arXiv subjects

Yizhuo Zhang

Publications and source records attributed to Yizhuo Zhang.

13 recordsLinked to original sources

arXiv2026

SkillSpec: Intent-Masked Specification Reasoning for Agent Skill Correctness

Autonomous agent systems increasingly depend on reusable skill abstractions for consolidating experiential knowledge and domain expertise. These artifacts typically bundle free-form instructions with heterogeneous resources. However, ensuring their correctness remains challenging. Their failure modes transcend conventional code defects to subtle semantic inconsistencies such as intent conflicts, which manifest as silent failures masked by the underlying model. Moreover, skill correctness must be grounded in intended task boundaries and generalizability. We propose SkillSpec, a Hoare-style framework that formulates skill correctness as a specification reasoning problem. It transforms a heterogeneous skill repository into a unified graph representation that aligns descriptions, instructions and code artifacts. For each node, SkillSpec derives an ExpectSpec from the surrounding declared intent, and infers FactSpecs from encoded behavior under partially disclosed intent. An intent mask regulates access to holistic, lineage, neighborhood, and local views to balance the bias introduced by excessive context against unsupported inference caused by insufficient context. SkillSpec jointly reasons over these views to flag candidate defects, and automatically validates them in an isolated sandbox. On 515 real-world skills from SkillsBench and widely downloaded repositories, SkillSpec identified 763 manually confirmed defects across 239 skills, achieving 61.2% precision. The node-level analysis across multiple model families shows that specification reasoning is consistently reliable for code nodes, whereas plain-text nodes remain a major bottleneck. Most defects arise at the boundaries between declared intent and implementation, demonstrating that explicit specifications provide a practical foundation for skill quality assurance in real-world agent ecosystems.

cs.SE↗

arXiv2026

Robo-ValueRL: Reliable Value Estimation for Offline-to-Online Reinforcement Learning

Offline-to-online reinforcement learning is promising for generalizable robotic manipulation, yet its full-stack complexity obscures reproduction and diagnosis. Within such systems, value estimation plays a central role in prioritizing heterogeneous data for policy improvement. Despite its importance, the central question remains underexplored: how value-function reliability shapes policy optimization in offline-to-online reinforcement learning. To answer this question, we propose Robo-ValueRL, a unified framework that enables reliable value estimation and systematically traces its downstream effects on policy pretraining and online improvement. Concretely, Robo-ValueRL learns a history-conditioned value estimator and evaluates its reliability through global-progress and local-preference metrics. These resulting value estimates are propagated into quality-conditioned consistency-policy pretraining and a residual adaptation module on online rollouts, providing a unified testbed for analyzing how value reliability shapes downstream policy performance. Across 240 hours of offline demonstrations and over 3,000 online rollout trajectories, our extensive experiments show that downstream performance is strongly associated with value reliability. Reliable value functions provide better action-quality estimates, allowing value-guided offline RL to scale more effectively than quality-agnostic behavior cloning, and stabilize online improvement by prioritizing high-quality rollout data. Integrating reliable value guidance through offline pretraining with online improvement, our system achieves 86% success on millimeter-level precise chip insertion and 84% on generalizable block disassembly. We hope these findings highlight the importance of value-guided data utilization for effective policy improvement from heterogeneous robotic experience.

cs.RO↗

arXiv2026

UNIVID: Unified Vision-Language Model for Video Moderation

Global-scale video moderation faces a dual challenge: the need for fine-grained multi-modal reasoning and the demand for interpretable outputs to support downstream enforcement. Traditional moderation systems often rely on fragmented black-box classifiers that are difficult to maintain and lack transparency. In this paper, we present UNIVID, a UNIfied VIsion-language model for video moDeration. Unlike standard classification models, UNIVID generates policy-aware captions that serve as an interpretable intermediate representation, enabling human-verifiable decisions and multi-task reusability. While existing open-source and commercial VLMs often suffer from safety-guardrail refusals and lack fine-grained policy alignment, we develop a specialized training data recipe that combines expert human-refined labels with synthetic data to align the model with our safety guidelines. By integrating UNIVID as the core captioner, we design a novel end-to-end video moderation system that reduces violation leakage by 42.7% and overkill rate by 37.0% relatively. Meanwhile, by replacing over 1,000 policy-specific models with a single UNIVID backbone, we recycled extensive computation resources while reducing engineering maintenance overhead. To our knowledge, this is one of the first reports of a high-efficiency captioning VLM successfully supporting industrial-scale moderation and cross-functional business.

