arXiv subjects

Kevin Guo

Publications and source records attributed to Kevin Guo.

10 recordsLinked to original sources

arXiv2026

CoRA: Confidence-Rationale Alignment for Reliable Chain-of-Thought Reasoning

Chain-of-thought (CoT) reasoning can improve LLM performance, but high answer confidence may be misleading when the accompanying CoT rationale is plausible yet incomplete or poorly supported. We study confidence--rationale alignment: whether a model's confidence in its committed answer is justified by its generated rationale. We introduce a GRPO-based reinforcement learning framework that jointly rewards answer correctness, committed-answer probability, and rubric-based rationale support, where the rubric assesses grounding, coherence, task match, and connection to the selected answer without revealing the gold answer to the judge. Across MedQA, MathQA, and OpenBookQA using three open-weight LLMs, our method reduces the confidence--rationale alignment error by up to 26.51% compared with untuned checkpoints, SFT, and correctness-only GRPO, while maintaining competitive accuracy and often improving calibration. These results show that reliable CoT reasoning requires not only confident answers, but rationales that substantively support them.

cs.CL↗

arXiv2026

Learning When to Sample: Confidence-Aware Selective Sampling for Efficient Chain-of-Thought Reasoning

Large language models (LLMs) can achieve strong reasoning performance through chain-of-thought (CoT) reasoning, yet they often generate unnecessarily long reasoning paths that incur high inference cost. Self-consistency-based approaches push accuracy higher still, but they require sampling and aggregating multiple reasoning trajectories, leading to substantial computational overhead. In this paper, we introduce a confidence-aware selective sampling framework that, at inference time, analyzes a single reasoning trajectory to adaptively determine whether to rely on that trajectory alone or trigger multi-path sampling. The framework uses trajectory-level numeric features and sentence-level linguistic features extracted from reasoning states to guide selective multi-path reasoning. We train it on MedQA and evaluate it in-domain on MedQA and under calibration-only transfer on MathQA, MedMCQA, and MMLU, without further fine-tuning. Experimental results show that the proposed framework maintains comparable performance to full and efficient multi-path reasoning baselines, with accuracy changes of $-0.41 \pm 0.58$ and $-0.31 \pm 0.58$ percentage points, respectively, while reducing token usage by $71.7 \pm 5.0%$ and $36.6 \pm 9.1%$. These findings demonstrate that reasoning trajectories contain rich signals for uncertainty estimation, enabling a simple, transferable mechanism to balance accuracy and efficiency in LLM reasoning.

cs.CL↗

arXiv2026

SysNav: Multi-Level Systematic Cooperation Enables Real-World, Cross-Embodiment Object Navigation

Object navigation (ObjectNav) in real-world environments is a complex problem that requires simultaneously addressing multiple challenges, including complex spatial structure, long-horizon planning and semantic understanding. Recent advances in Vision-Language Models (VLMs) offer promising capabilities for semantic understanding, yet effectively integrating them into real-world navigation systems remains a non-trivial challenge. In this work, we formulate real-world ObjectNav as a system-level problem and introduce SysNav, a three-level ObjectNav system designed for real-world crossembodiment deployment. SysNav decouples semantic reasoning, navigation planning and motion control to ensure robustness and generalizability. At the high-level, we summarize the environment into a structured scene representation and leverage VLMs to provide semantic-grounded navigation guidance. At the mid-level, we introduce a hierarchical room-based navigation strategy that reserves VLM guidance for room-level decisions, which effectively utilizes its reasoning ability while ensuring system efficiency. At the low-level, planned waypoints are executed through different embodiment-specific motion control modules. We deploy our system on three embodiments, a custom-built wheeled robot, the Unitree Go2 quadruped and the Unitree G1 humanoid, and conduct 190 real-world experiments. Our system achieves substantial improvements in both success rate and navigation efficiency. To the best of our knowledge, SysNav is the first system capable of reliably and efficiently completing building-scale long-range object navigation in complex real-world environments. Furthermore, extensive experiments on four simulation benchmarks demonstrate state-of-the-art performance. Project page is available at: https://cmu-vln.github.io/.

cs.RO↗

arXiv2023

Diagnosing the role of observable distribution shift in scientific replications

Many researchers have identified distribution shift as a likely contributor to the reproducibility crisis in behavioral and biomedical sciences. The idea is that if treatment effects vary across individual characteristics and experimental contexts, then studies conducted in different populations will estimate different average effects. This paper uses ``generalizability" methods to quantify how much of the effect size discrepancy between an original study and its replication can be explained by distribution shift on observed unit-level characteristics. More specifically, we decompose this discrepancy into ``components" attributable to sampling variability (including publication bias), observable distribution shifts, and residual factors. We compute this decomposition for several directly-replicated behavioral science experiments and find little evidence that observable distribution shifts contribute appreciably to non-replicability. In some cases, this is because there is too much statistical noise. In other cases, there is strong evidence that controlling for additional moderators is necessary for reliable replication.

