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He Zhang

Publications and source records attributed to He Zhang.

At least 37 records · Page 2Linked to original sources
arXiv2026

PromptShield Home: Ambient Multimodal Prompt Injection Defense for Smart-Home Agents

Smart-home assistants increasingly use multimodal large language models (MLLMs) that perceive video and audio directly. This raises a safety question specific to the home: can the agent tell a genuine user command from ambient or externally-sourced content, television speech, on-screen text, or an overheard conversation, that merely looks like a command? We introduce PromptShield-Home, a pilot benchmark of realistic smart-home scenarios spanning addressee ambiguity, screen/audio injection, health-monitor false triggers, mixed occupancy, and a legitimate-command floor, and use it to compare three abstraction layers: traditional detectors (L0), a single MLLM agent (L1; vision, vision+ASR, and audio-visual), and multi-agent mediation (L2; voting, role specialists, cross-model arbitration). Because the label distribution is skewed toward inaction, aggregate accuracy is misleading, a constant always-block predictor scores 82%, so we report unsafe-execution and safe-completion rates separately. The two paradigms fail in opposite ways: detectors act on everything, while every MLLM configuration over-refuses, completing almost no genuine command and missing a true fall in every case. Crucially, their correct sets are disjoint: an oracle that always picks the right layer reaches 94.1%, against 76.5% for the best single layer. We report this as an upper bound, not a system - no router is implemented - and argue that home-agent safety is best served by learned routing and sensor fusion, not by replacing detectors with an MLLM.

cs.CR↗
arXiv2026

How Should Vision-Language-Action Models Use Proprioceptive State?

Recent Vision-Language-Action (VLA) models almost universally take robot proprioceptive state as input, yet wire it in incompatible ways -- serialized into text prompts, projected into the vision-language prefix, or fed directly to the action expert -- and almost always as a single current frame. Three questions remain open: (1) whether, and on which tasks, current state actually improves closed-loop control; (2) how much state history helps, and whether its benefit reflects genuine temporal variation rather than added conditioning capacity; and (3) where state should enter the model -- the vision-language backbone or the action-generation module. We answer these questions through controlled experiments on a flow-matching VLA, fixing the backbone, training data, action representation, and evaluation protocol throughout. We implement five representative interfaces -- discrete state prompt, VLM prefix, action prefix, state expert, and feature modulation -- under matched implementation details, and evaluate them on 45 atomic tasks spanning three task families plus 20 composite tasks; we then sweep the state-history length from 1 to 96 frames to examine how historical state information affects model performance. The experiments yield systematic answers to all three questions, distilled into testable design principles for state-aware VLAs.

cs.RO↗
arXiv2026

We Must Have Missed This Comment: Detecting and Repairing Stale Function References in Linux Kernel Comments

As the Linux kernel evolves, code comments may become outdated, as the functions they reference can be refactored or removed independently without corresponding updates to the comments. Such stale function references can mislead maintainers and thus hinder code comprehension. Prior work on detecting code-comment inconsistency mainly focused on addressing semantic misalignment between Javadoc comments and their directly annotated functions, making them inapplicable to this type of externally induced staleness in the Linux kernel. Therefore, we propose ReCite, a three-stage approach to identify and repair such stale references: (1) detecting unresolved function-form symbols -- symbols in comments that appear to reference functions but for which no matching function can be found in the current codebase, (2) tracing the evolution history of each unresolved symbol through the Git history, and (3) generating LLM-based repair suggestions grounded in the evolution history and current code context. On Linux kernel v6.18-rc1, ReCite detects 869 stale references with generated repair suggestions. A manual evaluation on 200 sampled repairs shows that 178 (89.0%) provide useful repair guidance, with 85 (42.5%) directly applicable. Of our 75 submitted patches, 50 have been accepted. We also empirically study all unresolved function-form symbols.

cs.SE↗
arXiv2026

Overcoming the Weakest-Link Effect in LLM-Driven Program Optimization via Heterogeneous Edit Recombination

