arXiv subjects

Weizhe Xu

Publications and source records attributed to Weizhe Xu.

8 recordsLinked to original sources

arXiv2026

SafeVLA-Bench: A Benchmark for the Success-Safety Gap in Vision-Language-Action Models

Vision-language-action (VLA) benchmarks measure whether a policy completes a requested manipulation task, but binary success can hide safety-relevant trajectory behavior: reaching the goal while applying excessive contact, disturbing bystander objects, destabilizing the held object, or entering robot self-contact. We present SafeVLA-Bench, a post-hoc safety-evaluation framework for existing simulator-based VLA benchmarks. It formalizes task-aware safety requirements as Signal Temporal Logic (STL) specifications and reports native success with two unsafe-success metrics: Succ-But-Unsafe (SBU), the fraction of rollouts that both succeed and violate safety, and Violation Severity Index (VSI), a bounded worst-violation depth score. We instantiate SafeVLA-Bench on LIBERO and RoboCasa-365, evaluating nine policy-benchmark entries across tabletop and kitchen manipulation tasks. High task success does not imply safe execution: high-SR tabletop baselines still leave 13 to 15 percent unsafe-episode rates,and 36 to 56 percent of successful RoboCasa-365 rollouts violate at least one active safety clause. Project page: https://safevla.org.

cs.RO↗

arXiv2026

SafePilot: A Framework for Assuring LLM-enabled Cyber-Physical Systems

Large Language Models (LLMs), deep learning architectures with typically over 10 billion parameters, have recently begun to be integrated into various cyber-physical systems (CPS) such as robotics, industrial automation, and autopilot systems. The abstract knowledge and reasoning capabilities of LLMs are employed for tasks like planning and navigation. However, a significant challenge arises from the tendency of LLMs to produce "hallucinations" - outputs that are coherent yet factually incorrect or contextually unsuitable. This characteristic can lead to undesirable or unsafe actions in the CPS. Therefore, our research focuses on assuring the LLM-enabled CPS by enhancing their critical properties. We propose SafePilot, a novel hierarchical neuro-symbolic framework that provides end-to-end assurance for LLM-enabled CPS according to attribute-based and temporal specifications. Given a task and its specification, SafePilot first invokes a hierarchical planner with a discriminator that assesses task complexity. If the task is deemed manageable, it is passed directly to an LLM-based task planner with built-in verification. Otherwise, the hierarchical planner applies a divide-and-conquer strategy, decomposing the task into sub-tasks, each of which is individually planned and later merged into a final solution. The LLM-based task planner translates natural language constraints into formal specifications and verifies the LLM's output against them. If violations are detected, it identifies the flaw, adjusts the prompt accordingly, and re-invokes the LLM. This iterative process continues until a valid plan is produced or a predefined limit is reached. Our framework supports LLM-enabled CPS with both attribute-based and temporal constraints. Its effectiveness and adaptability are demonstrated through two illustrative case studies.

cs.RO↗

arXiv2026

SafeGen-LLM: Enhancing Safety Generalization in Task Planning for Robotic Systems

Safety-critical task planning in robotic systems remains challenging: classical planners suffer from poor scalability, Reinforcement Learning (RL)-based methods generalize poorly, and base Large Language Models (LLMs) cannot guarantee safety. To address this gap, we propose safety-generalizable large language models, named SafeGen-LLM. SafeGen-LLM can not only enhance the safety satisfaction of task plans but also generalize well to novel safety properties in various domains. We first construct a multi-domain Planning Domain Definition Language 3 (PDDL3) benchmark with explicit safety constraints. Then, we introduce a two-stage post-training framework: Supervised Fine-Tuning (SFT) on a constraint-compliant planning dataset to learn planning syntax and semantics, and Group Relative Policy Optimization (GRPO) guided by fine-grained reward machines derived from formal verification to enforce safety alignment and by curriculum learning to better handle complex tasks. Extensive experiments show that SafeGen-LLM achieves strong safety generalization and outperforms frontier proprietary baselines across multi-domain planning tasks and multiple input formats (e.g., PDDLs and natural language).

cs.RO↗

arXiv2026

Reading Between the Lines: Combining Pause Dynamics and Semantic Coherence for Automated Assessment of Thought Disorder

Formal thought disorder (FTD), a hallmark of schizophrenia spectrum disorders, manifests as incoherent speech and poses challenges for clinical assessment. Traditional clinical rating scales, though validated, are resource-intensive and lack scalability. Automated speech recognition (ASR) allows for objective quantification of linguistic and temporal features of speech, offering scalable alternatives. Furthermore, ASR-derived utterance timestamps provide access to pause dynamics, which are thought to reflect the cognitive processes underlying speech production. Yet, their added value beyond semantic measures remains insufficiently explored. In this study, we evaluated a scalable multimodal framework that integrates pause features with semantic coherence metrics across three datasets: naturalistic self-recorded diaries (AVH), structured picture descriptions (TOPSY), and dream narratives (PsyCL). Pause-related features were evaluated alongside established coherence measures using support vector regression to predict clinical FTD scores. Models using pause features alone robustly predict manually rated FTD severity consistently across datasets. Integrating pause features with semantic coherence metrics enhanced predictive performance compared to coherence-only models, with late fusion yielding the most robust and consistent gains in all three datasets. On average across datasets, Spearman correlation increased from \r{ho} = 0.413 for semantic-only models to \r{ho} = 0.455 with late fusion. The performance gains from semantic and pause features integration held consistently across all contexts, though the nature of the most informative pause patterns was dataset-dependent. These findings suggest that both pause dynamics and semantic coherence reflect complementary aspects of thought disorganization.

