不会发生漂移的AI科学家：四足机器人导航研究循环中的偏好、结构与可证伪发现
An AI Scientist that Doesn't Drift: Taste, Structure, and Falsifiable Findings in a Quadruped Navigation Research Loop
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中文总结 AI 辅助
该研究提出一款基于自研究范式的AI科学家，通过新增实验卡片、专门子智能体和偏好神谕kkanbu的组件，解决自主研究循环漂移问题，在四足机器人导航实验中验证了框架的有效性。
中文摘要 AI 辅助
由大语言模型驱动的自主研究循环能够大规模运行机器学习实验，但往往会偏向于对其所优化的任一指标进行局部微调，而非检验实验背后的假设。我们从结构层面解决了这一问题，提出了一款用于研究仿真环境中四足机器人导航策略泛化性的AI科学家。该研究循环基于Karpathy的自研究范式构建，新增了三个组件：不可变的实验卡片，其以固定模式将每次迭代的预测与结果配对，因此被证伪的假设无法被追溯修改；被限制于机械性角色的专门子智能体；以及kkanbu，一款偏好神谕，它将用户的研究偏好存储为类型化知识图谱，且是唯一被允许做出主观判断的组件。为隔离该神谕，我们在11个研究流中分别运行两次相同的研究循环，一次使用kkanbu，一次不使用。两个分支均未发生漂移：各自约四分之三的假设都被证伪，且训练效果最佳的策略来自无kkanbu的分支。神谕改变的是研究方向而非分数：仅它探索了测试时适应，其主导的分支中获胜设计均由它提出，且它在不同研究流间传递的经验教训是另一分支反复重新推导的。该框架确保研究循环的诚实性；kkanbu决定研究方向。
英文摘要
Autonomous research loops driven by large language models can run machine-learning experiments at scale but tend to drift toward local refinements of whichever metric they optimise rather than testing the hypotheses that motivate the experiments. We address this structurally and present an AI Scientist for studying generalisation in quadruped robot navigation policies in simulation. Building on the autoresearch paradigm of Karpathy, our loop adds three components: an immutable experiment card that pairs each iteration's prediction with its outcome under a fixed schema, so a falsified hypothesis cannot be retconned; specialised subagents restricted to mechanical roles; and kkanbu, a preference oracle that holds the user's research taste as a typed knowledge graph and is the only component permitted to make subjective judgements. To isolate the oracle we run the identical loop twice across eleven research streams, with and without kkanbu. Neither arm drifts: both falsify roughly three quarters of their own hypotheses, and the best trained policy comes from the oracle-less arm. What the oracle changes is direction, not score: it alone explores test-time adaptation, it authored the winning designs where its arm led, and it carried lessons across streams that the other arm repeatedly re-derived. The scaffold keeps the loop honest; kkanbu decides where it looks.
