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Yanjiu Zhong

Publications and source records attributed to Yanjiu Zhong.

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Beyond Task Completion: Training Capable and Safe Computer-Use Agents

Computer-use agents (CUAs) have made rapid progress in completing complex tasks through graphical user interfaces, yet post-training centered on task success alone does not induce reliable safety behavior. A reliable CUA must condition its execution on risk: it should complete ordinary benign tasks, avoid environmental hazards and continue when a safe completion path remains, and refuse when the goal is harmful or no safe path exists. To learn this conditional policy, we develop Safety and Capability Optimization for Policy Execution (SCOPE), which jointly post-trains a CUA for task-execution capability and safety-aware decision making. To provide aligned training data for this joint objective, we further introduce SCOPE-Gen, an automated pipeline that synthesizes verifiable capability tasks and converts them into paired environment-risk variants while preserving their original goals. Using the resulting tasks, we construct SATraj-OS, a trajectory dataset comprising capability demonstrations, safe continuations, and explicit refusals. SCOPE first learns from all three trajectory types through supervised fine-tuning and then further improves task completion through online reinforcement learning. Starting from Qwen3.5-9B, SCOPE-RL achieves a 54.17% task success rate on OSWorld and a 64.30% attack-avoidance rate on OS-BLIND, yielding the best aggregate capability--safety score of 58.80% among the evaluated agents. Ablations reveal asymmetric but complementary roles for the two forms of safety supervision: refusal trajectories account for most of the attack-avoidance gain, whereas risk-handling trajectories preserve greater task utility at comparable attack-avoidance levels.

cs.LG

DRIFT: Diffusion-based Rule-Inferred For Trajectories

Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle with this trade-off, yielding either smooth but imprecise paths or geometrically accurate but erratic motions. To address the aforementioned shortcomings, this article proposes DRIFT (Diffusion-based Rule-Inferred for Trajectories), a conditional diffusion framework designed to generate high-fidelity reference trajectories by integrating two complementary inductive biases. First, a Relational Inductive Bias, realized via a GNN-based Structured Scene Perception (SSP) module, encodes global topological constraints to ensure holistic smoothness. Second, a Temporal Attention Bias, implemented through a novel Graph-Conditioned Time-Aware GRU (GTGRU), dynamically attends to sparse obstacles and targets for precise local maneuvering. In the end, quantitative results demonstrate that DRIFT reconciles these conflicting objectives, achieving centimeter-level imitation fidelity (0.041m FDE) and competitive smoothness (27.19 Jerk). This balance yields highly executable reference plans for downstream control.

cs.RO