arXiv subjects

Zhiqiang Ma

Publications and source records attributed to Zhiqiang Ma.

At least 19 recordsLinked to original sources

arXiv2026

What Matters for Latent Actions in Robot Learning

Latent Action Models (LAMs) have emerged as a promising paradigm for enabling robot learning to leverage large-scale unlabeled videos through latent actions that serve as compact surrogates for physical actions. Despite rapid progress, research on LAM remains highly fragmented, with existing methods evaluating different design choices in isolation under inconsistent experimental settings, making it difficult to identify the factors that truly determine downstream robotic manipulation performance. In this work, we present the first comprehensive empirical study of latent action learning for robotic manipulation. We unify representative LAM methods within a common autoencoding framework and systematically investigate 41 LAM design choices across three dimensions, including latent action modeling paradigms, learning objectives and regularization methods, and latent action integration strategies. We further examine four proxy metrics for evaluating latent action quality and assess their ability to reliably predict downstream robotic manipulation performance. Extensive experiments on three widely used benchmarks provide strong empirical evidence that fine-tuning vision-language model (VLM) backbones with latent actions provides a stronger initialization for downstream policy learning, with further validation on real-world robot manipulation tasks.

cs.RO↗

arXiv2026

Deep FinResearch Bench: Evaluating AI's Ability to Conduct Professional Financial Investment Research

We introduce Deep FinResearch Bench, a practical and comprehensive evaluation framework for deep research (DR) agents in financial investment research. The benchmark assesses three dimensions of report quality: qualitative rigor, quantitative forecasting and valuation accuracy, and claim credibility and verifiability. Particularly, we define corresponding qualitative and quantitative evaluation metrics and implement an automated scoring procedure to enable scalable assessment. Applying the benchmark to financial reports from frontier DR agents and comparing them with reports authored by financial professionals, we find that AI-generated reports still fall short across these dimensions. These findings underscore the need for domain-specialized DR agents tailored to finance, and we hope the work establishes a foundation for standardized benchmarking of DR agents in financial research.

cs.AI↗

arXiv2026

Learning Smooth and Robust Space Robotic Manipulation of Dynamic Target via Inter-frame Correlation

On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating, lacking the support and frictional constraints found on Earth, which significantly escalates the complexity of tasks involving space robotic manipulation. Conventional planning and control-based methods are primarily limited to known, static scenarios and lack real-time responsiveness. To achieve precise robotic manipulation of dynamic targets in unknown and unstructured space environments, this letter proposes a data-driven space robotic manipulation approach that integrates historical temporal information and inter-frame correlation mechanisms. By exploiting the temporal correlation between historical and current frames, the system can effectively capture motion features within the scene, thereby producing stable and smooth manipulation trajectories for dynamic targets. To validate the effectiveness of the proposed method, we developed a ground-based experimental platform consisting of a PIPER X robotic arm and a dual-axis linear stage, which accurately simulates micro-gravity free-floating motion in a 2D plane.

cs.RO↗

arXiv2026

Detecting Non-Membership in LLM Training Data via Rank Correlations

As large language models (LLMs) are trained on increasingly vast and opaque text corpora, determining which data contributed to training has become essential for copyright enforcement, compliance auditing, and user trust. While prior work focuses on detecting whether a dataset was used in training (membership inference), the complementary problem -- verifying that a dataset was not used -- has received little attention. We address this gap by introducing PRISM, a test that detects dataset-level non-membership using only grey-box access to model logits. Our key insight is that two models that have not seen a dataset exhibit higher rank correlation in their normalized token log probabilities than when one model has been trained on that data. Using this observation, we construct a correlation-based test that detects non-membership. Empirically, PRISM reliably rules out membership in training data across all datasets tested while avoiding false positives, thus offering a framework for verifying that specific datasets were excluded from LLM training.

cs.CL↗

arXiv2026

LAOF: Robust Latent Action Learning with Optical Flow Constraints

Learning latent actions from large-scale videos is crucial for the pre-training of scalable embodied foundation models, yet existing methods often struggle with action-irrelevant distractors. Although incorporating action supervision can alleviate these distractions, its effectiveness is restricted by the scarcity of available action labels. Optical flow represents pixel-level motion between consecutive frames, naturally suppressing background elements and emphasizing moving objects. Motivated by this, we propose robust Latent Action learning with Optical Flow constraints, called LAOF, a pseudo-supervised framework that leverages the agent's optical flow as an action-driven signal to learn latent action representations robust to distractors. Experimental results show that the latent representations learned by LAOF outperform existing methods on downstream imitation learning and reinforcement learning tasks. This superior performance arises from optical flow constraints, which substantially stabilize training and improve the quality of latent representations under extremely label-scarce conditions, while remaining effective as the proportion of action labels increases to 10 percent. Importantly, even without action supervision, LAOF matches or surpasses action-supervised methods trained with 1 percent of action labels.