Large language models (LLMs) are increasingly used to solve complex problems by searching over program space, offering a general paradigm for scientific problems that can be naturally represented and solved as programs. Despite recent progress, identifying effective optimization directions for a candidate program remains challenging. By analogy with automatic differentiation, existing methods typically guide the search using a textual ``gradient'': a first-order update direction expressed as textual edits. Such gradients are inferred either from previously evaluated programs or from LLM-generated feedback on the implicit program-score mapping. However, these estimates become increasingly unreliable as the program--score mapping grows more complex, limiting their practical utility. We argue that explicit gradients are not essential for effective program optimization. Leveraging their prior knowledge, LLMs can propose plausible atomic edits directly from the current program, thereby enabling a zeroth-order optimization strategy. However, zeroth-order search suffers from a \textit{weakest-link effect}: when a bundle of edits is accepted or rejected as a whole, a single harmful edit can negate the benefits of all remaining edits. To address this issue, we introduce HERO, a program optimizer that prompts an LLM to generate diverse, non-overlapping atomic edits and then systematically selects and composes them into coherent program improvements using evaluator scores. We evaluate HERO across algorithmic problems, strategy games, the design of LLM-based agentic systems, and robotic path planning. Across these domains, HERO consistently discovers higher-scoring programs and converges substantially faster than prior LLM-based optimizers, while consuming fewer tokens.

cs.LG↗
arXiv2026

Knowledge-Centric Agents for Workflow Generation in ComfyUI

Workflow generation in visual creation systems such as ComfyUI demands not only syntactic accuracy but also expert-level reasoning over modular compositions. Existing large language model (LLM) approaches often treat this as a direct text-to-JSON generation task, struggling with structural brittleness and lacking the experiential knowledge required for effective design. We argue that successful workflow generation requires modeling knowledge itself, including its structure, hierarchy, and reasoning dynamics. To this end, we propose a knowledge-centric framework that learns to invert, inject, and infer with knowledge across multiple abstraction levels. We first perform knowledge inversion to distill hierarchical representations, ranging from full pseudo-codes and skeletons to high-level strategies, from large collections of real-world workflows. We then conduct knowledge injection through supervised fine-tuning, teaching the model to reason from task descriptions to strategies and from strategies to executable structures. During inference, the model performs reversible reasoning to synthesize executable workflows, augmented by self-refinement for structural coherence. Extensive experiments demonstrate that our method produces workflows with richer node diversity, more coherent structures, and higher execution success rates than existing systems, establishing a new foundation for knowledge-driven, agentic workflow generation.

cs.AI↗
arXiv2026

DomainPilot: Domain-Level Loss-Guided Two-Stage Data Mixture Optimization for Efficient Language Model Fine-Tuning

The training efficacy of large language models (LLMs) is fundamentally constrained by the quality and composition of training data. Existing dynamic data scheduling methods face critical limitations in industrial-scale pretraining and supervised fine-tuning (SFT): data selection incurs prohibitive O(N) costs on terabyte-scale corpora, mixture optimization schemes introduce severe I/O bottlenecks or require training auxiliary reference models, and sample-level reweighting strategies rely on loss signals that conflate noise, difficulty, and novelty. We present DomainPilot, a domain-level loss-guided two-stage data mixture optimization framework. DomainPilot introduces token-level domain loss monitoring to capture per-domain learning dynamics during training without halting the data pipeline. Building on these signals, we propose a Scaling Law guided coarse optimization stage that fits domain-specific convergence curves and derives a principled prior for mixture adjustment. A subsequent Mixing Law guided fine optimization stage refines the mixture by modeling cross-domain interaction effects through controlled sweep experiments. The entire mechanism is realized via a patch-based architecture that injects domain-aware loss computation into existing training frameworks (e.g., MindSpeed/Megatron-LM) with only ~30 lines of framework-specific adapter code. We validate DomainPilot on the Qwen3-1.7B model during SFT. Compared to the original data mixture, our optimized mixture achieves improvements of +2% on MMLU-Redux, +1.8% on AIME24, +3.8% on LiveCodeBench v5, and +3.6% on BFCL v3, without increasing total data volume or training cost. These results demonstrate that domain-level training signals provide an effective, lightweight alternative to expensive data selection or auxiliary model training for mixture optimization.

