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Zhongyi Zhou

Publications and source records attributed to Zhongyi Zhou.

At least 19 recordsLinked to original sources
arXiv2026

Gaze Target Estimation Anywhere with Concepts

Estimating human gaze targets from images in-the-wild is an important and formidable task. Existing approaches primarily employ brittle, multi-stage pipelines that require explicit inputs, like head bounding boxes and human pose, in order to identify the subject of gaze analysis. As a result, detection errors can cascade and lead to failure. Moreover, these prior works lack the flexibility of specifying the gaze analysis task via natural language prompting, an approach which has been shown to have significant benefits in convenience and scalability for other image analysis tasks. To overcome these limitations, we introduce the Promptable Gaze Target Estimation (PGE) task, a new end-to-end, concept-driven paradigm for gaze analysis. PGE conditions gaze prediction on flexible user text or visual prompts (e.g., "the boy in the red shirt" or "person in point [0.52, 0.48]") to identify a specific subject for gaze analysis. This approach integrates subject localization with gaze estimation, and eliminates the rigid dependency on intermediate analysis stages. We develop a scalable data engine to generate Gaze-Co (Gaze Estimation with Concepts), a dataset and benchmark of 120K high-quality, prompt-annotated image pairs. We also propose GazeAnywhere, the first model designed for PGE. GazeAnywhere uses a transformer-based detector to fuse features from frozen encoders and simultaneously solves subject localization, in/out-of-frame presence, and gaze target heatmap estimation. GazeAnywhere achieves state-of-the-art performance on multiple PGE benchmarks, setting a strong baseline for this new problem even on a difficult out-of-domain, real-world clinical dataset. GazeAnywhere is open-sourced in github.com/IrohXu/GazeAnywhere.

cs.CV↗
arXiv2026

ToolGrad: Efficient Tool-use Dataset Generation with Textual "Gradients"

Prior work synthesizes tool-use LLM datasets by first generating a user query, followed by complex tool-use annotations like depth-first search (DFS). This leads to inevitable annotation failures and low efficiency in data generation. We introduce ToolGrad, an agentic framework that inverts this paradigm. ToolGrad first constructs valid tool-use chains through an iterative process guided by textual "gradients", and then synthesizes corresponding user queries. This "answer-first" approach led to ToolGrad-500, a dataset generated with more complex tool use, lower cost, and almost 100% pass rate. Experiments show that ToolGrad models outperform those trained on expensive baseline datasets and proprietary LLMs. The ToolGrad source code, dataset, and models are available at https://github.com/zhongyi-zhou/toolgrad.

cs.CL↗
arXiv2026

Hi-WM: Human-in-the-World-Model for Scalable Robot Post-Training

Post-training is essential for turning pretrained generalist robot policies into reliable task-specific controllers, but existing human-in-the-loop pipelines remain tied to physical execution: each correction requires robot time, scene setup, resets, and operator supervision in the real world. Meanwhile, action-conditioned world models have been studied mainly for imagination, synthetic data generation, and policy evaluation. We propose \textbf{Human-in-the-World-Model (Hi-WM)}, a post-training framework that uses a learned world model as a reusable corrective substrate for failure-targeted policy improvement. A policy is first rolled out in closed loop inside the world model; when the rollout becomes incorrect or failure-prone, a human intervenes directly in the model to provide short corrective actions. Hi-WM caches intermediate states and supports rollback and branching, allowing a single failure state to be reused for multiple corrective continuations and yielding dense supervision around behaviors that the base policy handles poorly. The resulting corrective trajectories are then added back to the training set for post-training. We evaluate Hi-WM on three real-world manipulation tasks spanning both rigid and deformable object interaction, and on two policy backbones. Hi-WM improves real-world success by 37.9 points on average over the base policy and by 19.0 points over a world-model closed-loop baseline, while world-model evaluation correlates strongly with real-world performance (r = 0.953). These results suggest that world models can serve not only as generators or evaluators, but also as effective corrective substrates for scalable robot post-training.

cs.RO↗
arXiv2026

dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model

Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy evaluation. In this paper, we propose dWorldEval, which uses a discrete diffusion world model as a scalable evaluation proxy for robotics policies. Specifically, dWorldEval maps all modalities - including vision, language, and robotic actions - into a unified token space, modeling them via a single transformer-based denoising network. In this paper, we propose dWorldEval, using a discrete diffusion world model as a scalable evaluation proxy for robotics policy. Specifically, it maps all modalities, including vision, language, and robotics action into a unified token space, then denoises them with a single transformer network. Building on this architecture, we employ a sparse keyframe memory to maintain spatiotemporal consistency. We also introduce a progress token that indicates the degree of task completion. At inference, the model jointly predicts future observations and progress token, allowing automatically determine success when the progress reaches 1. Extensive experiments demonstrate that dWorldEval significantly outperforms previous approaches, i.e., WorldEval, Ctrl-World, and WorldGym, on LIBERO, RoboTwin, and multiple real-robot tasks. It paves the way for a new architectural paradigm in building world simulators for robotics evaluation at scale.