stat.AP↗

arXiv2022

On the statistical role of inexact matching in observational studies

In observational causal inference, exact covariate matching plays two statistical roles: (i) it effectively controls for bias due to measured confounding; (ii) it justifies assumption-free inference based on randomization tests. This paper shows that inexact covariate matching does not always play these same roles. We find that inexact matching often leaves behind statistically meaningful bias and that this bias renders standard randomization tests asymptotically invalid. We therefore recommend additional model-based covariate adjustment after inexact matching. In the framework of local misspecification, we prove that matching makes subsequent parametric analyses less sensitive to model selection or misspecification. We argue that gaining this robustness is the primary statistical role of inexact matching.

stat.ME↗

arXiv2021

Doubly-Valid/Doubly-Sharp Sensitivity Analysis for Causal Inference with Unmeasured Confounding

We consider the problem of constructing bounds on the average treatment effect (ATE) when unmeasured confounders exist but have bounded influence. Specifically, we assume that omitted confounders could not change the odds of treatment for any unit by more than a fixed factor. We derive the sharp partial identification bounds implied by this assumption by leveraging distributionally robust optimization, and we propose estimators of these bounds with several novel robustness properties. The first is double sharpness: our estimators consistently estimate the sharp ATE bounds when one of two nuisance parameters is misspecified and achieve semiparametric efficiency when all nuisance parameters are suitably consistent. The second is double validity: even when most nuisance parameters are misspecified, our estimators still provide valid but possibly conservative bounds for the ATE and our Wald confidence intervals remain valid even when our estimators are not asymptotically normal. As a result, our estimators provide a highly credible method for sensitivity analysis of causal inferences.

stat.ME↗

arXiv2021

Sharp Sensitivity Analysis for Inverse Propensity Weighting via Quantile Balancing

Inverse propensity weighting (IPW) is a popular method for estimating treatment effects from observational data. However, its correctness relies on the untestable (and frequently implausible) assumption that all confounders have been measured. This paper introduces a robust sensitivity analysis for IPW that estimates the range of treatment effects compatible with a given amount of unobserved confounding. The estimated range converges to the narrowest possible interval (under the given assumptions) that must contain the true treatment effect. Our proposal is a refinement of the influential sensitivity analysis by Zhao, Small, and Bhattacharya (2019), which we show gives bounds that are too wide even asymptotically. This analysis is based on new partial identification results for Tan (2006)'s marginal sensitivity model.

math.ST↗

arXiv2020

The Generalized Oaxaca-Blinder Estimator

After performing a randomized experiment, researchers often use ordinary-least squares (OLS) regression to adjust for baseline covariates when estimating the average treatment effect. It is widely known that the resulting confidence interval is valid even if the linear model is misspecified. In this paper, we generalize that conclusion to covariate adjustment with nonlinear models. We introduce an intuitive way to use any "simple" nonlinear model to construct a covariate-adjusted confidence interval for the average treatment effect. The confidence interval derives its validity from randomization alone, and when nonlinear models fit the data better than linear models, it is narrower than the usual interval from OLS adjustment.

math.ST↗

arXiv2016

Understanding the Non-Convergence of Agricultural Futures via Stochastic Storage Costs and Timing Options

This paper studies the market phenomenon of non-convergence between futures and spot prices in the grains market. We postulate that the positive basis observed at maturity stems from the futures holder's timing options to exercise the shipping certificate delivery item and subsequently liquidate the physical grain. In our proposed approach, we incorporate stochastic spot price and storage cost, and solve an optimal double stopping problem to give the optimal strategies to exercise and liquidate the grain. Our new models for stochastic storage rates lead to explicit no-arbitrage prices for the shipping certificate and associated futures contract. We calibrate our models to empirical futures data during the periods of observed non-convergence, and illustrate the premium generated by the shipping certificate.

q-fin.TR↗

arXiv2016

Understanding the Tracking Errors of Commodity Leveraged ETFs

Commodity exchange-traded funds (ETFs) are a significant part of the rapidly growing ETF market. They have become popular in recent years as they provide investors access to a great variety of commodities, ranging from precious metals to building materials, and from oil and gas to agricultural products. In this article, we analyze the tracking performance of commodity leveraged ETFs and discuss the associated trading strategies. It is known that leveraged ETF returns typically deviate from their tracking target over longer holding horizons due to the so-called volatility decay. This motivates us to construct a benchmark process that accounts for the volatility decay, and use it to examine the tracking performance of commodity leveraged ETFs. From empirical data, we find that many commodity leveraged ETFs underperform significantly against the benchmark, and we quantify such a discrepancy via the novel idea of \emph{realized effective fee}. Finally, we consider a number of trading strategies and examine their performance by backtesting with historical price data.

q-fin.GN↗