arXiv subjects

Yizhou Chen

Publications and source records attributed to Yizhou Chen.

At least 37 records · Page 2Linked to original sources

arXiv2025

GramTrans: A Better Code Representation Approach in Code Generation

Code generation has shown great promise in assisting software development. A fundamental yet underexplored question is how the choice of code representation affects model performance. While existing studies employ various representations, such as treating code as plain text, grammar rule sequences, or syntax tree sequences, they lack a principled understanding of the relationship between parsing difficulty and model effectiveness. This paper proposes a conjecture: the easier a representation is to parse, the better performance the model achieves. We formalize this idea using grammar classes, where representations in simpler classes (e.g., LL(1)) are easier to parse. Through a controlled experiment on a Python-based DSL, we show that parsing difficulty strongly correlates with model performance. Motivated by this finding, we present GramTrans, a general approach that automatically transforms a context-free language into a representation within the LL(1) class. GramTrans introduces a novel hierarchical conflict elimination algorithm, enabling a flexible trade-off between syntactic simplicity and token efficiency. We evaluate GramTrans on both Python and Java using three code generation models: StarCoder 1B, DeepSeek-Coder 1.3B, and Qwen2.5 1.5B. Across multiple benchmarks, GramTrans consistently delivers significant improvements over baseline representations. Furthermore, our analysis of existing representations reconfirms the strong alignment between parsing difficulty and model performance, providing additional support for the conjecture.

cs.SE↗

arXiv2025

BagIt! An Adaptive Dual-Arm Manipulation of Fabric Bags for Object Bagging

Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the proposed adaptive Structure-of-Interest (SOI) manipulation strategy for dual robot arms. The system dynamically adjusts its actions based on real-time visual feedback, removing the need for pre-existing knowledge of bag properties. Our framework incorporates Gaussian Mixture Models (GMM) for estimating SOI states, optimization techniques for SOI generation, motion planning via Constrained Bidirectional Rapidly-exploring Random Tree (CBiRRT), and dual-arm coordination using Model Predictive Control (MPC). Extensive experiments validate the capability of our system to perform precise and robust bagging across various objects, showcasing its adaptability. This work offers a new solution for robotic deformable object manipulation (DOM), particularly in automated bagging tasks. Video of this work is available at https://youtu.be/6JWjCOeTGiQ.

cs.RO↗

arXiv2025

SViP: Sequencing Bimanual Visuomotor Policies with Object-Centric Motion Primitives

Imitation learning (IL), particularly when leveraging high-dimensional visual inputs for policy training, has proven intuitive and effective in complex bimanual manipulation tasks. Nonetheless, the generalization capability of visuomotor policies remains limited, especially when small demonstration datasets are available. Accumulated errors in visuomotor policies significantly hinder their ability to complete long-horizon tasks. To address these limitations, we propose SViP, a framework that seamlessly integrates visuomotor policies into task and motion planning (TAMP). SViP partitions human demonstrations into bimanual and unimanual operations using a semantic scene graph monitor. Continuous decision variables from the key scene graph are employed to train a switching condition generator. This generator produces parameterized scripted primitives that ensure reliable performance even when encountering out-of-the-distribution observations. Using only 20 real-world demonstrations, we show that SViP enables visuomotor policies to generalize across out-of-distribution initial conditions without requiring object pose estimators. For previously unseen tasks, SViP automatically discovers effective solutions to achieve the goal, leveraging constraint modeling in TAMP formulism. In real-world experiments, SViP outperforms state-of-the-art generative IL methods, indicating wider applicability for more complex tasks. Project website: https://sites.google.com/view/svip-bimanual

cs.RO↗

arXiv2025

DEFT: Differentiable Branched Discrete Elastic Rods for Modeling Furcated DLOs in Real-Time