cs.MM↗

arXiv2026

FocusVLA: Focused Visual Utilization for Vision-Language-Action Models

Vision-Language-Action (VLA) models improve action generation by conditioning policies on rich vision-language information. However, current auto-regressive policies are constrained by three bottlenecks: (1) architectural bias drives models to overlook visual details, (2) an excessive number of visual tokens makes attention difficult to focus on the correct regions, and (3) task-irrelevant visual information introduces substantial noise - together severely impairing the quality of action. In this paper, we investigate how to effectively utilize different visual representations for action generation. To this end, we first empirically validate the above issues and show that VLA performance is primarily limited by how visual information is utilized, rather than by the quality of visual representations. Based on these insights, we introduce FocusVLA, a novel paradigm that directs the model's attention to task-relevant visual regions to effectively bridge vision to action. Specifically, we first propose Modality Cascaded Attention to eliminate shortcut pathways, thereby compelling VLA models to rely on task-relevant visual details for action generation. Furthermore, we propose Focus Attention, which dynamically selects task-relevant visual patches to control information quantity while explicitly modulating their influence to suppress task-irrelevant noise. Extensive experiments on both simulated and real-world robotic benchmarks demonstrate that FocusVLA not only effectively leverages visual details to perform dexterous manipulations, but also substantially improves performance and accelerates convergence across a variety of tasks.

cs.RO↗

arXiv2026

GazeSummary: Exploring Gaze as an Implicit Prompt for Personalization in Text-based LLM Tasks

Smart glasses are accelerating progress toward more seamless and personalized LLM-based assistance by integrating multimodal inputs. Yet, these inputs rely on obtrusive explicit prompts. The advent of gaze tracking on smart devices offers a unique opportunity to extract implicit user intent for personalization. This paper investigates whether LLMs can interpret user gaze for text-based tasks. We evaluate different gaze representations for personalization and validate their effectiveness in realistic reading tasks. Results show that LLMs can leverage gaze to generate high-quality personalized summaries and support users in downstream tasks, highlighting the feasibility and value of gaze-driven personalization for future mobile and wearable LLM applications.

cs.HC↗

arXiv2025

A Benchmark for Ultra-High-Resolution Remote Sensing MLLMs

Multimodal large language models (MLLMs) demonstrate strong perception and reasoning performance on existing remote sensing (RS) benchmarks. However, most prior benchmarks rely on low-resolution imagery, and some high-resolution benchmarks suffer from flawed reasoning-task designs. We show that text-only LLMs can perform competitively with multimodal vision-language models on RS reasoning tasks without access to images, revealing a critical mismatch between current benchmarks and the intended evaluation of visual understanding. To enable faithful assessment, we introduce RSHR-Bench, a super-high-resolution benchmark for RS visual understanding and reasoning. RSHR-Bench contains 5,329 full-scene images with a long side of at least 4,000 pixels, with up to about 3 x 10^8 pixels per image, sourced from widely used RS corpora and UAV collections. We design four task families: multiple-choice VQA, open-ended VQA, image captioning, and single-image evaluation. These tasks cover nine perception categories and four reasoning types, supporting multi-turn and multi-image dialog. To reduce reliance on language priors, we apply adversarial filtering with strong LLMs followed by rigorous human verification. Overall, we construct 3,864 VQA tasks, 3,913 image captioning tasks, and 500 fully human-written or verified single-image evaluation VQA pairs. Evaluations across open-source, closed-source, and RS-specific VLMs reveal persistent performance gaps in super-high-resolution scenarios. Code: https://github.com/Yunkaidang/RSHR

