arXiv subjects

Shijie Wu

Publications and source records attributed to Shijie Wu.

At least 19 recordsLinked to original sources

arXiv2026

ViTacWorld: Scaling Visuo-Tactile World Models for Contact-Rich Robot Manipulation

Contact-rich robot manipulation requires physical interaction cues that are often invisible to cameras, making tactile sensing essential for robust control. However, scaling visuo-tactile robot learning remains difficult because real tactile interaction data are expensive to collect, hardware-dependent, and limited in task and scene diversity. We present ViTacWorld, an action-conditioned visuo-tactile world model for scalable contact-rich robot manipulation. ViTacWorld leverages public real tactile datasets and a constructed simulation environment to scale visuo-tactile-action data, exploiting the fact that tactile signals are directly grounded in physical contact and can exhibit a smaller simulation-to-real gap than purely visual observations. The model is first pretrained with large-scale real and simulated visuo-tactile trajectories, and then finetuned with real-world policy rollouts to better match downstream manipulation behaviors. Given robot actions, ViTacWorld predicts temporally aligned visual observations and tactile feedback, enabling visuo-tactile-action rollout generation. To the best of our knowledge, ViTacWorld is the first framework that uses a world model for robot visuo-tactile-action trajectory generation and policy evaluation. It serves two roles: synthesizing rollouts to improve downstream tactile policies, and evaluating policies by predicting action-conditioned visuo-tactile outcomes under controlled action sequences. Experiments on contact-rich manipulation tasks show that ViTacWorld generates physically meaningful rollouts, improves policy performance through scalable data augmentation, and enables action-conditioned policy evaluation. Project page: https://vitacworld.github.io/

cs.RO↗

arXiv2026

Learning Semantic Atomic Skills for Multi-Task Robotic Manipulation

Scaling imitation learning to diverse multi-task robot manipulation remains challenging due to suboptimal demonstrations, behavioral multi-modality, and destructive interference across tasks. While skill-based methods offer a promising direction by decomposing behaviors into reusable abstractions, existing approaches often learn skills that are either biased toward linguistic structure or lack semantic alignment across tasks, limiting generalization. In this work, we propose AtomSkill, a novel framework that learns a semantically aligned Atomic Skill Space from demonstrations and enables robust long-horizon execution through keypose imagination. Our method introduces: (1) semantic contrastive skill alignment, which partitions demonstrations into variable-length atomic skills and employs a contrastive objective to jointly enforce semantic consistency and temporal coherence, yielding a compact and reusable skill library; and (2) action decoding with keypose imagining, where the policy predicts both a skill's terminal keypose and immediate actions, thereby supporting progress-aware skill transitions. During inference, an atomic skill diffusion sampler generates plausible skill sequences, while predicted keyposes autonomously trigger smooth skill chaining. Extensive experiments in simulation and real-world settings show that AtomSkill consistently outperforms state-of-the-art imitation learning and skill-based baselines. Project page: https://atom-skill.github.io.

cs.RO↗

arXiv2026

HoloBrain-0 Technical Report

In this work, we introduce HoloBrain-0, a comprehensive Vision-Language-Action (VLA) framework that bridges the gap between foundation model research and reliable real-world robot deployment. The core of our system is a novel VLA architecture that explicitly incorporates robot embodiment priors, including multi-view camera parameters and kinematic descriptions (URDF), to enhance 3D spatial reasoning and support diverse embodiments. We validate this design through a scalable ``pre-train then post-train" paradigm, achieving state-of-the-art results on simulation benchmarks such as RoboTwin 2.0, LIBERO, and GenieSim, as well as strong results on challenging long-horizon real-world manipulation tasks. Notably, our efficient 0.2B-parameter variant rivals significantly larger baselines, enabling low-latency on-device deployment. To further accelerate research and practical adoption, we fully open-source the entire HoloBrain ecosystem, which includes: (1) powerful pre-trained VLA foundations; (2) post-trained checkpoints for multiple simulation suites and real-world tasks; and (3) RoboOrchard, a full-stack VLA infrastructure for data curation, model training and deployment. Together with standardized data collection protocols, this release provides the community with a complete, reproducible path toward high-performance robotic manipulation.

