arXiv subjects

Pengfei Tian

Publications and source records attributed to Pengfei Tian.

7 recordsLinked to original sources

arXiv2026

Introducing the CP-plot for Causal Inference with Observational Studies

Under the canonical setting of observational studies for causal inference, we derive a set of exact representations for pairwise differences among weighted average treatment effects as covariances between the conditional average treatment effect and the propensity score, up to positive scaling factors. These covariance representations bridge the two core concepts in causal inference with observational studies. They immediately imply that (i) the average treatment effect is bracketed by the average treatment effects on the treated and on the controls, with the direction determined by the sign of the covariance between the conditional average treatment effect and the propensity score, and (ii) the average treatment effect under the overlap weight, the weight that is proportional to the conditional variance of the treatment given the covariates, is bracketed by the average treatment effects on the treated and controls when the corresponding covariances have a common sign within both the treated and control groups. We further extend these results to weighted local average treatment effects in the instrumental variable framework. Building on this theory, we recommend the ``CP-plot'' of the estimated conditional average treatment effect against the estimated propensity score, and implement it in the R package \texttt{CPplot}.

stat.ME↗

arXiv2026

From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges

Bridging high-level semantic understanding with low-level physical control remains a persistent challenge in embodied intelligence, stemming from the fundamental spatiotemporal scale mismatch between cognition and action. Existing generative VLA policies typically adopt a "Generation-from-Noise" paradigm, which disregards this disparity, leading to representation inefficiency and weak condition alignment during optimization. In this work, we propose ResVLA, an architecture that shifts the paradigm to "Refinement-from-Intent." Recognizing that robotic motion naturally decomposes into global intent and local dynamics, ResVLA utilizes spectral analysis to decouple control into a deterministic low-frequency anchor and a stochastic high-frequency residual. By anchoring the generative process on the predicted intent, our model focuses strictly on refining local dynamics via a residual diffusion bridge. Extensive simulation experiments show that ResVLA achieves competitive performance, strong robustness to language and robot embodiment perturbations, and faster convergence than standard generative baselines. ResVLA also demonstrates strong performance in real-world robot experiments.

cs.RO↗

arXiv2026

Balancing Covariates in Survey Experiments

The survey experiment is widely used in economics and social sciences to evaluate the effects of treatments or programs. In a standard population-based survey experiment, the experimenter randomly draws experimental units from a target population of interest and then randomly assigns the sampled units to treatment or control conditions to explore the treatment effect of an intervention. Simple random sampling and treatment assignment can balance covariates on average. However, covariate imbalance often exists in finite samples. To address the imbalance issue, we study a stratified approach to balance covariates in a survey experiment. A stratified rejective sampling and rerandomization design is further proposed to enhance the covariate balance. We develop a design-based asymptotic theory for the widely used stratified difference-in-means estimator of the average treatment effect under the proposed design. In particular, we show that it is consistent and asymptotically a convolution of a normal distribution and two truncated normal distributions. This limiting distribution is more concentrated at the true average treatment effect than that under the existing experimental designs. Moreover, we propose a covariate adjustment method in the analysis stage, which can further improve the estimation efficiency. Numerical studies demonstrate the validity and improved efficiency of the proposed method.

stat.ME↗

arXiv2025

Test mass charge management in the detection of gravitational waves in space based on UV micro-LED

As an alternative to the ultraviolet light emitting diode(UV LED), the feasibility of utilizing UV micro-LED in the charge management in the detection of gravitational waves in space is experimentally studied. Compared with UV LED, micro-LED is more compact in size, has better current spreading, faster response time and longer operating life. Performance characteristics of micro-LEDs were measured, with peak wavelength of 254 nm, 262 nm, 274 nm, and 282 nm for each respective micro-LED, and the photoelectric effect was demonstrated. The effectiveness of micro-LED based charge management experiments were demonstrated using above micro-LEDs mounted on a cubical test mass, and different discharge rates were achieved by varying the drive current and duty cycle using pulse width modulation(PWM). Laboratory data was also shown to demonstrate the space qualification of the micro-LED device, the key electrical and optical characteristics of the micro-LEDs showed less than 5% variation. The results of the qualification bring the micro-LED device Technology Readiness Level(TRL) to TRL-5. TRL-6 will be reached provided additional radiation and thermal tests are conducted and in a position ready to be flown and further tested in space.

physics.ins-det↗

arXiv2025

Body Discovery of Embodied AI

In the pursuit of realizing artificial general intelligence (AGI), the importance of embodied artificial intelligence (AI) becomes increasingly apparent. Following this trend, research integrating robots with AGI has become prominent. As various kinds of embodiments have been designed, adaptability to diverse embodiments will become important to AGI. We introduce a new challenge, termed "Body Discovery of Embodied AI", focusing on tasks of recognizing embodiments and summarizing neural signal functionality. The challenge encompasses the precise definition of an AI body and the intricate task of identifying embodiments in dynamic environments, where conventional approaches often prove inadequate. To address these challenges, we apply causal inference method and evaluate it by developing a simulator tailored for testing algorithms with virtual environments. Finally, we validate the efficacy of our algorithms through empirical testing, demonstrating their robust performance in various scenarios based on virtual environments.

cs.RO↗

arXiv2025

Stratified Permutational Berry--Esseen Bounds and Their Applications to Statistics

The stratified linear permutation statistic arises in various statistics problems, including stratified and post-stratified survey sampling, stratified and post-stratified experiments, conditional permutation tests, etc. Although we can derive the Berry--Esseen bounds for the stratified linear permutation statistic based on existing bounds for the non-stratified statistics, those bounds are not sharp, and moreover, this strategy does not work in general settings with heterogeneous strata with varying sizes. We first use Stein's method to obtain a unified stratified permutational Berry--Esseen bound that can accommodate heterogeneous strata. We then apply the bound to various statistics problems, leading to stronger theoretical quantifications and thereby facilitating statistical inference in those problems.

math.ST↗

arXiv2023

Flatness-Aware Minimization for Domain Generalization

Domain generalization (DG) seeks to learn robust models that generalize well under unknown distribution shifts. As a critical aspect of DG, optimizer selection has not been explored in depth. Currently, most DG methods follow the widely used benchmark, DomainBed, and utilize Adam as the default optimizer for all datasets. However, we reveal that Adam is not necessarily the optimal choice for the majority of current DG methods and datasets. Based on the perspective of loss landscape flatness, we propose a novel approach, Flatness-Aware Minimization for Domain Generalization (FAD), which can efficiently optimize both zeroth-order and first-order flatness simultaneously for DG. We provide theoretical analyses of the FAD's out-of-distribution (OOD) generalization error and convergence. Our experimental results demonstrate the superiority of FAD on various DG datasets. Additionally, we confirm that FAD is capable of discovering flatter optima in comparison to other zeroth-order and first-order flatness-aware optimization methods.

cs.CV↗