cs.LG↗
arXiv2026

Hy-Embodied-VLM-1.0: Efficient Physical-World Agents

Building capable embodied agents requires not only multimodal perception and understanding, but also agentic capabilities for reasoning about actions, adapting to evolving situations, and interacting with the physical world. In this report, we introduce Hy-Embodied-VLM-1.0, an efficient and powerful embodied foundation model specifically designed for embodied agents operating in the physical world. To cultivate such capabilities from the pre-training stage onward, we define an action-centric capability taxonomy comprising three progressive dimensions: Action-Relevant State Understanding, Action-Transition Reasoning, and Sequential and Adaptive Reasoning. Guided by this taxonomy, we develop a systematic data pipeline and curate data mixtures spanning both pre-training and post-training. To deliver strong physical-world understanding and interaction capabilities while supporting latency-sensitive deployment, we build our model on the Hy3-A3B language backbone and the Hy-ViT2 vision encoder. Its efficient Mixture-of-Experts architecture combines strong model capacity with high inference efficiency. We evaluate Hy-Embodied-VLM-1.0 on a comprehensive suite of 38 benchmarks covering embodied perception, physical-world understanding, and embodied reasoning. The model achieves the best performance among similarly sized models on 19 of the 38 benchmarks and substantially outperforms strong competitors, including Qwen3.6-A3B and Cosmos 3. Compared with the previous-generation Hy-Embodied-0.5 MoT-2B, Hy-Embodied-VLM-1.0 improves average performance by 8.4%. Despite activating only 3B parameters, it achieves performance close to that of the previous-generation model with 32B activated parameters. Beyond static benchmark evaluation, Hy-Embodied-VLM-1.0 also demonstrates strong performance on embodied agentic tasks requiring multi-turn interaction and long-horizon reasoning.

cs.CV↗
arXiv2026

MetricHMSR:Metric Human Mesh and Scene Recovery from Monocular Images

We introduce MetricHMSR, a novel framework for recovering metric human meshes and 3D scenes from a single monocular image. Existing methods struggle to recover metric scale due to monocular scale ambiguity and weak-perspective camera assumptions. Moreover, their fully coupled feature representations make it difficult to disentangle local pose from global translation, often requiring multi-stage pipelines that introduce accumulated errors. To address these challenges, we propose MetricHMR (Metric Human Mesh Recovery), which incorporates a bounding camera ray map representation to provide explicit metric cues for human reconstruction,together with a Human Mixture-of-Experts (HumanMoE) that dynamically routes image features to specialized experts, enabling the disentangled perception of local human pose and global metric position. Leveraging the recovered metric human as a geometric anchor, we further refine monocular metric depth estimation to achieve more accurate 3D alignment between humans and scenes.Comprehensive experiments demonstrate that our method achieves state-of-the-art performance on both human mesh recovery and metric human-scene reconstruction. Project Page: https://Metaverse-AI-Lab-THU.github.io/MetricHMSR.

cs.CV↗
arXiv2026

Ethics and Social Responsibility in AI-Assisted Interviewing: An LLM-in-the-Loop Study of AI-Generated Follow-Up Questions

Semi-structured interviews rely on timely, context-sensitive follow-up questions, yet interviewers' cognitive load and limited domain familiarity can constrain probing depth. We report findings from an LLM-in-the-loop Wizard-of-Oz (WoZ) study that simulates an AI follow-up assistant in live interviewing while preserving human oversight. In our setup, a co-interviewer selectively relayed and could edit AI-generated follow-up questions (AGQs) produced in real time by GPT-4o, enabling a realistic approximation of deployment without fully automating the interaction. Across 17 interviewers with varied qualitative-method expertise, participants raised five interlocking concerns: (1) harmful or discriminatory language and unpredictable interaction harms, (2) undermining interviewees' sense of respect through divided attention and missing nonverbal cues, (3) technology-based participation inequality, (4) unclear responsibility when harms occur, and (5) privacy, disclosure, and compliance risks when AI listens, records, or transcribes sensitive content. We translate these concerns into design and governance implications for safer, more respectful, and more accountable AI-assisted interviewing.

cs.HC↗
arXiv2026

PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation

Humanoid motion imitation requires not only accurate perception of human kinematics but also faithful reproduction of physical interactions with the environment. However, existing pipelines rely primarily on vision-based motion capture and kinematic imitation, largely ignoring contact dynamics, leading to artifacts such as foot sliding, floor penetration, and unstable behaviors. In this work, we revisit humanoid motion imitation from the perspective of physical grounding and leverage pressure as a unified modality across perception and control. We present PressMimic, a framework that integrates pressure into the full pipeline from motion capture to humanoid control. In the perception stage, we introduce FRAPPE++, a multimodal model that fuses RGB and pressure to jointly estimate 3D pose and global motion, where pressure provides explicit contact and support constraints to resolve ambiguity in vision-based estimation. In the control stage, we propose a pressure-supervised policy (PSP) that incorporates pressure-derived signals into reinforcement learning, enabling physically consistent contact patterns during execution. We further construct MotionPRO, a large-scale dataset with synchronized RGB, pressure, and motion capture data. Experiments show that pressure improves motion estimation accuracy, trajectory consistency, and execution stability. These results demonstrate that pressure serves as an effective physical grounding signal, bridging perception and control for physically consistent humanoid motion imitation.

cs.RO↗
arXiv2026

What Characterizes Pairwise Modular Smells?

