Decomposition of Spillover Effects Under Misspecification:Pseudo-true Estimands and a Local--Global Extension

Applied work with interference typically models outcomes as functions of own treatment and a low-dimensional exposure mapping of others' treatments, even when that mapping may be misspecified. This raises a basic question: what policy object are exposure-based estimands implicitly targeting, and how should we interpret their direct and spillover components relative to the underlying policy question? We take as primitive the marginal policy effect, defined as the effect of a small change in the treatment probability under the actual experimental design, and show that any researcher-chosen exposure mapping induces a unique pseudo-true outcome model. This model is the best approximation to the underlying potential outcomes that depends only on the user-chosen exposure. Utilizing that representation, the marginal policy effect admits a canonical decomposition into exposure-based direct and spillover effects, and each component provides its optimal approximation to the corresponding oracle objects that would be available if interference were fully known. We then focus on a setting that nests important empirical and theoretical applications in which both local network spillovers and global spillovers, such as market equilibrium, operate. There, the marginal policy effect further decomposes asymptotically into direct, local, and global channels. An important implication is that many existing methods are more robust than previously understood once we reinterpret their targets as channel-specific components of this pseudo-true policy estimand. Simulations and a semi-synthetic experiment calibrated to a large cash-transfer experiment show that these components can be recovered in realistic experimental designs.

RE-TRIP : Reflectivity Instance Augmented Triangle Descriptor for 3D Place Recognition

While most people associate LiDAR primarily with its ability to measure distances and provide geometric information about the environment (via point clouds), LiDAR also captures additional data, including reflectivity or intensity values. Unfortunately, when LiDAR is applied to Place Recognition (PR) in mobile robotics, most previous works on LiDAR-based PR rely only on geometric measurements, neglecting the additional reflectivity information that LiDAR provides. In this paper, we propose a novel descriptor for 3D PR, named RE-TRIP (REflectivity-instance augmented TRIangle descriPtor). This new descriptor leverages both geometric measurements and reflectivity to enhance robustness in challenging scenarios such as geometric degeneracy, high geometric similarity, and the presence of dynamic objects. To implement RE-TRIP in real-world applications, we further propose (1) a keypoint extraction method, (2) a key instance segmentation method, (3) a RE-TRIP matching method, and (4) a reflectivity-combined loop verification method. Finally, we conduct a series of experiments to demonstrate the effectiveness of RE-TRIP. Applied to public datasets (i.e., HELIPR, FusionPortable) containing diverse scenarios such as long corridors, bridges, large-scale urban areas, and highly dynamic environments -- our experimental results show that the proposed method outperforms existing state-of-the-art methods in terms of Scan Context, Intensity Scan Context, and STD.