cs.RO↗

arXiv2026

ExStrucTiny: A Benchmark for Schema-Variable Structured Information Extraction from Document Images

Enterprise documents, such as forms and reports, embed critical information for downstream applications like data archiving, automated workflows, and analytics. Although generalist Vision Language Models (VLMs) perform well on established document understanding benchmarks, their ability to conduct holistic, fine-grained structured extraction across diverse document types and flexible schemas is not well studied. Existing Key Entity Extraction (KEE), Relation Extraction (RE), and Visual Question Answering (VQA) datasets are limited by narrow entity ontologies, simple queries, or homogeneous document types, often overlooking the need for adaptable and structured extraction. To address these gaps, we introduce ExStrucTiny, a new benchmark dataset for structured Information Extraction (IE) from document images, unifying aspects of KEE, RE, and VQA. Built through a novel pipeline combining manual and synthetic human-validated samples, ExStrucTiny covers more varied document types and extraction scenarios. We analyze open and closed VLMs on this benchmark, highlighting challenges such as schema adaptation, query under-specification, and answer localization. We hope our work provides a bedrock for improving generalist models for structured IE in documents.

cs.CL↗

arXiv2025

Perturb Your Data: Paraphrase-Guided Training Data Watermarking

Training data detection is critical for enforcing copyright and data licensing, as Large Language Models (LLM) are trained on massive text corpora scraped from the internet. We present SPECTRA, a watermarking approach that makes training data reliably detectable even when it comprises less than 0.001% of the training corpus. SPECTRA works by paraphrasing text using an LLM and assigning a score based on how likely each paraphrase is, according to a separate scoring model. A paraphrase is chosen so that its score closely matches that of the original text, to avoid introducing any distribution shifts. To test whether a suspect model has been trained on the watermarked data, we compare its token probabilities against those of the scoring model. We demonstrate that SPECTRA achieves a consistent p-value gap of over nine orders of magnitude when detecting data used for training versus data not used for training, which is greater than all baselines tested. SPECTRA equips data owners with a scalable, deploy-before-release watermark that survives even large-scale LLM training.

cs.CL↗

arXiv2025

CoCoLex: Confidence-guided Copy-based Decoding for Grounded Legal Text Generation

Due to their ability to process long and complex contexts, LLMs can offer key benefits to the Legal domain, but their adoption has been hindered by their tendency to generate unfaithful, ungrounded, or hallucinatory outputs. While Retrieval-Augmented Generation offers a promising solution by grounding generations in external knowledge, it offers no guarantee that the provided context will be effectively integrated. To address this, context-aware decoding strategies have been proposed to amplify the influence of relevant context, but they usually do not explicitly enforce faithfulness to the context. In this work, we introduce Confidence-guided Copy-based Decoding for Legal Text Generation (CoCoLex)-a decoding strategy that dynamically interpolates the model produced vocabulary distribution with a distribution derived based on copying from the context. CoCoLex encourages direct copying based on the model's confidence, ensuring greater fidelity to the source. Experimental results on five legal benchmarks demonstrate that CoCoLex outperforms existing context-aware decoding methods, particularly in long-form generation tasks.

cs.CL↗

arXiv2024

"What is the value of {templates}?" Rethinking Document Information Extraction Datasets for LLMs

The rise of large language models (LLMs) for visually rich document understanding (VRDU) has kindled a need for prompt-response, document-based datasets. As annotating new datasets from scratch is labor-intensive, the existing literature has generated prompt-response datasets from available resources using simple templates. For the case of key information extraction (KIE), one of the most common VRDU tasks, past work has typically employed the template "What is the value for the {key}?". However, given the variety of questions encountered in the wild, simple and uniform templates are insufficient for creating robust models in research and industrial contexts. In this work, we present K2Q, a diverse collection of five datasets converted from KIE to a prompt-response format using a plethora of bespoke templates. The questions in K2Q can span multiple entities and be extractive or boolean. We empirically compare the performance of seven baseline generative models on K2Q with zero-shot prompting. We further compare three of these models when training on K2Q versus training on simpler templates to motivate the need of our work. We find that creating diverse and intricate KIE questions enhances the performance and robustness of VRDU models. We hope this work encourages future studies on data quality for generative model training.