Enhancing the modular structure of existing systems has attracted substantial research interest, primarily through (1) software modularization and (2) identifying design issues (e.g., smells) as refactoring opportunities; however, both approaches often prove impractical to guide effective improvement. Inspired by both aforementioned approaches, our previous study introduced a novel and practical architectural smell -- called Pairwise Modular Smell (or PairSmell) -- for identifying flawed architectural decisions that necessitate further examination. The objective of this study is to explain PairSmell from the perspective of pair characteristics. To this end, we first conduct a rapid review to collect and synthesize 19 pair characteristics that have been used in the literature to represent relationships between two entities. The collected characteristics are then used to train machine learning models for predicting two forms of PairSmell -- inapt separated pairs InSep and inapt collocated pairs InCol, based on a curated dataset of over 6,135,000 pairs of entities derived from 11 open-source Java projects. The trained models achieve up to a 58.6% improvement in ROC-AUC over the baselines. The interpretation of the models reveals that the most influential features for InSep are out-going dependencies, terms shared with others, and declared fields; while those for InCol include semantic similarity based on tf-idf, terms shared between the pair, terms shared with others, and in-going dependencies. We complement the work with a series of practical examples to illustrate how the influential pair characteristics impact the occurrence of PairSmell.

cs.SE↗
arXiv2026

ImageWAM: Do World Action Models Really Need Video Generation, or Just Image Editing?

World Action Models (WAMs) commonly rely on video generation to bridge visual world modeling and robot control. However, video-based WAMs face three coupled limitations: dense multi-frame future tokens make inference costly, full video prediction spends capacity on action-irrelevant temporal and appearance details, and long-horizon future imagination may introduce errors that mislead action prediction. These issues raise a simple question: Does world action model really need video generation? We propose ImageWAM, a simple WAM framework that repurposes pretrained image editing models for robot action prediction. In contrast to video generation, image editing provides a better-matched prior: it only needs to model a target-frame transformation, focuses on action-relevant current-to-target visual differences, and grounds task instructions to localized visual changes through edit pretraining. In practice, ImageWAM does not decode the target frame at inference time; instead, it conditions a flow-matching action expert on the KV caches produced by image-editing denoising, using them as a compact world-action context. ImageWAM outperforms standard VLA baselines and matching competitive WAMs without additional policy pretraining across different simulator and real-world experiments. It also reduces FLOPs to 1/6 and latency to 1/4 of video-based WAMs. Attention analysis further shows that editing caches focus on task-relevant change regions, supporting image editing as an effective alternative to video-based world-action modeling.

cs.CV↗
arXiv2026

TriPLU: Bypassing the Gate with Direct Trilinear Product FFNs in Tiny Language Models

We study whether tiny decoder-only language models benefit from feed-forward layers that directly multiply learned feature projections. TriPLU, a Trilinear Product Linear Unit, replaces the usual gated FFN branch with a product-only degree-3 branch that multiplies three projected streams coordinatewise. In a character-level TinyStories 1M-byte prefix study, TriPLU reaches a mean best validation loss of 1.0637, compared with 1.1017 for closely matched SwiGLU, 1.0780 for a degree-4 product control, and 1.1026 for a degree-2 control. In train-only Byte-BPE experiments, TriPLU also lowers validation and heldout bits per byte on TinyStories and WikiText-2 raw under low-learning-rate settings, with PMI-slice evidence suggesting gains on seen middle- and high-PMI adjacent-token pairs. Constant-learning-rate diagnostics show that product-branch normalization can reduce the high-learning-rate best-checkpoint gap, although final BPB still degrades under hot schedules. The resulting claim is deliberately narrow: direct product FFNs can improve fixed-budget small-model loss in specific low-compute regimes, but the branch is optimization-sensitive and does not establish FLOP-normalized efficiency, scaling behavior, or broad LLM performance.

cs.CL↗
arXiv2026

Twitch Third-Party Developers' Support Seeking and Provision Practices on Discord

Third-party developers (TPDs) often turn to online communities for support when they can't get immediate responses from the platform. Twitch, as a leading live streaming platform, attracted many TPDs and formed an online support community on Discord. This study explores TPDs' support practices via mixed method (a topic modeling to identify topics related to support seeking and provision first and a follow-up in-depth qualitative analysis with these topics) and found that: (1) TPDs' support-seeking practices around social, technical, and policy matters are highly dependent on Twitch, and this dependence acts as a form of platform labor; (2) TPDs need to switch between Discord and Twitch regarding seeking and provision, exacerbating TPDs' platform labor; (3) TPDs' flexible role practices reflect the community's flourishing on Discord but require roles to bridge the two platforms and transfer informal support seeking to possible formal support from Twitch. We propose implications for effectively managing support seeking and provision between formal and informal spaces to improve the development of TPDs. We also contribute to community support practice and to platform ecology work in CSCW.