Autonomous wire harness assembly requires robots to manipulate complex branched cables with high precision and reliability. A key challenge in automating this process is predicting how these flexible and branched structures behave under manipulation. Without accurate predictions, it is difficult for robots to reliably plan or execute assembly operations. While existing research has made progress in modeling single-threaded Deformable Linear Objects (DLOs), extending these approaches to Branched Deformable Linear Objects (BDLOs) presents fundamental challenges. The junction points in BDLOs create complex force interactions and strain propagation patterns that cannot be adequately captured by simply connecting multiple single-DLO models. To address these challenges, this paper presents Differentiable discrete branched Elastic rods for modeling Furcated DLOs in real-Time (DEFT), a novel framework that combines a differentiable physics-based model with a learning framework to: 1) accurately model BDLO dynamics, including dynamic propagation at junction points and grasping in the middle of a BDLO, 2) achieve efficient computation for real-time inference, and 3) enable planning to demonstrate dexterous BDLO manipulation. A comprehensive series of real-world experiments demonstrates DEFT's efficacy in terms of accuracy, computational speed, and generalizability compared to state-of-the-art alternatives. Project page:https://roahmlab.github.io/DEFT/.

cs.RO↗

arXiv2025

Establishing Reliability Metrics for Reward Models in Large Language Models

The reward model (RM) that represents human preferences plays a crucial role in optimizing the outputs of large language models (LLMs), e.g., through reinforcement learning from human feedback (RLHF) or rejection sampling. However, a long challenge for RM is its uncertain reliability, i.e., LLM outputs with higher rewards may not align with actual human preferences. Currently, there is a lack of a convincing metric to quantify the reliability of RMs. To bridge this gap, we propose the \textit{\underline{R}eliable at \underline{$η$}} (RETA) metric, which directly measures the reliability of an RM by evaluating the average quality (scored by an oracle) of the top $η$ quantile responses assessed by an RM. On top of RETA, we present an integrated benchmarking pipeline that allows anyone to evaluate their own RM without incurring additional Oracle labeling costs. Extensive experimental studies demonstrate the superior stability of RETA metric, providing solid evaluations of the reliability of various publicly available and proprietary RMs. When dealing with an unreliable RM, we can use the RETA metric to identify the optimal quantile from which to select the responses.

cs.AI↗

arXiv2025

Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects

This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address these challenges, this paper proposes differentiable Discrete Elastic Rods For deformable linear Objects with Real-time Modeling (DEFORM), a novel framework that combines a differentiable physics-based model with a learning framework to model DLOs accurately and in real-time. The performance of DEFORM is evaluated in an experimental setup involving two industrial robots and a variety of sensors. A comprehensive series of experiments demonstrate the efficacy of DEFORM in terms of accuracy, computational speed, and generalizability when compared to state-of-the-art alternatives. To further demonstrate the utility of DEFORM, this paper integrates it into a perception pipeline and illustrates its superior performance when compared to the state-of-the-art methods while tracking a DLO even in the presence of occlusions. Finally, this paper illustrates the superior performance of DEFORM when compared to state-of-the-art methods when it is applied to perform autonomous planning and control of DLOs. Project page: https://roahmlab.github.io/DEFORM/.

cs.RO↗

arXiv2025

Signage-Aware Exploration in Open World using Venue Maps

Current exploration methods struggle to search for shops or restaurants in unknown open-world environments due to the lack of prior knowledge. Humans can leverage venue maps that offer valuable scene priors to aid exploration planning by correlating the signage in the scene with landmark names on the map. However, arbitrary shapes and styles of the texts on signage, along with multi-view inconsistencies, pose significant challenges for robots to recognize them accurately. Additionally, discrepancies between real-world environments and venue maps hinder the integration of text-level information into the planners. This paper introduces a novel signage-aware exploration system to address these challenges, enabling the robots to utilize venue maps effectively. We propose a signage understanding method that accurately detects and recognizes the texts on signage using a diffusion-based text instance retrieval method combined with a 2D-to-3D semantic fusion strategy. Furthermore, we design a venue map-guided exploration-exploitation planner that balances exploration in unknown regions using directional heuristics derived from venue maps and exploitation to get close and adjust orientation for better recognition. Experiments in large-scale shopping malls demonstrate our method's superior signage recognition performance and search efficiency, surpassing state-of-the-art text spotting methods and traditional exploration approaches. Project website: https://sites.google.com/view/signage-aware-exploration.

cs.RO↗

arXiv2025

PET Image Denoising via Text-Guided Diffusion: Integrating Anatomical Priors through Text Prompts