cs.CL↗

arXiv2024

Fine-Tuning Language Models with Differential Privacy through Adaptive Noise Allocation

Language models are capable of memorizing detailed patterns and information, leading to a double-edged effect: they achieve impressive modeling performance on downstream tasks with the stored knowledge but also raise significant privacy concerns. Traditional differential privacy based training approaches offer robust safeguards by employing a uniform noise distribution across all parameters. However, this overlooks the distinct sensitivities and contributions of individual parameters in privacy protection and often results in suboptimal models. To address these limitations, we propose ANADP, a novel algorithm that adaptively allocates additive noise based on the importance of model parameters. We demonstrate that ANADP narrows the performance gap between regular fine-tuning and traditional DP fine-tuning on a series of datasets while maintaining the required privacy constraints.

cs.AI↗

arXiv2024

Aligning Human Intent from Imperfect Demonstrations with Confidence-based Inverse soft-Q Learning

Imitation learning attracts much attention for its ability to allow robots to quickly learn human manipulation skills through demonstrations. However, in the real world, human demonstrations often exhibit random behavior that is not intended by humans. Collecting high-quality human datasets is both challenging and expensive. Consequently, robots need to have the ability to learn behavioral policies that align with human intent from imperfect demonstrations. Previous work uses confidence scores to extract useful information from imperfect demonstrations, which relies on access to ground truth rewards or active human supervision. In this paper, we propose a transition-based method to obtain fine-grained confidence scores for data without the above efforts, which can increase the success rate of the baseline algorithm by 40.3$\%$ on average. We develop a generalized confidence-based imitation learning framework for guiding policy learning, called Confidence-based Inverse soft-Q Learning (CIQL), as shown in Fig.1. Based on this, we analyze two ways of processing noise and find that penalization is more aligned with human intent than filtering.

cs.RO↗

arXiv2024

BuDDIE: A Business Document Dataset for Multi-task Information Extraction

The field of visually rich document understanding (VRDU) aims to solve a multitude of well-researched NLP tasks in a multi-modal domain. Several datasets exist for research on specific tasks of VRDU such as document classification (DC), key entity extraction (KEE), entity linking, visual question answering (VQA), inter alia. These datasets cover documents like invoices and receipts with sparse annotations such that they support one or two co-related tasks (e.g., entity extraction and entity linking). Unfortunately, only focusing on a single specific of documents or task is not representative of how documents often need to be processed in the wild - where variety in style and requirements is expected. In this paper, we introduce BuDDIE (Business Document Dataset for Information Extraction), the first multi-task dataset of 1,665 real-world business documents that contains rich and dense annotations for DC, KEE, and VQA. Our dataset consists of publicly available business entity documents from US state government websites. The documents are structured and vary in their style and layout across states and types (e.g., forms, certificates, reports, etc.). We provide data variety and quality metrics for BuDDIE as well as a series of baselines for each task. Our baselines cover traditional textual, multi-modal, and large language model approaches to VRDU.

cs.CL↗

arXiv2024

TreeForm: End-to-end Annotation and Evaluation for Form Document Parsing

Visually Rich Form Understanding (VRFU) poses a complex research problem due to the documents' highly structured nature and yet highly variable style and content. Current annotation schemes decompose form understanding and omit key hierarchical structure, making development and evaluation of end-to-end models difficult. In this paper, we propose a novel F1 metric to evaluate form parsers and describe a new content-agnostic, tree-based annotation scheme for VRFU: TreeForm. We provide methods to convert previous annotation schemes into TreeForm structures and evaluate TreeForm predictions using a modified version of the normalized tree-edit distance. We present initial baselines for our end-to-end performance metric and the TreeForm edit distance, averaged over the FUNSD and XFUND datasets, of 61.5 and 26.4 respectively. We hope that TreeForm encourages deeper research in annotating, modeling, and evaluating the complexities of form-like documents.