cs.HC↗
arXiv2026

PHASER: Phase-Aware and Semantic Experience Replay for Vision-Language-Action Models

Vision-Language-Action (VLA) models have achieved remarkable success in language-conditioned robotic manipulation. However, deploying these models in open-ended environments requires continuously acquiring novel skills, a process that inevitably triggers severe catastrophic forgetting of previously learned behaviors. While experience replay (ER) serves as a standard mitigating strategy, naive uniform sampling fundamentally misaligns with the temporal characteristics of manipulation trajectories. It systematically under-samples brief but causally critical sub-skills, leading to phase starvation, and completely overlooks the varying degrees of forgetting across historical tasks. To overcome these limitations, we introduce PHASER, an architecture-agnostic continual learning framework. PHASER employs a phase-centric capacity allocation to guarantee equal memory support for all sub-skills, coupled with a multi-modal interference routing strategy that dynamically prioritizes historical phases at high risk of forgetting. Furthermore, to enable fully autonomous lifelong adaptation, we integrate Auto-PC, a lightweight pipeline combining unsupervised action-signal change-point detection with VLM-based semantic verification to extract temporal boundaries without intensive manual supervision. Evaluated across three VLA backbones on LIBERO continual learning suites, PHASER yields substantial empirical improvements, increasing Average Success Rate (ASR) by up to 31% over matched-budget ER and achieving an 87.8% final ASR on the LIBERO-Goal CL setting.

cs.RO↗
arXiv2026

FlowPRO: Reward-Free Reinforced Fine-Tuning of Flow-Matching VLAs via Proximalized Preference Optimization

Post-training Vision-Language-Action (VLA) models into policies that can be reliably deployed on real robots remains a major bottleneck. SFT and DAgger exploit failure signals only indirectly, and reward-based RL is bottlenecked by the difficulty of real-world reward design and of training reliable critics. We present FlowPRO, a reward-free offline reinforced fine-tuning framework for flow-matching VLAs. Algorithmically, we propose RPRO (Robotic Flow-matching Proximalized Preference Optimization), a preference-optimization objective tailored to the flow-matching action head of VLA models. RPRO pairs a contrastive optimizer with an explicit proximal regularizer that anchors the absolute magnitude of the implicit reward, thereby eliminating the reward-hacking failure mode of plain Flow-DPO. On the data side, a teleoperated intervention-and-rollback paradigm produces naturally paired positive and negative trajectories $(τ^w, τ^l)$ on a real robot from a single operator action; a Smooth Interpolation procedure, combined with batch mixing, then converts these sparse corrections into dense per-state supervision while preserving the base policy's capabilities. On four long-horizon bimanual tasks, FlowPRO attains the highest success rate, outperforming four representative baselines, and ablations confirm the contribution of each loss component.

cs.RO↗
arXiv2026

Improving LLM-Based Go Code Review through Issue-List Generation and Context Augmentation

LLMs have shown strong potential for automating code review, yet their practical utility depends heavily on the design of generation and context strategies. In this paper, we investigate how to improve LLM-based code review through generation strategy and contextual augmentation. We first propose an issue-list review paradigm, in which LLMs enumerate all potential issues rather than reporting only the single most important one (i.e., primary-issue review). We then systematically compare three types of code context augmentation -- neighboring, LSP-based semantics, and IR-based similar co-change context -- and study how they influence issue discovery. Finally, we integrate candidates from no-context and context-enhanced generation to improve review coverage, and introduce refinement-guided pruning to keep the candidate list at a practical size. We evaluate our approach on 1,438 Go review instances using downstream code refinement as the main metric, i.e., how often the candidate list contains at least one comment inducing the same code change as the final human revision. For comparison, we evaluate comments by CodeReviewer, a model trained specifically for review comment generation, as well as ground-truth human review comments (as a practical upper bound), under the same refinement-based evaluation. The results show that our best configuration, combining issue-list review, neighboring and similar co-change context, and candidate integration, reaches 28.00% refinement exact match, a statistically significant gain of +10.85 percentage points over primary-issue review without any additional context (17.15%), substantially outperforming CodeReviewer (15.02%) and approaching the human-oracle ceiling of 36.09%. Our refinement-guided pruning reduces the average candidate count from 7.2 to 3.1 at top-5 while retaining nearly the full benefit, making the candidate list easier to inspect.

cs.SE↗