arXiv subjects

Xingyun Wang

Publications and source records attributed to Xingyun Wang.

3 recordsLinked to original sources

arXiv2026

A Chosen Future Can Still Be Rewritten: Causal Writability in Video Models

When a video model generates physically incorrect motion, did it fail to learn the correct motion, or did it learn it but fail to use it? We show the latter: the correct motion remains available inside the model and can still be made to control the generated video. We train on videos where red masses oscillate slowly and blue masses oscillate quickly, then test a red mass with fast observed motion. Even when the model generates slow motion in this conflicting case, a low-dimensional edit predicted from simple physical variables restores the correct fast motion. We call this ability causal writability. At fixed strength, we find a sharp depth boundary: the same edit changes the video before the boundary but not after it. This closure marks commitment for that write. The motion signal nevertheless remains, and a stronger downstream write can restore physical motion, while excessive gain overshoots. Early causal writability predicts which errors training later corrects: those errors are writable at more network depths than errors that persist. We reproduce both causal writability and its sharp closure in a pretrained 1.3B video model, supporting generality across model scale and training regime.

cs.LG↗

arXiv2026

A Change of Frame Makes Balance Observable: Distillation-Free Humanoid Single-Leg Stance

Unified humanoid policies handle agile whole-body motion, yet stumble on a simple demand: staying balanced on one leg. On our single-leg-balance benchmark, eight released state-of-the-art general policies hold a clean single-leg stance on 0 of 90 test motions; they stay up only by stepping or hopping, recovering from imbalance rather than preventing it. Prevention needs the capture point (xCoM), the center of mass (CoM) extrapolated by its velocity, which has never driven a learned hardware policy because it requires a base linear velocity that no on-board sensor measures directly. A change of frame makes it observable: expressed relative to the support foot, that velocity cancels exactly, leaving an observation reconstructible from encoders and IMU alone. We put this first deployable dynamic-CoM observation directly into the actor that runs on hardware, and pair it with a reward library translated term by term from human postural control, under one principle: prevention over repair. Trained via asymmetric FastSAC without distillation, the resulting policy, DDC (Deployable Dynamic-CoM), holds clean single-leg balance on 89 of 90 held-out motions across nine stratified pose classes and transfers to a real Unitree G1; in ablation, the dynamic-CoM observation is the single largest driver: removing it alone costs 43 points of clean single-leg balance. We release the full stack with the first method-agnostic, reproducible sim2sim benchmark for humanoid single-leg balance, scoring each policy in a simulator distinct from the one it was trained in, to help turn balance from a per-task trick into a capability the field can measure and build in.

cs.RO↗

arXiv2024

Exploring the Factual Consistency in Dialogue Comprehension of Large Language Models

LLMs (Large Language Models) usually interact with users in the form of dialogue and generate responses following their instructions, which naturally require dialogue comprehension abilities. However, dialogue comprehension is a general language ability which is hard to be evaluated directly. In this work, we propose to perform the evaluation focusing on the factual consistency issue with the help of the dialogue summarization task. Besides evaluating and analyzing the dialogue summarization performance (DIAC-Sum) of different LLMs, we also derive factual questions from the generated summaries and use them as a more flexible measurement of dialogue comprehension (DIAC-QA). Our evaluation shows that, on average, 26.8% of the summaries generated by LLMs contain factual inconsistency. Even ChatGPT, the strongest model evaluated, has such errors in 16% of its summaries. For answering the factual questions, which is more challenging, the average error rate of all evaluated LLMs is 36.1%. Both results indicate serious deficiencies. Detailed analysis shows that the understanding of subject/object of the conversation is still challenging for LLMs. Furthermore, to stimulate and enhance the dialogue comprehension ability of LLMs, we propose a fine-tuning paradigm with auto-constructed multi-task data, which achieved a relative error rate reduction of 11% on DIAC-QA.

cs.CL↗