cs.RO↗

arXiv2025

AffordDP: Generalizable Diffusion Policy with Transferable Affordance

Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for diffusion policy. However, their generalization is typically limited to the same category with similar appearances. Our key insight is that leveraging affordances--manipulation priors that define "where" and "how" an agent interacts with an object--can substantially enhance generalization to entirely unseen object instances and categories. We introduce the Diffusion Policy with transferable Affordance (AffordDP), designed for generalizable manipulation across novel categories. AffordDP models affordances through 3D contact points and post-contact trajectories, capturing the essential static and dynamic information for complex tasks. The transferable affordance from in-domain data to unseen objects is achieved by estimating a 6D transformation matrix using foundational vision models and point cloud registration techniques. More importantly, we incorporate affordance guidance during diffusion sampling that can refine action sequence generation. This guidance directs the generated action to gradually move towards the desired manipulation for unseen objects while keeping the generated action within the manifold of action space. Experimental results from both simulated and real-world environments demonstrate that AffordDP consistently outperforms previous diffusion-based methods, successfully generalizing to unseen instances and categories where others fail.

cs.RO↗

arXiv2024

A Simple Joint Model for Improved Contextual Neural Lemmatization

English verbs have multiple forms. For instance, talk may also appear as talks, talked or talking, depending on the context. The NLP task of lemmatization seeks to map these diverse forms back to a canonical one, known as the lemma. We present a simple joint neural model for lemmatization and morphological tagging that achieves state-of-the-art results on 20 languages from the Universal Dependencies corpora. Our paper describes the model in addition to training and decoding procedures. Error analysis indicates that joint morphological tagging and lemmatization is especially helpful in low-resource lemmatization and languages that display a larger degree of morphological complexity. Code and pre-trained models are available at https://sigmorphon.github.io/sharedtasks/2019/task2/.

cs.CL↗

arXiv2024

MixCE: Training Autoregressive Language Models by Mixing Forward and Reverse Cross-Entropies

Autoregressive language models are trained by minimizing the cross-entropy of the model distribution Q relative to the data distribution P -- that is, minimizing the forward cross-entropy, which is equivalent to maximum likelihood estimation (MLE). We have observed that models trained in this way may "over-generalize", in the sense that they produce non-human-like text. Moreover, we believe that reverse cross-entropy, i.e., the cross-entropy of P relative to Q, is a better reflection of how a human would evaluate text generated by a model. Hence, we propose learning with MixCE, an objective that mixes the forward and reverse cross-entropies. We evaluate models trained with this objective on synthetic data settings (where P is known) and real data, and show that the resulting models yield better generated text without complex decoding strategies. Our code and models are publicly available at https://github.com/bloomberg/mixce-acl2023

cs.CL↗

arXiv2024

Hard Non-Monotonic Attention for Character-Level Transduction

Character-level string-to-string transduction is an important component of various NLP tasks. The goal is to map an input string to an output string, where the strings may be of different lengths and have characters taken from different alphabets. Recent approaches have used sequence-to-sequence models with an attention mechanism to learn which parts of the input string the model should focus on during the generation of the output string. Both soft attention and hard monotonic attention have been used, but hard non-monotonic attention has only been used in other sequence modeling tasks such as image captioning (Xu et al., 2015), and has required a stochastic approximation to compute the gradient. In this work, we introduce an exact, polynomial-time algorithm for marginalizing over the exponential number of non-monotonic alignments between two strings, showing that hard attention models can be viewed as neural reparameterizations of the classical IBM Model 1. We compare soft and hard non-monotonic attention experimentally and find that the exact algorithm significantly improves performance over the stochastic approximation and outperforms soft attention. Code is available at https://github. com/shijie-wu/neural-transducer.

cs.CL↗

arXiv2024

Exact Hard Monotonic Attention for Character-Level Transduction

Many common character-level, string-to string transduction tasks, e.g., grapheme-tophoneme conversion and morphological inflection, consist almost exclusively of monotonic transductions. However, neural sequence-to sequence models that use non-monotonic soft attention often outperform popular monotonic models. In this work, we ask the following question: Is monotonicity really a helpful inductive bias for these tasks? We develop a hard attention sequence-to-sequence model that enforces strict monotonicity and learns a latent alignment jointly while learning to transduce. With the help of dynamic programming, we are able to compute the exact marginalization over all monotonic alignments. Our models achieve state-of-the-art performance on morphological inflection. Furthermore, we find strong performance on two other character-level transduction tasks. Code is available at https://github.com/shijie-wu/neural-transducer.

cs.CL↗

arXiv2023

BloombergGPT: A Large Language Model for Finance

The use of NLP in the realm of financial technology is broad and complex, with applications ranging from sentiment analysis and named entity recognition to question answering. Large Language Models (LLMs) have been shown to be effective on a variety of tasks; however, no LLM specialized for the financial domain has been reported in literature. In this work, we present BloombergGPT, a 50 billion parameter language model that is trained on a wide range of financial data. We construct a 363 billion token dataset based on Bloomberg's extensive data sources, perhaps the largest domain-specific dataset yet, augmented with 345 billion tokens from general purpose datasets. We validate BloombergGPT on standard LLM benchmarks, open financial benchmarks, and a suite of internal benchmarks that most accurately reflect our intended usage. Our mixed dataset training leads to a model that outperforms existing models on financial tasks by significant margins without sacrificing performance on general LLM benchmarks. Additionally, we explain our modeling choices, training process, and evaluation methodology. We release Training Chronicles (Appendix C) detailing our experience in training BloombergGPT.