Low-dose Positron Emission Tomography (PET) imaging presents a significant challenge due to increased noise and reduced image quality, which can compromise its diagnostic accuracy and clinical utility. Denoising diffusion probabilistic models (DDPMs) have demonstrated promising performance for PET image denoising. However, existing DDPM-based methods typically overlook valuable metadata such as patient demographics, anatomical information, and scanning parameters, which should further enhance the denoising performance if considered. Recent advances in vision-language models (VLMs), particularly the pre-trained Contrastive Language-Image Pre-training (CLIP) model, have highlighted the potential of incorporating text-based information into visual tasks to improve downstream performance. In this preliminary study, we proposed a novel text-guided DDPM for PET image denoising that integrated anatomical priors through text prompts. Anatomical text descriptions were encoded using a pre-trained CLIP text encoder to extract semantic guidance, which was then incorporated into the diffusion process via the cross-attention mechanism. Evaluations based on paired 1/20 low-dose and normal-dose 18F-FDG PET datasets demonstrated that the proposed method achieved better quantitative performance than conventional UNet and standard DDPM methods at both the whole-body and organ levels. These results underscored the potential of leveraging VLMs to integrate rich metadata into the diffusion framework to enhance the image quality of low-dose PET scans.

eess.IV↗

arXiv2024

Shallow Signed Distance Functions for Kinematic Collision Bodies

We present learning-based implicit shape representations designed for real-time avatar collision queries arising in the simulation of clothing. Signed distance functions (SDFs) have been used for such queries for many years due to their computational efficiency. Recently deep neural networks have been used for implicit shape representations (DeepSDFs) due to their ability to represent multiple shapes with modest memory requirements compared to traditional representations over dense grids. However, the computational expense of DeepSDFs prevents their use in real-time clothing simulation applications. We design a learning-based representation of SDFs for human avatars whoes bodies change shape kinematically due to joint-based skinning. Rather than using a single DeepSDF for the entire avatar, we use a collection of extremely computationally efficient (shallow) neural networks that represent localized deformations arising from changes in body shape induced by the variation of a single joint. This requires a stitching process to combine each shallow SDF in the collection together into one SDF representing the signed closest distance to the boundary of the entire body. To achieve this we augment each shallow SDF with an additional output that resolves whether or not the individual shallow SDF value is referring to a closest point on the boundary of the body, or to a point on the interior of the body (but on the boundary of the individual shallow SDF). Our model is extremely fast and accurate and we demonstrate its applicability with real-time simulation of garments driven by animated characters.

cs.CV↗

arXiv2024

Do Advanced Language Models Eliminate the Need for Prompt Engineering in Software Engineering?

Large Language Models (LLMs) have significantly advanced software engineering (SE) tasks, with prompt engineering techniques enhancing their performance in code-related areas. However, the rapid development of foundational LLMs such as the non-reasoning model GPT-4o and the reasoning model o1 raises questions about the continued effectiveness of these prompt engineering techniques. This paper presents an extensive empirical study that reevaluates various prompt engineering techniques within the context of these advanced LLMs. Focusing on three representative SE tasks, i.e., code generation, code translation, and code summarization, we assess whether prompt engineering techniques still yield improvements with advanced models, the actual effectiveness of reasoning models compared to non-reasoning models, and whether the benefits of using these advanced models justify their increased costs. Our findings reveal that prompt engineering techniques developed for earlier LLMs may provide diminished benefits or even hinder performance when applied to advanced models. In reasoning LLMs, the ability of sophisticated built-in reasoning reduces the impact of complex prompts, sometimes making simple zero-shot prompting more effective. Furthermore, while reasoning models outperform non-reasoning models in tasks requiring complex reasoning, they offer minimal advantages in tasks that do not need reasoning and may incur unnecessary costs. Based on our study, we provide practical guidance for practitioners on selecting appropriate prompt engineering techniques and foundational LLMs, considering factors such as task requirements, operational costs, and environmental impact. Our work contributes to a deeper understanding of effectively harnessing advanced LLMs in SE tasks, informing future research and application development.