cs.CL↗

arXiv2024

DocGraphLM: Documental Graph Language Model for Information Extraction

Advances in Visually Rich Document Understanding (VrDU) have enabled information extraction and question answering over documents with complex layouts. Two tropes of architectures have emerged -- transformer-based models inspired by LLMs, and Graph Neural Networks. In this paper, we introduce DocGraphLM, a novel framework that combines pre-trained language models with graph semantics. To achieve this, we propose 1) a joint encoder architecture to represent documents, and 2) a novel link prediction approach to reconstruct document graphs. DocGraphLM predicts both directions and distances between nodes using a convergent joint loss function that prioritizes neighborhood restoration and downweighs distant node detection. Our experiments on three SotA datasets show consistent improvement on IE and QA tasks with the adoption of graph features. Moreover, we report that adopting the graph features accelerates convergence in the learning process during training, despite being solely constructed through link prediction.

cs.CL↗

arXiv2023

DocLLM: A layout-aware generative language model for multimodal document understanding

Enterprise documents such as forms, invoices, receipts, reports, contracts, and other similar records, often carry rich semantics at the intersection of textual and spatial modalities. The visual cues offered by their complex layouts play a crucial role in comprehending these documents effectively. In this paper, we present DocLLM, a lightweight extension to traditional large language models (LLMs) for reasoning over visual documents, taking into account both textual semantics and spatial layout. Our model differs from existing multimodal LLMs by avoiding expensive image encoders and focuses exclusively on bounding box information to incorporate the spatial layout structure. Specifically, the cross-alignment between text and spatial modalities is captured by decomposing the attention mechanism in classical transformers to a set of disentangled matrices. Furthermore, we devise a pre-training objective that learns to infill text segments. This approach allows us to address irregular layouts and heterogeneous content frequently encountered in visual documents. The pre-trained model is fine-tuned using a large-scale instruction dataset, covering four core document intelligence tasks. We demonstrate that our solution outperforms SotA LLMs on 14 out of 16 datasets across all tasks, and generalizes well to 4 out of 5 previously unseen datasets.

cs.CL↗

arXiv2023

A Performance-Portable SYCL Implementation of CRK-HACC for Exascale

The first generation of exascale systems will include a variety of machine architectures, featuring GPUs from multiple vendors. As a result, many developers are interested in adopting portable programming models to avoid maintaining multiple versions of their code. It is necessary to document experiences with such programming models to assist developers in understanding the advantages and disadvantages of different approaches. To this end, this paper evaluates the performance portability of a SYCL implementation of a large-scale cosmology application (CRK-HACC) running on GPUs from three different vendors: AMD, Intel, and NVIDIA. We detail the process of migrating the original code from CUDA to SYCL and show that specializing kernels for specific targets can greatly improve performance portability without significantly impacting programmer productivity. The SYCL version of CRK-HACC achieves a performance portability of 0.96 with a code divergence of almost 0, demonstrating that SYCL is a viable programming model for performance-portable applications.

cs.PF↗

arXiv2023

Can GPT models be Financial Analysts? An Evaluation of ChatGPT and GPT-4 on mock CFA Exams

Large Language Models (LLMs) have demonstrated remarkable performance on a wide range of Natural Language Processing (NLP) tasks, often matching or even beating state-of-the-art task-specific models. This study aims at assessing the financial reasoning capabilities of LLMs. We leverage mock exam questions of the Chartered Financial Analyst (CFA) Program to conduct a comprehensive evaluation of ChatGPT and GPT-4 in financial analysis, considering Zero-Shot (ZS), Chain-of-Thought (CoT), and Few-Shot (FS) scenarios. We present an in-depth analysis of the models' performance and limitations, and estimate whether they would have a chance at passing the CFA exams. Finally, we outline insights into potential strategies and improvements to enhance the applicability of LLMs in finance. In this perspective, we hope this work paves the way for future studies to continue enhancing LLMs for financial reasoning through rigorous evaluation.

cs.CL↗

arXiv2023

Are ChatGPT and GPT-4 General-Purpose Solvers for Financial Text Analytics? A Study on Several Typical Tasks

The most recent large language models(LLMs) such as ChatGPT and GPT-4 have shown exceptional capabilities of generalist models, achieving state-of-the-art performance on a wide range of NLP tasks with little or no adaptation. How effective are such models in the financial domain? Understanding this basic question would have a significant impact on many downstream financial analytical tasks. In this paper, we conduct an empirical study and provide experimental evidences of their performance on a wide variety of financial text analytical problems, using eight benchmark datasets from five categories of tasks. We report both the strengths and limitations of the current models by comparing them to the state-of-the-art fine-tuned approaches and the recently released domain-specific pretrained models. We hope our study can help understand the capability of the existing models in the financial domain and facilitate further improvements.

cs.CL↗