arXiv subjects

Xiexing Feng

Publications and source records attributed to Xiexing Feng.

3 recordsLinked to original sources

arXiv2026

Behavior-Skill: A Fine-Grained Benchmark for Evaluating Vision-Language-Action Policies in Long-Horizon Tasks

Reliable execution of long-horizon mobile manipulation tasks remains challenging because overall task success depends on the successful completion of multiple constituent skills. Existing benchmarks, however, still rely primarily on full-task rollouts and aggregate task-level metrics, making intermediate failures difficult to observe and analyze. We present Behavior-Skill, a benchmark that reformulates the learning and evaluation of long-horizon tasks around executable constituent skills. It contains 235,492 skill instances from 10,000 demonstrations across 50 household tasks and 34 semantic skill categories. Each instance pairs a skill instruction with an aligned observation-action segment, and is further associated with a restorable intermediate state and a skill success condition to enable independent evaluation under valid preconditions. We further introduce trajectory-level and skill-level metrics to characterize policy capability beyond aggregate task success. Extensive experiments across representative VLA policies including pi0.5 and GR00T on the complete 50-task benchmark show that failures are highly non-uniform across skills, with contact-rich manipulation skills forming persistent bottlenecks. These results demonstrate that Behavior-Skill complements full-task evaluation by exposing intermediate capability profiles for analyzing and improving long-horizon VLA policies. Behavior-Skill is publicly available at https://github.com/nubot-nudt/Behavior-Skill.

cs.RO↗

arXiv2019

The Effects of Using Taxi-Hailing Application on Driving Performance

Driver distraction has become a major threat to the road safety, and the globally booming taxi-hailing application introduces new source of distraction to drivers. Although various in-vehicle information systems (IVIS) have been studied extensively, no documentation exists objectively measuring the extent to which interacting with taxi-hailing application during driving impacts drivers' behavior. To fill this gap, a simulator-based study was conducted to synthetically compare the effects that different output modalities (visual, audio, combined visual-audio) and input modalities (baseline, manual, speech) imposed on the driving performance. The results show that the visual output introduced more negative effects on driving performance compared to audio output. In the combined output, visual component dominated the effects imposed on the longitudinal control and hazard detection; audio component only exacerbated the negative effects of visual component on the lateral control. Speech input modality was overall less detrimental to driving performance than manual input modality, especially reflected in the drivers' quicker reaction to hazard events. The visual-manual interaction modality most severely impaired the hazard detecting ability, while also led to strong compensative behaviors. The audio-speech and visual-speech modality associated with more smooth lateral control and faster response to hazard events respectively compared to other modality. These results could be applied to improve the design of not only the taxi-hailing application, but also other input-output balanced IVIS.

cs.HC↗

arXiv2018

Non-iterative recomputation of dense layers for performance improvement of DCNN

An iterative method of learning has become a paradigm for training deep convolutional neural networks (DCNN). However, utilizing a non-iterative learning strategy can accelerate the training process of the DCNN and surprisingly such approach has been rarely explored by the deep learning (DL) community. It motivates this paper to introduce a non-iterative learning strategy that eliminates the backpropagation (BP) at the top dense or fully connected (FC) layers of DCNN, resulting in, lower training time and higher performance. The proposed method exploits the Moore-Penrose Inverse to pull back the current residual error to each FC layer, generating well-generalized features. Then using the recomputed features, i.e., the new generalized features the weights of each FC layer is computed according to the Moore-Penrose Inverse. We evaluate the proposed approach on six widely accepted object recognition benchmark datasets: Scene-15, CIFAR-10, CIFAR-100, SUN-397, Places365, and ImageNet. The experimental results show that the proposed method obtains significant improvements over 30 state-of-the-art methods. Interestingly, it also indicates that any DCNN with the proposed method can provide better performance than the same network with its original training based on BP.

cs.LG↗