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Yihao Zhang

Publications and source records attributed to Yihao Zhang.

At least 37 records · Page 2Linked to original sources
arXiv2025

Experiences from Benchmarking Vision-Language-Action Models for Robotic Manipulation

Foundation models applied in robotics, particularly \textbf{Vision--Language--Action (VLA)} models, hold great promise for achieving general-purpose manipulation. Yet, systematic real-world evaluations and cross-model comparisons remain scarce. This paper reports our \textbf{empirical experiences} from benchmarking four representative VLAs -- \textbf{ACT}, \textbf{OpenVLA--OFT}, \textbf{RDT-1B}, and \boldmath{$π_0$} -- across four manipulation tasks conducted in both simulation and on the \textbf{ALOHA Mobile} platform. We establish a \textbf{standardized evaluation framework} that measures performance along three key dimensions: (1) \textit{accuracy and efficiency} (success rate and time-to-success), (2) \textit{adaptability} across in-distribution, spatial out-of-distribution, and instance-plus-spatial out-of-distribution settings, and (3) \textit{language instruction-following accuracy}. Through this process, we observe that \boldmath{$π_0$} demonstrates superior adaptability in out-of-distribution scenarios, while \textbf{ACT} provides the highest stability in-distribution. Further analysis highlights differences in computational demands, data-scaling behavior, and recurring failure modes such as near-miss grasps, premature releases, and long-horizon state drift. These findings reveal practical trade-offs among VLA model architectures in balancing precision, generalization, and deployment cost, offering actionable insights for selecting and deploying VLAs in real-world robotic manipulation tasks.

cs.RO↗
arXiv2025

ShapeICP: Iterative Category-level Object Pose and Shape Estimation from Depth

Category-level object pose and shape estimation from a single depth image has recently drawn research attention due to its potential utility for tasks such as robotics manipulation. The task is particularly challenging because the three unknowns, object pose, object shape, and model-to-measurement correspondences, are compounded together, but only a single view of depth measurements is provided. Most of the prior work heavily relies on data-driven approaches to obtain solutions to at least one of the unknowns, and typically two, risking generalization failures if not designed and trained carefully. The shape representations used in the prior work also mainly focus on point clouds and signed distance fields (SDFs). In stark contrast to the prior work, we approach the problem using an iterative estimation method that does not require learning from pose-annotated data. Moreover, we construct and adopt a novel mesh-based object active shape model (ASM), which additionally maintains vertex connectivity compared to the commonly used point-based object ASM. Our algorithm, ShapeICP, is based on the iterative closest point (ICP) algorithm but is equipped with additional features for the category-level pose and shape estimation task. Although not using pose-annotated data, ShapeICP surpasses many data-driven approaches that rely on pose data for training, opening up a new solution space for researchers to consider.

cs.CV↗
arXiv2025

Conceptual Design Report of Super Tau-Charm Facility: The Accelerator

Electron-positron colliders operating in the GeV region of center-of-mass energies or the Tau-Charm energy region, have been proven to enable competitive frontier research, due to its several unique features. With the progress of high energy physics in the last two decades, a new-generation Tau-Charm factory, Super Tau Charm Facility (STCF) has been actively promoting by the particle physics community in China. STCF holds great potential to address fundamental questions such as the essence of color confinement and the matter-antimatter asymmetry in the universe in the next decades. The main design goals of STCF are with a center-of-mass energy ranging from 2 to 7 GeV and a peak luminosity surpassing 5*10^34 cm^-2s^-1 that is optimized at a center-of-mass energy of 4 GeV, which is about 50 times that of the currently operating Tau-Charm factory - BEPCII. The STCF accelerator is composed of two main parts: a double-ring collider with the crab-waist collision scheme and an injector that provides top-up injections for both electron and positron beams. As a typical third-generation electron-positron circular collider, the STCF accelerator faces many challenges in both accelerator physics and technology. In this paper, the conceptual design of the STCF accelerator complex is presented, including the ongoing efforts and plans for technological R&D, as well as the required infrastructure. The STCF project aims to secure support from the Chinese central government for its construction during the 15th Five-Year Plan (2026-2030) in China.