cs.LG↗

arXiv2023

Overcoming Catastrophic Forgetting in Massively Multilingual Continual Learning

Real-life multilingual systems should be able to efficiently incorporate new languages as data distributions fed to the system evolve and shift over time. To do this, systems need to handle the issue of catastrophic forgetting, where the model performance drops for languages or tasks seen further in its past. In this paper, we study catastrophic forgetting, as well as methods to minimize this, in a massively multilingual continual learning framework involving up to 51 languages and covering both classification and sequence labeling tasks. We present LR ADJUST, a learning rate scheduling method that is simple, yet effective in preserving new information without strongly overwriting past knowledge. Furthermore, we show that this method is effective across multiple continual learning approaches. Finally, we provide further insights into the dynamics of catastrophic forgetting in this massively multilingual setup.

cs.CL↗

arXiv2022

BoundaryFace: A mining framework with noise label self-correction for Face Recognition

Face recognition has made tremendous progress in recent years due to the advances in loss functions and the explosive growth in training sets size. A properly designed loss is seen as key to extract discriminative features for classification. Several margin-based losses have been proposed as alternatives of softmax loss in face recognition. However, two issues remain to consider: 1) They overlook the importance of hard sample mining for discriminative learning. 2) Label noise ubiquitously exists in large-scale datasets, which can seriously damage the model's performance. In this paper, starting from the perspective of decision boundary, we propose a novel mining framework that focuses on the relationship between a sample's ground truth class center and its nearest negative class center. Specifically, a closed-set noise label self-correction module is put forward, making this framework work well on datasets containing a lot of label noise. The proposed method consistently outperforms SOTA methods in various face recognition benchmarks. Training code has been released at https://github.com/SWJTU-3DVision/BoundaryFace.

cs.CV↗

arXiv2022

Zero-shot Cross-lingual Transfer is Under-specified Optimization

Pretrained multilingual encoders enable zero-shot cross-lingual transfer, but often produce unreliable models that exhibit high performance variance on the target language. We postulate that this high variance results from zero-shot cross-lingual transfer solving an under-specified optimization problem. We show that any linear-interpolated model between the source language monolingual model and source + target bilingual model has equally low source language generalization error, yet the target language generalization error reduces smoothly and linearly as we move from the monolingual to bilingual model, suggesting that the model struggles to identify good solutions for both source and target languages using the source language alone. Additionally, we show that zero-shot solution lies in non-flat region of target language error generalization surface, causing the high variance.

cs.CL↗

arXiv2022

How Do Multilingual Encoders Learn Cross-lingual Representation?

NLP systems typically require support for more than one language. As different languages have different amounts of supervision, cross-lingual transfer benefits languages with little to no training data by transferring from other languages. From an engineering perspective, multilingual NLP benefits development and maintenance by serving multiple languages with a single system. Both cross-lingual transfer and multilingual NLP rely on cross-lingual representations serving as the foundation. As BERT revolutionized representation learning and NLP, it also revolutionized cross-lingual representations and cross-lingual transfer. Multilingual BERT was released as a replacement for single-language BERT, trained with Wikipedia data in 104 languages. Surprisingly, without any explicit cross-lingual signal, multilingual BERT learns cross-lingual representations in addition to representations for individual languages. This thesis first shows such surprising cross-lingual effectiveness compared against prior art on various tasks. Naturally, it raises a set of questions, most notably how do these multilingual encoders learn cross-lingual representations. In exploring these questions, this thesis will analyze the behavior of multilingual models in a variety of settings on high and low resource languages. We also look at how to inject different cross-lingual signals into multilingual encoders, and the optimization behavior of cross-lingual transfer with these models. Together, they provide a better understanding of multilingual encoders on cross-lingual transfer. Our findings will lead us to suggested improvements to multilingual encoders and cross-lingual transfer.

