Robotics paper index

ICON Decomposition: Multivariate Concept-Level Explanations of Deep Representations for Model Auditing

2026-08-26 · arXiv: 2608.26083

One-line summary

A robotics research paper on ICON Decomposition: Multivariate Concept-Level Explanations of Deep Representations for Model Auditing.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Deep neural networks often exploit spurious associations in their training data, a failure known as shortcut learning. Concept-based explainability methods screen for shortcuts by testing whether concepts such as a patient's sex or scanner settings can be decoded from a network layer. Because each concept is evaluated in isolation, these methods can mistake correlations between concepts as evidence that the model uses them. We introduce ICON decomposition, which instead quantifies how much of a layer's variance each concept explains after accounting for all other concepts and the outcome. On synthetic data with known ground truth, ICON recovers concept importance more accurately than seven alternative baseline methods. On skin-lesion and brain-imaging models, it isolates the concepts on which a model genuinely relies, quantifies the representation unexplained by any of the supplied concepts, and yields sparse explanations that we validate by retraining and out-of-distribution testing.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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