixing an objective of maximum distance from this analog to the target state. However, for practical use and to reduce estimation variance, applications usually require not just one, but many analogs. In this paper, we evaluate from a theoretical standpoint and with numerical experiments the probability distributions of the $K$-best analog-to-target distances. We show that dimensionality plays a role on the size of the catalog needed to find good analogs, and also on the relative means and variances of the $K$-best analogs. Our results are based on recently developed tools from dynamical systems theory. These findings are illustrated with numerical simulations of a well-known chaotic dynamical system and on 10m-wind reanalysis data in north-west France. A practical application of our derivations for the purpose of objective-based dimension reduction is shown using the same reanalysis data.

The classical theory of modulation instability (MI) attributed to Bespalov-Talanov in optics and Benjamin-Feir for water waves is just a linear approximation of nonlinear effects and has limitations that have been corrected using the exact weakly nonlinear theory of wave propagation. We report results of experiments in both, optics and hydrodynamics, which are in excellent agreement with nonlinear theory. These observations clearly demonstrate that MI has wider band of unstable frequencies than predicted by the linear stability analysis. The range of areas where the nonlinear theory of MI can be applied is actually much larger than considered here., Comment: 9 pages, 10 figures

Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost of experimentation on real systems, in terms of both time and money. We address this problem by proposing an open-source robotic platform which can safely operate without human supervision. The hardware is inexpensive (about \SI{5000}[\$]{}) yet highly dynamic, robust, and capable of complex interaction with external objects. The software operates at 1-kilohertz and performs safety checks to prevent the hardware from breaking. The easy-to-use front-end (in C++ and Python) is suitable for real-time control as well as deep reinforcement learning. In addition, the software framework is largely robot-agnostic and can hence be used independently of the hardware proposed herein. Finally, we illustrate the potential of the proposed platform through a number of experiments, including real-time optimal control, deep reinforcement learning from scratch, throwing, and writing.

Analogs are nearest neighbors of the state of a system. By using analogs and their successors in time, one is able to produce empirical forecasts. Several analog forecasting methods have been used in atmospheric applications and tested on well-known dynamical systems. Although efficient in practice, theoretical connections between analog methods and dynamical systems have been overlooked. Analog forecasting can be related to the real dynamical equations of the system of interest. This study investigates the properties of different analog forecasting strategies by taking local approximations of the system's dynamics. We find that analog forecasting performances are highly linked to the local Jacobian matrix of the flow map, and that analog forecasting combined with linear regression allows to capture projections of this Jacobian matrix. The proposed methodology allows to estimate analog forecasting errors, and to compare different analog methods. These results are derived analytically and tested numerically on two simple chaotic dynamical systems., Comment: Article submitted to the Journal of Atmospheric Sciences

Due to complex physical phenomena, the distribution of heavy rainfall events is difficult to model spatially. Physically based numerical models can often provide physically coherent spatial patterns, but may miss some important precipitation features like heavy rainfall intensities. Measurements at ground-based weather stations, however, supply adequate rainfall intensities, but most national weather recording networks are often spatially too sparse to capture rainfall patterns adequately. To bring the best out of these two sources of information, climatologists and hydrologists have been seeking models that can efficiently merge different types of rainfall data. One inherent difficulty is to capture the appropriate multivariate dependence structure among rainfall maxima. For this purpose, multivariate extreme value theory suggests the use of a max-stable process. Such a process can be represented by a max-linear combination of independent copies of a hidden stochastic process weighted by a Poisson point process. In practice, the choice of this hidden process is non-trivial, especially if anisotropy, non-stationarity and nugget effects are present in the spatial data at hand. By coupling forecast ensemble data from the French national weather service (M\'et\'eo-France) with local observations, we construct and compare different types of data driven max-stable processes that are parsimonious in parameters, easy to simulate and capable of reproducing nugget effects and spatial non-stationarities. We also compare our new method with classical approaches from spatial extreme value theory such as Brown-Resnick processes., Comment: 15 pages, 5 figures

We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and force control. We also present a novel foot contact sensor suitable for legged locomotion with hard impacts. A 2.2 kg quadruped robot with a large range of motion is assembled from eight identical actuator modules and four lower legs with foot contact sensors. Leveraging standard plastic 3D printing and off-the-shelf parts results in a lightweight and inexpensive robot, allowing for rapid distribution and duplication within the research community. We systematically characterize the achieved impedance at the foot in both static and dynamic scenarios, and measure a maximum dimensionless leg stiffness of 10.8 without active damping, which is comparable to the leg stiffness of a running human. Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation. The controller can regulate complex motions while being robust to environmental uncertainty.

We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently computes the state trajectory and the control policy for a given predefined sequence of contacts. Its efficiency is due to the use of sparse analytical derivatives, exploitation of the problem structure, and data sharing. It employs differential geometry to properly describe the state of any geometrical system, e.g. floating-base systems. Additionally, we propose a novel optimal control algorithm called Feasibility-driven Differential Dynamic Programming (FDDP). Our method does not add extra decision variables which often increases the computation time per iteration due to factorization. FDDP shows a greater globalization strategy compared to classical Differential Dynamic Programming (DDP) algorithms. Concretely, we propose two modifications to the classical DDP algorithm. First, the backward pass accepts infeasible state-control trajectories. Second, the rollout keeps the gaps open during the early "exploratory" iterations (as expected in multiple-shooting methods with only equality constraints). We showcase the performance of our framework using different tasks. With our method, we can compute highly-dynamic maneuvers (e.g. jumping, front-flip) within few milliseconds., Comment: 6 pages, ICRA-20