physics.acc-ph↗
arXiv2025

iFairy: the First 2-bit Complex LLM with All Parameters in $\{\pm1, \pm i\}$

Quantization-Aware Training (QAT) integrates quantization into the training loop, enabling LLMs to learn robust low-bit representations, and is widely recognized as one of the most promising research directions. All current QAT research focuses on minimizing quantization error on full-precision models, where the full-precision accuracy acts as an upper bound (accuracy ceiling). No existing method has even attempted to surpass this ceiling. To break this ceiling, we propose a new paradigm: raising the ceiling (full-precision model), and then still quantizing it efficiently into 2 bits. We propose Fairy$\pm i$, the first 2-bit quantization framework for complex-valued LLMs. Specifically, our method leverages the representational advantages of the complex domain to boost full-precision accuracy. We map weights to the fourth roots of unity $\{\pm1, \pm i\}$, forming a perfectly symmetric and information-theoretically optimal 2-bit representation. Importantly, each quantized weight has either a zero real or imaginary part, enabling multiplication-free inference using only additions and element swaps. Experimental results show that Fairy$\pm i$ outperforms the ceiling of existing 2-bit quantization approaches in terms of both PPL and downstream tasks, while maintaining strict storage and compute efficiency. This work opens a new direction for building highly accurate and practical LLMs under extremely low-bit constraints.

cs.LG↗
arXiv2025

Assessment of Intra-channel Fiber Nonlinearity Compensation in 200 GBaud and Beyond Coherent Optical Transmission Systems

In this paper, we investigate and assess the performance of intra-channel nonlinearity compensation (IC-NLC) in long-haul coherent optical transmission systems with a symbol rate of 200 GBaud and beyond. We first evaluate the potential gain of ideal IC-NLC in 4 THz systems by estimating the proportion of self-channel interference (SCI) using the split-step Fourier method (SSFM) based simulation with either lumped amplification or distributed amplification. As the symbol rate increases to 300 GBaud, the SCI proportion exceeds 65%. On the other hand, the non-deterministic polarization mode dispersion (PMD) will impact the effectiveness of IC-NLC, especially for ultra-high symbol rate systems. Therefore, we investigate the power spectral density of the residual nonlinear noise after ideal IC-NLC in the presence of PMD. The results indicate that the gain of ideal digital backpropagation (IDBP) decreases by 3.85 dB in 300 GBaud erbium-doped fiber amplifier (EDFA)-amplified links with a PMD parameter of 0.05 ps/km1/2, and 5.09 dB in distributed Raman amplifier (DRA)-amplified links. Finally, we evaluate the potential gains of practical IC-NLC in C-band wavelength-division multiplexing (WDM) systems by employing the low-pass-filter assisted digital backpropagation (LDBP). As the symbol rate increases from 100 GBaud to 300 GBaud, the gain of 20-step-per-span (20-stps) LDBP increases from 0.53 dB to 0.87 dB for EDFA-amplified links, and from 0.89 dB to 1.30 dB for DRA-amplified links. Our quantitative results show that for 200 GBaud and beyond systems, there is a sizable gain to achieve by compensating for intra-channel nonlinearity even with a large non-deterministic PMD.

physics.optics↗
arXiv2025

A Step-by-Step Guide to Creating a Robust Autonomous Drone Testing Pipeline

Autonomous drones are rapidly reshaping industries ranging from aerial delivery and infrastructure inspection to environmental monitoring and disaster response. Ensuring the safety, reliability, and efficiency of these systems is paramount as they transition from research prototypes to mission-critical platforms. This paper presents a step-by-step guide to establishing a robust autonomous drone testing pipeline, covering each critical stage: Software-in-the-Loop (SIL) Simulation Testing, Hardware-in-the-Loop (HIL) Testing, Controlled Real-World Testing, and In-Field Testing. Using practical examples, including the marker-based autonomous landing system, we demonstrate how to systematically verify drone system behaviors, identify integration issues, and optimize performance. Furthermore, we highlight emerging trends shaping the future of drone testing, including the integration of Neurosymbolic and LLMs, creating co-simulation environments, and Digital Twin-enabled simulation-based testing techniques. By following this pipeline, developers and researchers can achieve comprehensive validation, minimize deployment risks, and prepare autonomous drones for safe and reliable real-world operations.