cs.SE↗

arXiv2024

Residual Multi-Task Learner for Applied Ranking

Modern e-commerce platforms rely heavily on modeling diverse user feedback to provide personalized services. Consequently, multi-task learning has become an integral part of their ranking systems. However, existing multi-task learning methods encounter two main challenges: some lack explicit modeling of task relationships, resulting in inferior performance, while others have limited applicability due to being computationally intensive, having scalability issues, or relying on strong assumptions. To address these limitations and better fit our real-world scenario, pre-rank in Shopee Search, we introduce in this paper ResFlow, a lightweight multi-task learning framework that enables efficient cross-task information sharing via residual connections between corresponding layers of task networks. Extensive experiments on datasets from various scenarios and modalities demonstrate its superior performance and adaptability over state-of-the-art methods. The online A/B tests in Shopee Search showcase its practical value in large-scale industrial applications, evidenced by a 1.29% increase in OPU (order-per-user) without additional system latency. ResFlow is now fully deployed in the pre-rank module of Shopee Search. To facilitate efficient online deployment, we propose a novel offline metric Weighted Recall@K, which aligns well with our online metric OPU, addressing the longstanding online-offline metric misalignment issue. Besides, we propose to fuse scores from the multiple tasks additively when ranking items, which outperforms traditional multiplicative fusion. The code is released at https://github.com/BrunoTruthAlliance/ResFlow

cs.IR↗

arXiv2024

BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulation

Bimanual manipulation tasks typically involve multiple stages which require efficient interactions between two arms, posing step-wise and stage-wise challenges for imitation learning systems. Specifically, failure and delay of one step will broadcast through time, hinder success and efficiency of each sub-stage task, and thereby overall task performance. Although recent works have made strides in addressing certain challenges, few approaches explicitly consider the multi-stage nature of bimanual tasks while simultaneously emphasizing the importance of inference speed. In this paper, we introduce a novel keypose-conditioned consistency policy tailored for bimanual manipulation. It is a hierarchical imitation learning framework that consists of a high-level keypose predictor and a low-level trajectory generator. The predicted keyposes provide guidance for trajectory generation and also mark the completion of one sub-stage task. The trajectory generator is designed as a consistency model trained from scratch without distillation, which generates action sequences conditioning on current observations and predicted keyposes with fast inference speed. Simulated and real-world experimental results demonstrate that the proposed approach surpasses baseline methods in terms of success rate and operational efficiency. Codes are available at https://github.com/ManUtdMoon/BiKC.

cs.RO↗

arXiv2024

Dynamically Anchored Prompting for Task-Imbalanced Continual Learning

Existing continual learning literature relies heavily on a strong assumption that tasks arrive with a balanced data stream, which is often unrealistic in real-world applications. In this work, we explore task-imbalanced continual learning (TICL) scenarios where the distribution of task data is non-uniform across the whole learning process. We find that imbalanced tasks significantly challenge the capability of models to control the trade-off between stability and plasticity from the perspective of recent prompt-based continual learning methods. On top of the above finding, we propose Dynamically Anchored Prompting (DAP), a prompt-based method that only maintains a single general prompt to adapt to the shifts within a task stream dynamically. This general prompt is regularized in the prompt space with two specifically designed prompt anchors, called boosting anchor and stabilizing anchor, to balance stability and plasticity in TICL. Remarkably, DAP achieves this balance by only storing a prompt across the data stream, therefore offering a substantial advantage in rehearsal-free CL. Extensive experiments demonstrate that the proposed DAP results in 4.5% to 15% absolute improvements over state-of-the-art methods on benchmarks under task-imbalanced settings. Our code is available at https://github.com/chenxing6666/DAP

cs.LG↗

arXiv2024

Sensor-based Multi-agent Coverage Control with Spatial Separation in Unstructured Environments

Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured environments with dense obstacles. This paper presents an innovative, decentralized Voronoi-based approach for search and coverage to reactively navigate these complexities while maintaining safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic Information System), offering a more comprehensive and real-time understanding of the environment. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in both task success rate, coverage ratio, and task execution time compared with others.

