arXiv subjects

Chunyu Sun

Publications and source records attributed to Chunyu Sun.

5 recordsLinked to original sources

arXiv2026

DeepInsight: A Unified Evaluation Infrastructure Across the Physical AI Stack

Evaluating a Physical AI stack spans operators that differ by more than three orders of magnitude -- from a single foundation-model decoding step to thousands of physics ticks of whole-body control -- varying orthogonally in modality, reward semantics, and resource profile. No existing framework spans this range, so the stack is evaluated today by stitching together separate harnesses that share neither runtime nor scoring, preserving each segment's local validity but losing the shared identity needed to diagnose cross-layer regressions. We present DeepInsight, an evaluation infrastructure that serves this full spectrum on a single runtime. Rather than homogenize the regimes, it preserves their heterogeneity behind three narrow abstractions -- task, resource, and result -- each realized as one invariant shared by every subsystem: one episode driver, one resource-handle protocol implemented by every expensive backend (LLM inference and sandboxed runtimes alike), and one trace identity scheme under which every event is written. Deployed in production across all three layers of an embodied humanoid stack, this single set of invariants onboards new benchmarks largely by configuration. Where mature peer orchestrators exist -- at the foundation-model end -- it reproduces published references and peer-framework readings within their own spread, runs the same suites faster on a single node, and scales near-linearly across nodes. Its distinctive return is diagnostic: because every layer writes into one shared trace, a regression that begins in one layer and surfaces in another stays localizable on that trace -- a cross-layer payoff no federation of per-segment harnesses can reproduce.

cs.AI↗

arXiv2026

Let Geometry GUIDE: Layer-wise Unrolling of Geometric Priors in Multimodal LLMs

Multimodal Large Language Models (MLLMs) have achieved remarkable progress in 2D visual tasks but still struggle to understand physical space in real-world visual streams. Recently, feed-forward geometric foundation models that implicitly extract geometric priors from visual inputs have offered a promising direction. However, many existing geometry-aware MLLMs extract features from a single deep encoder layer and perform one-shot fusion at the language-model input, potentially overlooking complementary information across geometric encoder layers, limiting access to fine-grained geometric cues, and hindering progressive cross-modal adaptation. To address these limitations, we propose GUIDE (Geometric Unrolling Inside MLLM Early-layers), a progressive framework for integrating geometric priors. GUIDE samples and aligns multi-level features from the geometric encoder and sequentially injects them into the early layers of the MLLM. This design enables the MLLM to continuously access multi-granularity geometric cues and progressively integrate them with visual representations during layer-wise semantic abstraction. GUIDE further introduces a dual context-aware gating mechanism at both the token and layer levels, selectively regulating geometric information to reduce redundant injection and interference with pretrained representations. Extensive experiments on spatial reasoning and 3D scene understanding benchmarks, including VSI-Bench, ScanRefer, and Scan2Cap, validate the effectiveness and cross-task applicability of GUIDE. Our 5B and 9B models achieve average scores of 71.5 and 72.1 on VSI-Bench, respectively.

cs.CV↗

arXiv2025

SEAL: Speech Embedding Alignment Learning for Speech Large Language Model with Retrieval-Augmented Generation

Embedding-based retrieval models have made significant strides in retrieval-augmented generation (RAG) techniques for text and multimodal large language models (LLMs) applications. However, when it comes to speech larage language models (SLLMs), these methods are limited to a two-stage process, where automatic speech recognition (ASR) is combined with text-based retrieval. This sequential architecture suffers from high latency and error propagation. To address these limitations, we propose a unified embedding framework that eliminates the need for intermediate text representations. Specifically, the framework includes separate speech and text encoders, followed by a shared scaling layer that maps both modalities into a common embedding space. Our model reduces pipeline latency by 50\% while achieving higher retrieval accuracy compared to traditional two-stage methods. We also provide a theoretical analysis of the challenges inherent in end-to-end speech retrieval and introduce architectural principles for effective speech-to-document matching. Extensive experiments demonstrate the robustness of our approach across diverse acoustic conditions and speaker variations, paving the way for a new paradigm in multimodal SLLMs retrieval systems.

eess.AS↗

arXiv2022

Improving Robust Fairness via Balance Adversarial Training

Adversarial training (AT) methods are effective against adversarial attacks, yet they introduce severe disparity of accuracy and robustness between different classes, known as the robust fairness problem. Previously proposed Fair Robust Learning (FRL) adaptively reweights different classes to improve fairness. However, the performance of the better-performed classes decreases, leading to a strong performance drop. In this paper, we observed two unfair phenomena during adversarial training: different difficulties in generating adversarial examples from each class (source-class fairness) and disparate target class tendencies when generating adversarial examples (target-class fairness). From the observations, we propose Balance Adversarial Training (BAT) to address the robust fairness problem. Regarding source-class fairness, we adjust the attack strength and difficulties of each class to generate samples near the decision boundary for easier and fairer model learning; considering target-class fairness, by introducing a uniform distribution constraint, we encourage the adversarial example generation process for each class with a fair tendency. Extensive experiments conducted on multiple datasets (CIFAR-10, CIFAR-100, and ImageNette) demonstrate that our method can significantly outperform other baselines in mitigating the robust fairness problem (+5-10\% on the worst class accuracy)

cs.LG↗

arXiv2022

Semantic Segmentation-Assisted Instance Feature Fusion for Multi-Level 3D Part Instance Segmentation

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further exploit the inherent relationship between shape semantics and part instances. In this paper, we present a new method for 3D part instance segmentation. Our method exploits semantic segmentation to fuse nonlocal instance features, such as center prediction, and further enhances the fusion scheme in a multi- and cross-level way. We also propose a semantic region center prediction task to train and leverage the prediction results to improve the clustering of instance points. Our method outperforms existing methods with a large-margin improvement in the PartNet benchmark. We also demonstrate that our feature fusion scheme can be applied to other existing methods to improve their performance in indoor scene instance segmentation tasks.

cs.CV↗