cs.SE↗
arXiv2025

When Thinking LLMs Lie: Unveiling the Strategic Deception in Representations of Reasoning Models

The honesty of large language models (LLMs) is a critical alignment challenge, especially as advanced systems with chain-of-thought (CoT) reasoning may strategically deceive humans. Unlike traditional honesty issues on LLMs, which could be possibly explained as some kind of hallucination, those models' explicit thought paths enable us to study strategic deception--goal-driven, intentional misinformation where reasoning contradicts outputs. Using representation engineering, we systematically induce, detect, and control such deception in CoT-enabled LLMs, extracting "deception vectors" via Linear Artificial Tomography (LAT) for 89% detection accuracy. Through activation steering, we achieve a 40% success rate in eliciting context-appropriate deception without explicit prompts, unveiling the specific honesty-related issue of reasoning models and providing tools for trustworthy AI alignment.

cs.AI↗
arXiv2025

QUEST: A Quantized Energy-Aware SNN Training Framework for Multi-State Neuromorphic Devices

Neuromorphic devices, leveraging novel physical phenomena, offer a promising path toward energy-efficient hardware beyond CMOS technology by emulating brain-inspired computation. However, their progress is often limited to proof-of-concept studies due to the lack of flexible spiking neural network (SNN) algorithm frameworks tailored to device-specific characteristics, posing a significant challenge to scalability and practical deployment. To address this, we propose QUEST, a unified co-design framework that directly trains SNN for emerging devices featuring multilevel resistances. With Skyrmionic Magnetic Tunnel Junction (Sk-MTJ) as a case study, experimental results on the CIFAR-10 dataset demonstrate the framework's ability to enable scalable on-device SNN training with minimal energy consumption during both feedforward and backpropagation. By introducing device mapping pattern and activation operation sparsity, QUEST achieves effective trade-offs among high accuracy (89.6%), low bit precision (2-bit), and energy efficiency (93 times improvement over the ANNs). QUEST offers practical design guidelines for both the device and algorithm communities, providing insights to build energy-efficient and large-scale neuromorphic systems.

physics.app-ph↗
arXiv2025

Boosting Jailbreak Attack with Momentum

Large Language Models (LLMs) have achieved remarkable success across diverse tasks, yet they remain vulnerable to adversarial attacks, notably the well-known jailbreak attack. In particular, the Greedy Coordinate Gradient (GCG) attack has demonstrated efficacy in exploiting this vulnerability by optimizing adversarial prompts through a combination of gradient heuristics and greedy search. However, the efficiency of this attack has become a bottleneck in the attacking process. To mitigate this limitation, in this paper we rethink the generation of the adversarial prompts through an optimization lens, aiming to stabilize the optimization process and harness more heuristic insights from previous optimization iterations. Specifically, we propose the \textbf{M}omentum \textbf{A}ccelerated G\textbf{C}G (\textbf{MAC}) attack, which integrates a momentum term into the gradient heuristic to boost and stabilize the random search for tokens in adversarial prompts. Experimental results showcase the notable enhancement achieved by MAC over baselines in terms of attack success rate and optimization efficiency. Moreover, we demonstrate that MAC can still exhibit superior performance for transfer attacks and models under defense mechanisms. Our code is available at https://github.com/weizeming/momentum-attack-llm.

cs.LG↗
arXiv2024

HEC-GCN: Hypergraph Enhanced Cascading Graph Convolution Network for Multi-Behavior Recommendation