cs.CV↗

arXiv2025

Generalizable LLM Learning of Graph Synthetic Data with Post-training Alignment

Previous research has sought to enhance the graph reasoning capabilities of LLMs by supervised fine-tuning on synthetic graph data. While these led to specialized LLMs better at solving graph algorithm problems, we don't need LLMs for shortest path: we need generalization from synthetic graph data to real-world tasks with implicit graph structures. In this work, we propose to unlock generalizable learning of graph with post-training alignment with synthetic data. We first design solution-based and process-based rewards for synthetic graph problems: instead of rigid memorizing response patterns in direct fine-tuning, we posit that post-training alignment would help LLMs grasp the essentials underlying graph reasoning and alleviate overfitting on synthetic data. We employ post-training alignment algorithms such as GRPO and DPO, aligning both off-the-shelf LLMs and LLMs fine-tuned on synthetic graph data. We then compare them against existing settings on both in-domain synthetic tasks and out-of-domain real-world tasks with implicit graph structures such as multi-hop QA, structured planning, and more. Extensive experiments demonstrate that our post-training alignment recipe leads to statistically significant improvement on 5 datasets, with an average gain of 12.9% over baseline settings. Further analysis reveals that process-based rewards consistently outperform solution-based rewards on synthetic data but not on real-world tasks, and compositionality and explainable intermediate steps remains a critical challenge even after post-training alignment.

cs.LG↗

arXiv2024

Can LLM Graph Reasoning Generalize beyond Pattern Memorization?

Large language models (LLMs) demonstrate great potential for problems with implicit graphical structures, while recent works seek to enhance the graph reasoning capabilities of LLMs through specialized instruction tuning. The resulting 'graph LLMs' are evaluated with in-distribution settings only, thus it remains underexplored whether LLMs are learning generalizable graph reasoning skills or merely memorizing patterns in the synthetic training data. To this end, we propose the NLGift benchmark, an evaluation suite of LLM graph reasoning generalization: whether LLMs could go beyond semantic, numeric, structural, reasoning patterns in the synthetic training data and improve utility on real-world graph-based tasks. Extensive experiments with two LLMs across four graph reasoning tasks demonstrate that while generalization on simple patterns (semantic, numeric) is somewhat satisfactory, LLMs struggle to generalize across reasoning and real-world patterns, casting doubt on the benefit of synthetic graph tuning for real-world tasks with underlying network structures. We explore three strategies to improve LLM graph reasoning generalization, and we find that while post-training alignment is most promising for real-world tasks, empowering LLM graph reasoning to go beyond pattern memorization remains an open research question.

cs.CL↗

arXiv2024

Dynamic Indoor Fingerprinting Localization based on Few-Shot Meta-Learning with CSI Images

While fingerprinting localization is favored for its effectiveness, it is hindered by high data acquisition costs and the inaccuracy of static database-based estimates. Addressing these issues, this letter presents an innovative indoor localization method using a data-efficient meta-learning algorithm. This approach, grounded in the ``Learning to Learn'' paradigm of meta-learning, utilizes historical localization tasks to improve adaptability and learning efficiency in dynamic indoor environments. We introduce a task-weighted loss to enhance knowledge transfer within this framework. Our comprehensive experiments confirm the method's robustness and superiority over current benchmarks, achieving a notable 23.13\% average gain in Mean Euclidean Distance, particularly effective in scenarios with limited CSI data.

cs.LG↗

arXiv2022

Less Is More: Fast Multivariate Time Series Forecasting with Light Sampling-oriented MLP Structures

