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版本更新 · v2arXiv:2608.18374

Inference and Uncertainty Quantification for Streaming $r$-PCA

Haoshu Xu, Hongzhe Li

原文摘要

We address two open questions in streaming PCA via Oja's algorithm: sharp operator-norm convergence for general rank under sub-Gaussian data, and distributional inference for the resulting subspace estimator. Existing convergence analyses, even in the rank-one case, either assume bounded data or leave non-vanishing remainder terms that prevent adaptation to a polynomially vanishing tail spectrum, while existing distributional results are confined to the rank-one case. Our convergence theory removes these remainder terms and yields a sharp rate. In the dense-tail spiked covariance regime, this rate matches the minimax rate up to logarithmic factors. More generally, we prove a matching lower bound, up to logarithmic factors, across both dense-tail and sparse-tail regimes under a mild nondegeneracy condition. The analysis yields a linearization of Oja's iterates, which in turn enables a high-dimensional Gaussian approximation for the general-rank subspace estimation error with an explicit limiting covariance. We also establish a row-wise Gaussian approximation over convex sets for the aligned difference, recovering prior rank-one results as special cases. For practical inference, we develop an online multiplier bootstrap algorithm and prove its consistency. Beyond streaming PCA, our techniques contribute to Gaussian approximation and bootstrap inference for nonconvex stochastic approximation.

stat.ML · cs.LG

版本更新 · v2arXiv:2607.16193

UAV-DualCog: A Dual-Cognition Benchmark for Grounded UAV Agent-World Reasoning with MLLMs

Like Liu, Zhengzheng Xu, Hongzhe Li, Lin Wang, Dian Shao

原文摘要

Multimodal large language models (MLLMs) perform strongly across vision-language tasks, yet remain insufficiently explored in UAV scenarios. Recent UAV-oriented benchmarks have begun to evaluate MLLMs in aerial scenarios, but typically focus on scene understanding, event recognition, or navigation completion, rather than jointly assessing the dual-cognition capability required for UAV agents: reasoning about the UAV's own position, behavior, and observation state alongside external landmark states under continuously changing viewpoints, supported by explicit spatio-temporal grounding. To address this gap, we present UAV-DualCog, the first benchmark to formulate UAV dual cognition as the coordinated evaluation of Agent-State Reasoning and World-State Reasoning across multi-view images and egocentric videos, with explicit spatial or temporal grounding. The State-aware UAV Simulation Platform (SUSP) and the DualCog-aware Capture System (DCCS) construct 4,096 image and 2,048 video samples from 12 scenes, pairing complementary state questions within shared Agent-Landmark contexts. Extensive evaluations on 45 models show that current MLLMs remain far from reliable in UAV dual cognition: Agent-State Reasoning is generally weaker than World-State Reasoning, semantic answers do not reliably coincide with spatial or temporal grounding, and coordinated abilities remain limited. Thinking-mode comparisons, open-ended analyses, and sim-to-real validation show that these limitations persist across inference settings, formats, and environments. We further construct UAV-DualCog-Train and improve UAV dual-cognition performance through a lightweight optimization probe. Supplementary website, code, and dataset: https://smartdianlab.github.io/UAV-DualCog/

cs.CV