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arXiv 最近完成扫描:2026-11-15 15:59 · 全站最近入库:2026-11-14 15:09各信源进度 →

统计口径与数据新鲜度

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版本更新 · v2arXiv:2611.01449

CONFIRM: Governing Scientific Reporting for Trustworthy Agentic Neuroimaging

Yuxiang Wei, Lijing Zhu, Qizhen Lan, Yanteng Zhang, Vince D. Calhoun

原文摘要

Large language model (LLM) agents can autonomously run neuroimaging analyses from research questions to reported findings. Existing agentic systems use tools to check that code runs and reported values match its output, but rely on LLM judgment to decide which results warrant scientific reporting. We show that LLM judges endorse site-confounded findings even when the confound is presented as evidence. We present \textbf{CONFIRM}, a framework that separates running an analysis from deciding which findings to report. CONFIRM encodes each hypothesis as a machine-readable, pre-specified analysis plan that fixes the claim and its pass criteria before computing results. It then filters results through five deterministic gates (search history and multiplicity, confounds, power, analytic stability, and replication) under three configurable reporting standards, from least to most demanding: \textit{Screen}, \textit{Replicate}, and \textit{Full}. Failed claims receive diagnoses that guide follow-up analyses. To evaluate reporting decisions at the claim level, we introduce \textbf{NeuroClaimBench}, comprising 489 executable neuroimaging claims with frozen data, including literature-supported findings and 150 controls designed to violate individual methodological requirements. On NeuroClaimBench, CONFIRM falsely supports at most 3\% of controls, compared with 23--38\% for the baselines, while recovering up to 61\% of literature-supported claims. When auditing an existing agent, CONFIRM reduces false support on controls from 23\% to 0\% while retaining the agent's literature-supported claims. Its diagnostic feedback also produces more supported revisions than Self-Refine with fewer LLM calls. Together, CONFIRM and NeuroClaimBench show that basing reporting decisions on pre-specified analysis plans and deterministic gates is essential for trustworthy autonomous scientific discovery.

cs.AI · cs.MA

版本更新 · v5arXiv:2506.20533

Global Convergence of Iteratively Reweighted Least Squares for Robust Subspace Recovery

Gilad Lerman, Kang Li, Tyler Maunu, Teng Zhang

原文摘要

Robust subspace estimation is fundamental to many machine learning and data analysis tasks. Iteratively Reweighted Least Squares (IRLS) is an elegant and empirically effective approach to this problem, yet its theoretical properties remain poorly understood. This paper establishes that, under deterministic conditions, a variant of IRLS with dynamic smoothing regularization converges linearly to the underlying subspace from any initialization. We extend these guarantees to affine subspace estimation, a setting that lacks prior recovery theory. Additionally, we illustrate the practical benefits of IRLS through an application to low-dimensional neural network training. Our results provide the first global convergence guarantees for IRLS in robust subspace recovery and, more broadly, for nonconvex IRLS on a Riemannian manifold.

stat.ML · cs.LG · math.OC

版本更新 · v2arXiv:2610.09857

Towards Accurate End-Effector Localization for UMI-Style Robotic Manipulation Teaching

Junjie Zhang, Deteng Zhang, Zhisong Xu, Bo Sun, Liuyang Li, Yihong Tian, Jie Yin

原文摘要

Robot demonstration learning requires accurate and temporally complete end-effector localization during close-range manipulation and camera occlusion. Existing SLAM benchmarks emphasize navigation motions, whereas manipulation datasets prioritize policy learning over localization evaluation. We introduce MILD, a Manipulation-Interface Localization Dataset with real-world and simulation sequences. The real-world subset provides 86 sensor sequences from Insta360 X5 and Insight9 across 15 repeated tabletop tasks, calibration assets, and a per-execution robot end-effector reference trajectory. The simulation subset, MILD-Sim, extends task coverage in Isaac Sim for controlled manipulation-replay studies. Benchmarking visual-inertial and fiducial-aided systems on instrumented real-world recordings reveals large differences in both TCP-relative trajectory error and temporal coverage, even under the same nominal task. To support marker-augmented teaching workspaces without a pre-surveyed fiducial map, we present AprilVINS, which combines fisheye visual-inertial estimation with sequence-local AprilTag geometry and separates prior admission from guarded export of the jointly optimized state. On Insta360 AprilTag4 recordings, AprilVINS(full) under a unified protocol with sequence-specific profiles reaches millimeter-level SE(3)-aligned TCP-relative APE RMSE with high time completion and lower reported error than the tested routes under their respective protocols, whereas fisheye VIO without tag factors remains at centimeter scale. Ablations separate accuracy from exportability, and a MILD-Sim replay study provides task-specific tolerance references for interpreting those error magnitudes. Together, MILD and AprilVINS provide a diagnostic benchmarking framework for UMI-style demonstration collection. Code, datasets, and evaluation manifests will be released upon acceptance.

cs.RO