Multivariate time series forecasting has seen widely ranging applications in various domains, including finance, traffic, energy, and healthcare. To capture the sophisticated temporal patterns, plenty of research studies designed complex neural network architectures based on many variants of RNNs, GNNs, and Transformers. However, complex models are often computationally expensive and thus face a severe challenge in training and inference efficiency when applied to large-scale real-world datasets. In this paper, we introduce LightTS, a light deep learning architecture merely based on simple MLP-based structures. The key idea of LightTS is to apply an MLP-based structure on top of two delicate down-sampling strategies, including interval sampling and continuous sampling, inspired by a crucial fact that down-sampling time series often preserves the majority of its information. We conduct extensive experiments on eight widely used benchmark datasets. Compared with the existing state-of-the-art methods, LightTS demonstrates better performance on five of them and comparable performance on the rest. Moreover, LightTS is highly efficient. It uses less than 5% FLOPS compared with previous SOTA methods on the largest benchmark dataset. In addition, LightTS is robust and has a much smaller variance in forecasting accuracy than previous SOTA methods in long sequence forecasting tasks.

cs.LG↗

arXiv2022

On Rotation Gains Within and Beyond Perceptual Limitations for Seated VR

Head tracking in head-mounted displays (HMDs) enables users to explore a 360-degree virtual scene with free head movements. However, for seated use of HMDs such as users sitting on a chair or a couch, physically turning around 360-degree is not possible. Redirection techniques decouple tracked physical motion and virtual motion, allowing users to explore virtual environments with more flexibility. In seated situations with only head movements available, the difference of stimulus might cause the detection thresholds of rotation gains to differ from that of redirected walking. Therefore we present an experiment with a two-alternative forced-choice (2AFC) design to compare the thresholds for seated and standing situations. Results indicate that users are unable to discriminate rotation gains between 0.89 and 1.28, a smaller range compared to the standing condition. We further treated head amplification as an interaction technique and found that a gain of 2.5, though not a hard threshold, was near the largest gain that users consider applicable. Overall, our work aims to better understand human perception of rotation gains in seated VR and the results provide guidance for future design choices of its applications.

cs.HC↗

arXiv2021

Lunar Cratering Asymmetries with High Orbital Obliquity and Inclination of the Moon

Accurate estimation of cratering asymmetry on the Moon is crucial for understanding Moon evolution history. Early studies of cratering asymmetry have omitted the contributions of high lunar obliquity and inclination. Here, we include lunar obliquity and inclination as new controlling variables to derive the cratering rate spatial variation as a function of longitude and latitude. With examining the influence of lunar obliquity and inclination on the asteroids population encountered by the Moon, we then have derived general formulas of the cratering rate spatial variation based on the crater scaling law. Our formulas with addition of lunar obliquity and inclination can reproduce the lunar cratering rate asymmetry at the current Earth-Moon distance and predict the apex/ant-apex ratio and the pole/equator ratio of this lunar cratering rate to be 1.36 and 0.87, respectively. The apex/ant-apex ratio is decreasing as the obliquity and inclination increasing. Combining with the evolution of lunar obliquity and inclination, our model shows that the apex/ant-apex ratio does not monotonically decrease with Earth-Moon distance and hence the influences of obliquity and inclination are not negligible on evolution of apex/ant-apex ratio. This model is generalizable to other planets and moons, especially for different spin-orbit resonances.

astro-ph.EP↗

arXiv2020

A Transductive Approach for Video Object Segmentation

Semi-supervised video object segmentation aims to separate a target object from a video sequence, given the mask in the first frame. Most of current prevailing methods utilize information from additional modules trained in other domains like optical flow and instance segmentation, and as a result they do not compete with other methods on common ground. To address this issue, we propose a simple yet strong transductive method, in which additional modules, datasets, and dedicated architectural designs are not needed. Our method takes a label propagation approach where pixel labels are passed forward based on feature similarity in an embedding space. Different from other propagation methods, ours diffuses temporal information in a holistic manner which take accounts of long-term object appearance. In addition, our method requires few additional computational overhead, and runs at a fast $\sim$37 fps speed. Our single model with a vanilla ResNet50 backbone achieves an overall score of 72.3 on the DAVIS 2017 validation set and 63.1 on the test set. This simple yet high performing and efficient method can serve as a solid baseline that facilitates future research. Code and models are available at \url{https://github.com/microsoft/transductive-vos.pytorch}.

cs.CV↗