arXiv subjects

Zekai Huang

Publications and source records attributed to Zekai Huang.

5 recordsLinked to original sources

arXiv2026

SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse

Recent progress in vision-language-action (VLA) models has demonstrated strong potential for dual-arm manipulation, enabling complex behaviors and generalization to unseen environments. However, mainstream bimanual VLA formulations largely overlook the critical challenge of combinatorial diversity. Different pairings of single-arm behaviors can induce qualitatively distinct task behaviors, yet existing models do not explicitly account for this structure. We argue that effective bimanual VLAs should support skill reuse - the ability to recombine previously learned single-arm skills across novel left-right pairings - thereby avoiding the need to separately learn every possible combination. Current VLA designs entangle skills across arms, preventing such recomposition and limiting scalability. To address this limitation, we propose SkillVLA, a framework explicitly designed to enable skill reuse in dual-arm manipulation. Extensive experiments demonstrate that SkillVLA substantially improves skill composition, increasing overall success rate from 0% to 51%, and achieves strong performance on cooperative and long-horizon tasks.

cs.RO↗

arXiv2026

Neural Algorithmic Reasoning for Hypergraphs with Looped Transformers

Looped Transformers have shown exceptional neural algorithmic reasoning capability in simulating traditional graph algorithms, but their application to more complex structures like hypergraphs remains underexplored. Hypergraphs generalize graphs by modeling higher-order relationships among multiple entities, enabling richer representations but introducing significant computational challenges. In this work, we extend the Loop Transformer architecture's neural algorithmic reasoning capability to simulate hypergraph algorithms, addressing the gap between neural networks and combinatorial optimization over hypergraphs. Specifically, we propose a novel degradation mechanism for reducing hypergraphs to graph representations, enabling the simulation of graph-based algorithms, such as Dijkstra's shortest path. Furthermore, we introduce a hyperedge-aware encoding scheme to simulate hypergraph-specific algorithms, exemplified by Helly's algorithm. We establish theoretical guarantees for these simulations, demonstrating the feasibility of processing high-dimensional and combinatorial data using Loop Transformers. This work highlights the potential of Transformers as general-purpose algorithmic solvers for structured data.

cs.LG↗

arXiv2025

Your Vision-Language Model Can't Even Count to 20: Exposing the Failures of VLMs in Compositional Counting

Vision-Language Models (VLMs) have become a central focus of today's AI community, owing to their impressive abilities gained from training on large-scale vision-language data from the Web. These models have demonstrated strong performance across diverse tasks, including image understanding, video understanding, complex visual reasoning, and embodied AI. Despite these noteworthy successes, a fundamental question remains: Can VLMs count objects correctly? In this paper, we introduce a simple yet effective benchmark, VLMCountBench, designed under a minimalist setting with only basic geometric shapes (e.g., triangles, circles) and their compositions, focusing exclusively on counting tasks without interference from other factors. We adopt strict independent variable control and systematically study the effects of simple properties such as color, size, and prompt refinement in a controlled ablation. Our empirical results reveal that while VLMs can count reliably when only one shape type is present, they exhibit substantial failures when multiple shape types are combined (i.e., compositional counting). This highlights a fundamental empirical limitation of current VLMs and motivates important directions for future research.

cs.CV↗

arXiv2025

Too Easily Fooled? Prompt Injection Breaks LLMs on Frustratingly Simple Multiple-Choice Questions

Large Language Models (LLMs) have recently demonstrated strong emergent abilities in complex reasoning and zero-shot generalization, showing unprecedented potential for LLM-as-a-judge applications in education, peer review, and data quality evaluation. However, their robustness under prompt injection attacks, where malicious instructions are embedded into the content to manipulate outputs, remains a significant concern. In this work, we explore a frustratingly simple yet effective attack setting to test whether LLMs can be easily misled. Specifically, we evaluate LLMs on basic arithmetic questions (e.g., "What is 3 + 2?") presented as either multiple-choice or true-false judgment problems within PDF files, where hidden prompts are injected into the file. Our results reveal that LLMs are indeed vulnerable to such hidden prompt injection attacks, even in these trivial scenarios, highlighting serious robustness risks for LLM-as-a-judge applications.

cs.CR↗

arXiv2025

Can You Count to Nine? A Human Evaluation Benchmark for Counting Limits in Modern Text-to-Video Models

Generative models have driven significant progress in a variety of AI tasks, including text-to-video generation, where models like Video LDM and Stable Video Diffusion can produce realistic, movie-level videos from textual instructions. Despite these advances, current text-to-video models still face fundamental challenges in reliably following human commands, particularly in adhering to simple numerical constraints. In this work, we present T2VCountBench, a specialized benchmark aiming at evaluating the counting capability of SOTA text-to-video models as of 2025. Our benchmark employs rigorous human evaluations to measure the number of generated objects and covers a diverse range of generators, covering both open-source and commercial models. Extensive experiments reveal that all existing models struggle with basic numerical tasks, almost always failing to generate videos with an object count of 9 or fewer. Furthermore, our comprehensive ablation studies explore how factors like video style, temporal dynamics, and multilingual inputs may influence counting performance. We also explore prompt refinement techniques and demonstrate that decomposing the task into smaller subtasks does not easily alleviate these limitations. Our findings highlight important challenges in current text-to-video generation and provide insights for future research aimed at improving adherence to basic numerical constraints.

cs.CV↗