arXiv subjects

Xijie Gong

Publications and source records attributed to Xijie Gong.

3 recordsLinked to original sources

arXiv2026

The First Token Is a Clue: Verbalizing Multi-Token Concepts from the J-lens

The Jacobian Lens (J-lens) is a recent tool for interpreting LLMs. It reads a hidden state as a ranked list of vocabulary tokens, leaving multi-token concepts without a representation of their own. The original J-lens work addresses this limitation with Template Lens, which precomputes vectors for a fixed phrase vocabulary, and Oracle Lens, which fine-tunes components to propose phrases and reconstruct phrase vectors. We ask whether multi-token concepts and their vectors can instead be recovered directly from J-lens and the frozen model. We find that the first token of a multi-token concept is about as readable as a single-token concept. Given the correct first token and source prompt, the frozen model recovers the second token in 88.3% of two-token cases. We show that a vector for the complete concept can be recovered from subsequent hidden states in a single forward pass. We therefore use J-lens to propose first tokens and let the frozen model complete candidate concepts. We then recover a vector for each candidate and score it alongside the complete vocabulary. Across 496 multi-hop clozes on Gemma-3-12B-IT, Llama-3.1-8B, and Qwen3-14B, our method achieves an average $\mathrm{Rank@}10$ of 43.1%, compared with 27.6% for Template Lens. Without the J-lens clue, performance drops to 21.6%, showing that the first-token clue substantially improves readout. Causal concept swaps using the recovered vectors achieve an average $\mathrm{succ}@10$ of 61.4%, compared with 26.2% for Template Lens under the same intervention. These results show that first-token clues can guide multi-token concept recovery, while subsequent hidden states provide vectors for readout and intervention.

cs.CL↗

arXiv2026

EmbodiedClaw: Conversational Workflow Execution for Embodied AI Development

Embodied AI research is increasingly moving beyond single-task, single-environment policy learning toward multi-task, multi-scene, and multi-model settings. This shift substantially increases the engineering overhead and development time required for stages such as evaluation environment construction, trajectory collection, model training, and evaluation. To address this challenge, we propose a new paradigm for embodied AI development in which users express goals and constraints through conversation, and the system automatically plans and executes the development workflow. We instantiate this paradigm with EmbodiedClaw, a conversational agent that turns high-frequency, high-cost embodied research activities, including environment creation and revision, benchmark transformation, trajectory synthesis, model evaluation, and asset expansion, into executable skills. Experiments on end-to-end workflow tasks, capability-specific evaluations, human researcher studies, and ablations show that EmbodiedClaw reduces manual engineering effort while improving executability, consistency, and reproducibility. These results suggest a shift from manual toolchains to conversationally executable workflows for embodied AI development.

cs.RO↗

arXiv2026

The RoboSense Challenge: Sense Anything, Navigate Anywhere, Adapt Across Platforms

Autonomous systems are increasingly deployed in open and dynamic environments -- from city streets to aerial and indoor spaces -- where perception models must remain reliable under sensor noise, environmental variation, and platform shifts. However, even state-of-the-art methods often degrade under unseen conditions, highlighting the need for robust and generalizable robot sensing. The RoboSense 2025 Challenge is designed to advance robustness and adaptability in robot perception across diverse sensing scenarios. It unifies five complementary research tracks spanning language-grounded decision making, socially compliant navigation, sensor configuration generalization, cross-view and cross-modal correspondence, and cross-platform 3D perception. Together, these tasks form a comprehensive benchmark for evaluating real-world sensing reliability under domain shifts, sensor failures, and platform discrepancies. RoboSense 2025 provides standardized datasets, baseline models, and unified evaluation protocols, enabling large-scale and reproducible comparison of robust perception methods. The challenge attracted 143 teams from 85 institutions across 16 countries, reflecting broad community engagement. By consolidating insights from 23 winning solutions, this report highlights emerging methodological trends, shared design principles, and open challenges across all tracks, marking a step toward building robots that can sense reliably, act robustly, and adapt across platforms in real-world environments.

cs.RO↗