arXiv subjects

Shiyuan Dong

Publications and source records attributed to Shiyuan Dong.

3 recordsLinked to original sources

arXiv2026

xDailyBench: Benchmarking LLMs on Professional Consultation for Real-Life Problems

Large language models (LLMs) are increasingly used for everyday assistance, yet existing benchmarks only partially reflect the requests users naturally make in practice. Real-world requests are often open-ended, casually specified, and context-dependent, requiring models not only to follow explicit instructions but also to infer unstated needs from user background and situational context. We introduce xDailyBench, a benchmark of 248 carefully curated tasks spanning 51 scenarios across personal life, white-collar work, learning and research, and cross-domain activities. The tasks are grounded in requests that users have actually completed or genuinely intended to accomplish with AI, and are evaluated with fine-grained binary rubrics covering both explicit and implicit requirements. We evaluate 11 frontier models under standardized agentic settings. The best models achieve a task-level score of 75.6\%, while all models perform substantially worse on implicit than explicit requirements, with gaps no less than 9 percentage points. These results reveal implicit requirement inference as a persistent bottleneck for reliably satisfying real-world everyday user needs.

cs.AI↗

arXiv2026

Self-Supervised Mask-Aware Transformers for Fault-Tolerant FBG Force Sensing in Minimally Invasive Surgical Robotics

In minimally invasive surgical robotics, catheter-scale Fiber Bragg Grating (FBG) sensors are promising due to their ability to estimate multi-dimensional forces by multiplexing several optical channels. However, deploying these compact multi-channel sensors introduces two critical engineering challenges: inherent nonlinear cross-axis coupling during complex deformations, and intermittent channel dropouts caused by fiber fractures in constrained workspaces. These compounding issues severely degrade force estimation. Existing fault-tolerant approaches rely on combinatorial model banks, which scale exponentially with the channel count and demand prohibitively expensive per-pattern calibration. In this paper, we propose a unified, self-supervised mask-aware Transformer that explicitly models channel availability to enable graceful degradation under diverse and dynamic sensor failures. The encoder is pretrained via masked-channel reconstruction on unlabeled data streams and fine-tuned for force regression using a balanced clean-and-corrupted-view objective alongside a dynamic corruption curriculum. Furthermore, a parallel uncertainty head, trained via heteroscedastic Gaussian negative log-likelihood, predicts per-axis confidence in a single forward pass, circumventing the overhead of multi-pass ensembles. Evaluated on a catheter-scale 8-channel FBG dataset, our single unified model achieves a nominal Root Mean Square Error (RMSE) of 0.0066~N and degrades gracefully to 0.0126~N under severe 4-channel failures. This significantly outperforms a comprehensive model bank of 255 per-pattern neural networks (0.0154~N at 4-channel loss) while eliminating pattern-specific calibration.

cs.RO↗

arXiv2026

OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation

World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted world as holistic images, video tokens, or global latents. These representations are difficult for an action decoder to address when an instruction refers to a particular object, especially under scene shifts where object identity is entangled with context. We propose OA-WAM, an Object-Addressable World Action Model for robust robot manipulation. OA-WAM decomposes each frame into N+1 slot states, with one robot slot and N object slots. Each slot contains a persistent address vector and a time-varying content vector, and is fused with text, image, proprioception, and past-action tokens in a block-causal sequence. A world head predicts next-frame slot states, while a flow-matching action head decodes a 16-step continuous action chunk in the same forward pass. Addressability is enforced by routing cross-slot attention through address-only keys and resetting the address slice at every transformer layer, separating which object to act on from what that object currently is without adding extra tokens. OA-WAM matches strong VLA and WAM baselines on LIBERO (97.8%) and SimplerEnv (79.3%), reaches state-of-the-art performance on the most relevant LIBERO-Plus geometric axes, and remains competitive on the seven-axis aggregate. A causal slot-intervention test yields a swap-binding cosine of 0.87, versus at most 0.09 for holistic baselines. These results suggest that addressable object states provide an effective interface for robust world-action modeling under scene perturbations.

cs.RO↗