cs.CL↗

arXiv2025

Bigger But Not Better: Small Neural Language Models Outperform Large Language Models in Detection of Thought Disorder

Disorganized thinking is a key diagnostic indicator of schizophrenia-spectrum disorders. Recently, clinical estimates of the severity of disorganized thinking have been shown to correlate with measures of how difficult speech transcripts would be for large language models (LLMs) to predict. However, LLMs' deployment challenges -- including privacy concerns, computational and financial costs, and lack of transparency of training data -- limit their clinical utility. We investigate whether smaller neural language models can serve as effective alternatives for detecting positive formal thought disorder, using the same sliding window based perplexity measurements that proved effective with larger models. Surprisingly, our results show that smaller models are more sensitive to linguistic differences associated with formal thought disorder than their larger counterparts. Detection capability declines beyond a certain model size and context length, challenging the common assumption of ``bigger is better'' for LLM-based applications. Our findings generalize across audio diaries and clinical interview speech samples from individuals with psychotic symptoms, suggesting a promising direction for developing efficient, cost-effective, and privacy-preserving screening tools that can be deployed in both clinical and naturalistic settings.

cs.CL↗

arXiv2024

Useful Blunders: Can Automated Speech Recognition Errors Improve Downstream Dementia Classification?

\textbf{Objectives}: We aimed to investigate how errors from automatic speech recognition (ASR) systems affect dementia classification accuracy, specifically in the ``Cookie Theft'' picture description task. We aimed to assess whether imperfect ASR-generated transcripts could provide valuable information for distinguishing between language samples from cognitively healthy individuals and those with Alzheimer's disease (AD). \textbf{Methods}: We conducted experiments using various ASR models, refining their transcripts with post-editing techniques. Both these imperfect ASR transcripts and manually transcribed ones were used as inputs for the downstream dementia classification. We conducted comprehensive error analysis to compare model performance and assess ASR-generated transcript effectiveness in dementia classification. \textbf{Results}: Imperfect ASR-generated transcripts surprisingly outperformed manual transcription for distinguishing between individuals with AD and those without in the ``Cookie Theft'' task. These ASR-based models surpassed the previous state-of-the-art approach, indicating that ASR errors may contain valuable cues related to dementia. The synergy between ASR and classification models improved overall accuracy in dementia classification. \textbf{Conclusion}: Imperfect ASR transcripts effectively capture linguistic anomalies linked to dementia, improving accuracy in classification tasks. This synergy between ASR and classification models underscores ASR's potential as a valuable tool in assessing cognitive impairment and related clinical applications.

cs.CL↗

arXiv2023

TRESTLE: Toolkit for Reproducible Execution of Speech, Text and Language Experiments

The evidence is growing that machine and deep learning methods can learn the subtle differences between the language produced by people with various forms of cognitive impairment such as dementia and cognitively healthy individuals. Valuable public data repositories such as TalkBank have made it possible for researchers in the computational community to join forces and learn from each other to make significant advances in this area. However, due to variability in approaches and data selection strategies used by various researchers, results obtained by different groups have been difficult to compare directly. In this paper, we present TRESTLE (\textbf{T}oolkit for \textbf{R}eproducible \textbf{E}xecution of \textbf{S}peech \textbf{T}ext and \textbf{L}anguage \textbf{E}xperiments), an open source platform that focuses on two datasets from the TalkBank repository with dementia detection as an illustrative domain. Successfully deployed in the hackallenge (Hackathon/Challenge) of the International Workshop on Health Intelligence at AAAI 2022, TRESTLE provides a precise digital blueprint of the data pre-processing and selection strategies that can be reused via TRESTLE by other researchers seeking comparable results with their peers and current state-of-the-art (SOTA) approaches.

cs.CL↗

arXiv2022

GPT-D: Inducing Dementia-related Linguistic Anomalies by Deliberate Degradation of Artificial Neural Language Models

Deep learning (DL) techniques involving fine-tuning large numbers of model parameters have delivered impressive performance on the task of discriminating between language produced by cognitively healthy individuals, and those with Alzheimer's disease (AD). However, questions remain about their ability to generalize beyond the small reference sets that are publicly available for research. As an alternative to fitting model parameters directly, we propose a novel method by which a Transformer DL model (GPT-2) pre-trained on general English text is paired with an artificially degraded version of itself (GPT-D), to compute the ratio between these two models' \textit{perplexities} on language from cognitively healthy and impaired individuals. This technique approaches state-of-the-art performance on text data from a widely used "Cookie Theft" picture description task, and unlike established alternatives also generalizes well to spontaneous conversations. Furthermore, GPT-D generates text with characteristics known to be associated with AD, demonstrating the induction of dementia-related linguistic anomalies. Our study is a step toward better understanding of the relationships between the inner workings of generative neural language models, the language that they produce, and the deleterious effects of dementia on human speech and language characteristics.

cs.CL↗