cs.RO↗

arXiv2024

Language-Augmented Symbolic Planner for Open-World Task Planning

Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain limited to short-horizon tasks and they are unable to replace the symbolic planning approach. Symbolic planners, on the other hand, may encounter execution errors due to their common assumption of complete domain knowledge which is hard to manually prepare for an open-world setting. In this paper, we introduce a Language-Augmented Symbolic Planner (LASP) that integrates pre-trained LLMs to enable conventional symbolic planners to operate in an open-world environment where only incomplete knowledge of action preconditions, objects, and properties is initially available. In case of execution errors, LASP can utilize the LLM to diagnose the cause of the error based on the observation and interact with the environment to incrementally build up its knowledge base necessary for accomplishing the given tasks. Experiments demonstrate that LASP is proficient in solving planning problems in the open-world setting, performing well even in situations where there are multiple gaps in the knowledge.

cs.RO↗

arXiv2024

Vulnerability-Hunter: An Adaptive Feature Perception Attention Network for Smart Contract Vulnerabilities

Smart Contract Vulnerability Detection (SCVD) is crucial to guarantee the quality of blockchain-based systems. Graph neural networks have been shown to be effective in learning semantic representations of smart contract code and are commonly adopted by existing deep learning-based SCVD. However, the current methods still have limitations in their utilization of graph sampling or subgraph pooling based on predefined rules for extracting crucial components from structure graphs of smart contract code. These predefined rule-based strategies, typically designed using static rules or heuristics, demonstrate limited adaptability to dynamically adjust extraction strategies according to the structure and content of the graph in heterogeneous topologies of smart contract code. Consequently, these strategies may not possess universal applicability to all smart contracts, potentially leading to false positives or omissions. To address these problems, we propose AFPNet, a novel vulnerability detection model equipped with a feature perception module that has dynamic weights for comprehensive scanning of the entire smart contract code and automatic extraction of crucial code snippets (the $P$ snippets with the largest weights). Subsequently, the relationship perception attention module employs an attention mechanism to learn dependencies among these code snippets and detect smart contract vulnerabilities. The efforts made by AFPNet consistently enable the capture of crucial code snippets and enhance the performance of SCVD optimization. We conduct an evaluation of AFPNet in the several large-scale datasets with vulnerability labels. The experimental results show that our AFPNet significantly outperforms the state-of-the-art approach by 6.38\%-14.02\% in term of F1-score. The results demonstrate the effectiveness of AFPNet in dynamically extracting valuable information and vulnerability detection.

cs.CR↗

arXiv2024

Improving Smart Contract Security with Contrastive Learning-based Vulnerability Detection

Currently, smart contract vulnerabilities (SCVs) have emerged as a major factor threatening the transaction security of blockchain. Existing state-of-the-art methods rely on deep learning to mitigate this threat. They treat each input contract as an independent entity and feed it into a deep learning model to learn vulnerability patterns by fitting vulnerability labels. It is a pity that they disregard the correlation between contracts, failing to consider the commonalities between contracts of the same type and the differences among contracts of different types. As a result, the performance of these methods falls short of the desired level. To tackle this problem, we propose a novel Contrastive Learning Enhanced Automated Recognition Approach for Smart Contract Vulnerabilities, named Clear. In particular, Clear employs a contrastive learning (CL) model to capture the fine-grained correlation information among contracts and generates correlation labels based on the relationships between contracts to guide the training process of the CL model. Finally, it combines the correlation and the semantic information of the contract to detect SCVs. Through an empirical evaluation of a large-scale real-world dataset of over 40K smart contracts and compare 13 state-of-the-art baseline methods. We show that Clear achieves (1) optimal performance over all baseline methods; (2) 9.73%-39.99% higher F1-score than existing deep learning methods.

cs.CR↗

arXiv2024

Localization Through Particle Filter Powered Neural Network Estimated Monocular Camera Poses

The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to this localization problem involve fusing pose estimates from convolutional neural networks (CNNs) with pose estimates from geometric constraints on motion to generate accurate predictions of robot trajectories. However, the distribution of attitude estimation based on CNN is not uniform, resulting in certain translation problems in the prediction of robot trajectories. This paper proposes improving these CNN-based pose estimates by propagating a SE(3) uniform distribution driven by a particle filter. The particles utilize the same motion model used by the CNN, while updating their weights using CNN-based estimates. The results show that while the rotational component of pose estimation does not consistently improve relative to CNN-based estimation, the translational component is significantly more accurate. This factor combined with the superior smoothness of the filtered trajectories shows that the use of particle filters significantly improves the performance of CNN-based localization algorithms.

cs.RO↗