cs.CL↗

arXiv2021

Triple Attention Network architecture for MovieQA

Movie question answering, or MovieQA is a multimedia related task wherein one is provided with a video, the subtitle information, a question and candidate answers for it. The task is to predict the correct answer for the question using the components of the multimedia - namely video/images, audio and text. Traditionally, MovieQA is done using the image and text component of the multimedia. In this paper, we propose a novel network with triple-attention architecture for the inclusion of audio in the Movie QA task. This architecture is fashioned after a traditional dual attention network focused only on video and text. Experiments show that the inclusion of audio using the triple-attention network results provides complementary information for Movie QA task which is not captured by visual or textual component in the data. Experiments with a wide range of audio features show that using such a network can indeed improve MovieQA performance by about 7% relative to just using only visual features.

cs.MM↗

arXiv2021

Everything Is All It Takes: A Multipronged Strategy for Zero-Shot Cross-Lingual Information Extraction

Zero-shot cross-lingual information extraction (IE) describes the construction of an IE model for some target language, given existing annotations exclusively in some other language, typically English. While the advance of pretrained multilingual encoders suggests an easy optimism of "train on English, run on any language", we find through a thorough exploration and extension of techniques that a combination of approaches, both new and old, leads to better performance than any one cross-lingual strategy in particular. We explore techniques including data projection and self-training, and how different pretrained encoders impact them. We use English-to-Arabic IE as our initial example, demonstrating strong performance in this setting for event extraction, named entity recognition, part-of-speech tagging, and dependency parsing. We then apply data projection and self-training to three tasks across eight target languages. Because no single set of techniques performs the best across all tasks, we encourage practitioners to explore various configurations of the techniques described in this work when seeking to improve on zero-shot training.

cs.CL↗

arXiv2021

Differentiable Generative Phonology

The goal of generative phonology, as formulated by Chomsky and Halle (1968), is to specify a formal system that explains the set of attested phonological strings in a language. Traditionally, a collection of rules (or constraints, in the case of optimality theory) and underlying forms (UF) are posited to work in tandem to generate phonological strings. However, the degree of abstraction of UFs with respect to their concrete realizations is contentious. As the main contribution of our work, we implement the phonological generative system as a neural model differentiable end-to-end, rather than as a set of rules or constraints. Contrary to traditional phonology, in our model, UFs are continuous vectors in $\mathbb{R}^d$, rather than discrete strings. As a consequence, UFs are discovered automatically rather than posited by linguists, and the model can scale to the size of a realistic vocabulary. Moreover, we compare several modes of the generative process, contemplating: i) the presence or absence of an underlying representation in between morphemes and surface forms (SFs); and ii) the conditional dependence or independence of UFs with respect to SFs. We evaluate the ability of each mode to predict attested phonological strings on 2 datasets covering 5 and 28 languages, respectively. The results corroborate two tenets of generative phonology, viz. the necessity for UFs and their independence from SFs. In general, our neural model of generative phonology learns both UFs and SFs automatically and on a large-scale.

cs.CL↗

arXiv2021

Applying the Transformer to Character-level Transduction

The transformer has been shown to outperform recurrent neural network-based sequence-to-sequence models in various word-level NLP tasks. Yet for character-level transduction tasks, e.g. morphological inflection generation and historical text normalization, there are few works that outperform recurrent models using the transformer. In an empirical study, we uncover that, in contrast to recurrent sequence-to-sequence models, the batch size plays a crucial role in the performance of the transformer on character-level tasks, and we show that with a large enough batch size, the transformer does indeed outperform recurrent models. We also introduce a simple technique to handle feature-guided character-level transduction that further improves performance. With these insights, we achieve state-of-the-art performance on morphological inflection and historical text normalization. We also show that the transformer outperforms a strong baseline on two other character-level transduction tasks: grapheme-to-phoneme conversion and transliteration.

cs.CL↗

arXiv2020

Do Explicit Alignments Robustly Improve Multilingual Encoders?

Multilingual BERT (mBERT), XLM-RoBERTa (XLMR) and other unsupervised multilingual encoders can effectively learn cross-lingual representation. Explicit alignment objectives based on bitexts like Europarl or MultiUN have been shown to further improve these representations. However, word-level alignments are often suboptimal and such bitexts are unavailable for many languages. In this paper, we propose a new contrastive alignment objective that can better utilize such signal, and examine whether these previous alignment methods can be adapted to noisier sources of aligned data: a randomly sampled 1 million pair subset of the OPUS collection. Additionally, rather than report results on a single dataset with a single model run, we report the mean and standard derivation of multiple runs with different seeds, on four datasets and tasks. Our more extensive analysis finds that, while our new objective outperforms previous work, overall these methods do not improve performance with a more robust evaluation framework. Furthermore, the gains from using a better underlying model eclipse any benefits from alignment training. These negative results dictate more care in evaluating these methods and suggest limitations in applying explicit alignment objectives.

cs.CL↗