arXiv:2609.01662cs.ROcs.AI2026-09

区分计算与证据重复性,仅当来源独立时才视为有效支持。

Not All Agreement Counts as Corroboration: Provenance-Conserving Multi-View Fusion for Typed Action Admission in Human-Robot Collaboration

论文配图:Not All Agreement Counts as Corroboration: Provenance-Conserving Multi-View Fusion for Typed Action Admission in Human-Robot Collaboration
图 1 · 摘自论文原文
  • 基于来源划分证据单元,只在单元间累积支持
  • 48场景下风险覆盖率达0.0861,优于单一聚合方式
  • 适用于人机协作中需验证证据可信度的场景

对于具身系统,仅靠预测一致不能决定证据是否支持行动;证据来源至关重要。对同一观测反复推断会增加一致性但不增加证据量,而局部值无法揭示输出是否具有独立来源。PACT将证据可计数性作为关系变量,实现来源保真融合与类型化动作决策。给定来源划分后,保留每个单元内坐标级支持,仅跨单元累积,并将未满足释放条件映射为保持、确认或回退。在假设成立下,局部值无法识别可计数性;坐标级交集是满足单例保真与插入非放大性的最大预算,具备粗化单调性和固定划分稳定性。在48个场景簇共31,200次评估中,PACT实现0.0861的公共支持归一化风险-覆盖面积(ncsAURC)。剔除构造的对抗性共识分支后,相比单例聚合,来源划分聚合使ncsAURC降低0.0557,且相关性对比消失。在完整源记录上,原生得分偏爱PACT,但共同后验峰值得分缩小其与嵌套狄利克雷及乘积融合的差距。在不变预测下重分配来源,证据预算按预期变化。离线人机协作中,八倍同相机重复使每检查点保持720个类型响应不变;摄像头分组的PACT在60个回合中承认57个参考一致候选中的47个,无观察到参考不一致的承认。PACT区分了计算冗余与证据冗余:只有当来源允许独立累积时,一致才构成有效佐证。

原文摘要 · Abstract (English)

For embodied systems, predictive agreement alone does not determine whether evidence warrants action; evidential origin matters. Repeated inference over one observation can multiply agreement without adding evidence, while source-local values do not reveal whether outputs have separately countable origins. PACT treats evidence countability as a relational variable for provenance-conserving fusion and typed action admission. A supplied provenance partition defines countable units. PACT retains coordinatewise support shared within each unit, accumulates only across units, and maps unmet release conditions to hold, confirm, or fallback. Under the stated assumptions, source-local values cannot identify countability; the coordinatewise meet is the greatest budget satisfying singleton fidelity and insertion non-amplification, with coarsening monotonicity and fixed-partition stability. Across 31,200 evaluations in 48 scene clusters, PACT attains a common-support normalized risk-coverage area (ncsAURC) of 0.0861. Excluding the constructed adversarial-consensus arm, provenance-partition aggregation reduces ncsAURC by 0.0557 relative to singleton aggregation, while the corroboration contrast vanishes. On complete-source records, native scores favor PACT, but a common posterior-peak score narrows its difference from nested Dirichlet and favors product fusion. Reassigning provenance over unchanged predictions moves evidence budgets as predicted. In offline human-robot collaboration, eightfold within-camera duplication leaves 720 typed responses per checkpoint unchanged; camera-grouped PACT admits 47 of 57 Qwen3-VL-32B reference-consistent candidates with no observed reference-inconsistent admission in 60 episodes. PACT separates computational from evidential multiplicity: agreement constitutes corroboration only when provenance permits separate accumulation.

人机协作证据融合可信推理

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