Multi-behavior recommendation (MBR) has garnered growing attention recently due to its ability to mitigate the sparsity issue by inferring user preferences from various auxiliary behaviors to improve predictions for the target behavior. Although existing research on MBR has yielded impressive results, they still face two major limitations. First, previous methods mainly focus on modeling fine-grained interaction information between users and items under each behavior, which may suffer from sparsity issue. Second, existing models usually concentrate on exploiting dependencies between two consecutive behaviors, leaving intra- and inter-behavior consistency largely unexplored. To the end, we propose a novel approach named Hypergraph Enhanced Cascading Graph Convolution Network for multi-behavior recommendation (HEC-GCN). To be specific, we first explore both fine- and coarse-grained correlations among users or items of each behavior by simultaneously modeling the behavior-specific interaction graph and its corresponding hypergraph in a cascaded manner. Then, we propose a behavior consistency-guided alignment strategy that ensures consistent representations between the interaction graph and its associated hypergraph for each behavior, while also maintaining representation consistency across different behaviors. Extensive experiments and analyses on three public benchmark datasets demonstrate that our proposed approach is consistently superior to previous state-of-the-art methods due to its capability to effectively attenuate the sparsity issue as well as preserve both intra- and inter-behavior consistencies. The code is available at https://github.com/marqu22/HEC-GCN.git.

cs.IR↗
arXiv2024

Adversarial Representation Engineering: A General Model Editing Framework for Large Language Models

Since the rapid development of Large Language Models (LLMs) has achieved remarkable success, understanding and rectifying their internal complex mechanisms has become an urgent issue. Recent research has attempted to interpret their behaviors through the lens of inner representation. However, developing practical and efficient methods for applying these representations for general and flexible model editing remains challenging. In this work, we explore how to leverage insights from representation engineering to guide the editing of LLMs by deploying a representation sensor as an editing oracle. We first identify the importance of a robust and reliable sensor during editing, then propose an Adversarial Representation Engineering (ARE) framework to provide a unified and interpretable approach for conceptual model editing without compromising baseline performance. Experiments on multiple tasks demonstrate the effectiveness of ARE in various model editing scenarios. Our code and data are available at https://github.com/Zhang-Yihao/Adversarial-Representation-Engineering.

cs.LG↗
arXiv2024

Causal Abstraction in Model Interpretability: A Compact Survey

The pursuit of interpretable artificial intelligence has led to significant advancements in the development of methods that aim to explain the decision-making processes of complex models, such as deep learning systems. Among these methods, causal abstraction stands out as a theoretical framework that provides a principled approach to understanding and explaining the causal mechanisms underlying model behavior. This survey paper delves into the realm of causal abstraction, examining its theoretical foundations, practical applications, and implications for the field of model interpretability.

cs.LG↗
arXiv2024

MILE: A Mutation Testing Framework of In-Context Learning Systems

In-context Learning (ICL) has achieved notable success in the applications of large language models (LLMs). By adding only a few input-output pairs that demonstrate a new task, the LLM can efficiently learn the task during inference without modifying the model parameters. Such mysterious ability of LLMs has attracted great research interests in understanding, formatting, and improving the in-context demonstrations, while still suffering from drawbacks like black-box mechanisms and sensitivity against the selection of examples. In this work, inspired by the foundations of adopting testing techniques in machine learning (ML) systems, we propose a mutation testing framework designed to characterize the quality and effectiveness of test data for ICL systems. First, we propose several mutation operators specialized for ICL demonstrations, as well as corresponding mutation scores for ICL test sets. With comprehensive experiments, we showcase the effectiveness of our framework in evaluating the reliability and quality of ICL test suites. Our code is available at https://github.com/weizeming/MILE.

cs.SE↗
arXiv2024

Automata Extraction from Transformers

In modern machine (ML) learning systems, Transformer-based architectures have achieved milestone success across a broad spectrum of tasks, yet understanding their operational mechanisms remains an open problem. To improve the transparency of ML systems, automata extraction methods, which interpret stateful ML models as automata typically through formal languages, have proven effective for explaining the mechanism of recurrent neural networks (RNNs). However, few works have been applied to this paradigm to Transformer models. In particular, understanding their processing of formal languages and identifying their limitations in this area remains unexplored. In this paper, we propose an automata extraction algorithm specifically designed for Transformer models. Treating the Transformer model as a black-box system, we track the model through the transformation process of their internal latent representations during their operations, and then use classical pedagogical approaches like L* algorithm to interpret them as deterministic finite-state automata (DFA). Overall, our study reveals how the Transformer model comprehends the structure of formal languages, which not only enhances the interpretability of the Transformer-based ML systems but also marks a crucial step toward a deeper understanding of how ML systems process formal languages. Code and data are available at https://github.com/Zhang-Yihao/Transfomer2DFA.

cs.LG↗