arXiv subjects

Peiyu He

Publications and source records attributed to Peiyu He.

3 recordsLinked to original sources

arXiv2026

Causal inference with ordinal outcomes: copula-based identification, estimation and sensitivity analysis

In causal inference with ordinal outcomes, several interpretable estimands are functions of the probability that the potential outcome under one treatment is larger than that under another treatment for the same unit. This probability depends on the joint distribution of both potential outcomes and is generally not identifiable. Existing work has focused on sharp bounds of this probability based on partial identification, but bounds are often too wide to be informative. We propose a copula-based method that links the identifiable marginal distributions of the potential outcomes via a parametric copula, treating the copula association parameter as a sensitivity parameter. With a fixed copula parameter, the estimands become identified functionals of the observed data. Working under unconfoundedness, we derive the efficient influence function in the nonparametric model and construct one-step estimators that accommodate flexible nuisance estimation. The resulting procedure is rate-doubly-robust and attains the semiparametric efficiency bound under standard conditions. Varying the copula parameter yields a sensitivity curve with point-wise confidence bands that typically lie within the sharp bounds, providing an interpretable bridge between partial identification and point estimation. We further provide a comprehensive sensitivity analysis with respect to both the copula specification and the unconfoundedness assumption. We develop an associated R package \texttt{ordinalCI}.

stat.ME↗

arXiv2025

Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learning

Modern robot navigation systems encounter difficulties in diverse and complex indoor environments. Traditional approaches rely on multiple modules with small models or rule-based systems and thus lack adaptability to new environments. To address this, we developed Astra, a comprehensive dual-model architecture, Astra-Global and Astra-Local, for mobile robot navigation. Astra-Global, a multimodal LLM, processes vision and language inputs to perform self and goal localization using a hybrid topological-semantic graph as the global map, and outperforms traditional visual place recognition methods. Astra-Local, a multitask network, handles local path planning and odometry estimation. Its 4D spatial-temporal encoder, trained through self-supervised learning, generates robust 4D features for downstream tasks. The planning head utilizes flow matching and a novel masked ESDF loss to minimize collision risks for generating local trajectories, and the odometry head integrates multi-sensor inputs via a transformer encoder to predict the relative pose of the robot. Deployed on real in-house mobile robots, Astra achieves high end-to-end mission success rate across diverse indoor environments.

cs.RO↗

arXiv2024

A robust regression approach to synthetic control with interference

Synthetic control methods are widely used for policy evaluation, but most existing approaches rule out interference among units, compromising validity when such effects are present. We develop a framework that accommodates contaminated donor pools and unknown interference patterns through two stages: factor-model adjustment for unobserved confounding, followed by robust regression in which direct and interference effects appear as a sparse outlier component. We study two asymptotic regimes. When the number of units is fixed and at least half are unaffected by interference, high-breakdown robust regression yields consistent identification of valid controls and asymptotically normal inference. When the number of units diverges, we allow for sparse large and dense weak interference, with robust M-estimation remaining valid even when the post-intervention period is short. Unlike existing approaches requiring prespecification of valid controls or parametric modeling of interference, our framework relies only on coarse sparsity information and enables formal inference on both direct and interference effects. We assess the proposed methods through simulations and two empirical applications. An analysis of the US embassy relocation to Jerusalem reveals significant interference effects on conflict outcomes in Jordan, and an analysis of Beijing's air pollution policy uncovers spatial interference patterns consistent with prevailing wind directions.

stat.ME↗