cs.RO↗
arXiv2026

See2Refine: Vision-Language Feedback Improves LLM-Based eHMI Action Designers

Automated vehicles lack natural communication channels with other road users, making external Human-Machine Interfaces (eHMIs) essential for conveying intent and maintaining trust in shared environments. However, most eHMI studies rely on developer-crafted message-action pairs, which are difficult to adapt to diverse and dynamic traffic contexts. A promising alternative is to use Large Language Models (LLMs) as action designers that generate context-conditioned eHMI actions, yet such designers lack perceptual verification and typically depend on fixed prompts or costly human-annotated feedback for improvement. We present See2Refine, a human-free, closed-loop framework that uses vision-language model (VLM) perceptual evaluation as automated visual feedback to improve an LLM-based eHMI action designer. Given a driving context and a candidate eHMI action, the VLM evaluates the perceived appropriateness of the action, and this feedback is used to iteratively revise the designer's outputs, enabling systematic refinement without human supervision. We evaluate our framework across three eHMI modalities (lightbar, eyes, and arm) and multiple LLM model sizes. Across settings, our framework consistently outperforms prompt-only LLM designers and manually specified baselines in both VLM-based metrics and human-subject evaluations. Results further indicate that the improvements generalize across modalities and that VLM evaluations are well aligned with human preferences, supporting the robustness and effectiveness of See2Refine for scalable action design.

cs.HC↗
arXiv2026

Vibe Coding XR: Accelerating AI + XR Prototyping with XR Blocks and Gemini

While large language models (LLMs) have accelerated 2D software development through intent-driven "vibe coding", prototyping intelligent Extended Reality (XR) experiences remains a major challenge. The fundamental barrier is not just the steep learning curve for human creators, but that low-level sensor APIs and complex game engine hierarchies are ill-suited for LLM reasoning, routinely exceeding context windows and inducing syntax hallucinations. To bridge this gap, we contribute XR Blocks, an open-source, LLM-native WebXR framework. Unlike traditional engines, XR Blocks introduces a semantic "Reality Model" that aligns spatial computing primitives (users, physical environments, and agents) with natural language, providing a robust, concise vocabulary optimized for generative AI. Building upon this foundation, we present Vibe Coding XR, an end-to-end prototyping workflow that leverages LLMs to translate high-level prompts (e.g., "create a dandelion that reacts to my hand") directly into functional, physics-aware mixed-reality applications. To minimize the friction of on-device testing, the workflow introduces a seamless desktop "simulated reality" to headset deployment loop. Finally, we introduce VCXR60, a pilot dataset of 60 XR prompts paired with an automated evaluation pipeline. Our technical evaluation demonstrates high one-shot execution success, enabling practitioners to bypass lowlevel hurdles and rapidly move from "idea to reality". Code and live demos are available at https://github.com/google/xrblocks and http://xrblocks.github.io/gem.

cs.HC↗
arXiv2026

Exploring the Role of User Comments Throughout the Stages of Video-Based Task-Learning

Learning tasks through videos is a dynamic way to acquire skills by witnessing entire processes. However, compared to in-person demonstrations, videos may omit tacit knowledge, including subtle details and contextual nuances. Users' unique circumstances, like missing ingredients in a recipe, may also require adaptation beyond the video content. To fill these gaps, many users turn to the comment section, seeking additional guidance and interactions with creators or peers to personalize their experience. Despite their importance, there is limited understanding of how users engage with and apply comments in task-learning scenarios. In our study, we explore the role of comments in video-based task-learning through interviews with 14 users, and co-watching sessions with eight. Our findings show that while comments are critical for learning, they are poorly integrated into all stages of the learning process. Based on our findings, we outline design opportunities to better utilize comments in video-based task-learning.

cs.HC↗
arXiv2026

Improving Low-Vision Chart Accessibility via On-Cursor Visual Context

Despite widespread use, charts remain largely inaccessible for Low-Vision Individuals (LVI). Reading charts requires viewing data points within a global context, which is difficult for LVI who may rely on magnification or experience a partial field of vision. We aim to improve exploration by providing visual access to critical context. To inform this, we conducted a formative study with five LVI. We identified four fundamental contextual elements common across chart types: axes, legend, grid lines, and the overview. We propose two pointer-based interaction methods to provide this context: Dynamic Context, a novel focus+context interaction, and Mini-map, which adapts overview+detail principles for LVI. In a study with N=22 LVI, we compared both methods and evaluated their integration to current tools. Our results show that Dynamic Context had significant positive impact on access, usability, and effort reduction; however, worsened visual load. Mini-map strengthened spatial understanding, but was less preferred for this task. We offer design insights to guide the development of future systems that support LVI with visual context while balancing visual load.

cs.HC↗
arXiv2026

Peeking Ahead of the Field Study: Exploring VLM Personas as Support Tools for Embodied Studies in HCI

Field studies are irreplaceable but costly, time-consuming, and error-prone, which need careful preparation. Inspired by rapid-prototyping in manufacturing, we propose a fast, low-cost evaluation method using Vision-Language Model (VLM) personas to simulate outcomes comparable to field results. While LLMs show human-like reasoning and language capabilities, autonomous vehicle (AV)-pedestrian interaction requires spatial awareness, emotional empathy, and behavioral generation. This raises our research question: To what extent can VLM personas mimic human responses in field studies? We conducted parallel studies: 1) one real-world study with 20 participants, and 2) one video-study using 20 VLM personas, both on a street-crossing task. We compared their responses and interviewed five HCI researchers on potential applications. Results show that VLM personas mimic human response patterns (e.g., average crossing times of 5.25 s vs. 5.07 s) lack the behavioral variability and depth. They show promise for formative studies, field study preparation, and human data augmentation.

cs.HC↗
arXiv2025

ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations

We present ActiveUMI, a framework for a data collection system that transfers in-the-wild human demonstrations to robots capable of complex bimanual manipulation. ActiveUMI couples a portable VR teleoperation kit with sensorized controllers that mirror the robot's end-effectors, bridging human-robot kinematics via precise pose alignment. To ensure mobility and data quality, we introduce several key techniques, including immersive 3D model rendering, a self-contained wearable computer, and efficient calibration methods. ActiveUMI's defining feature is its capture of active, egocentric perception. By recording an operator's deliberate head movements via a head-mounted display, our system learns the crucial link between visual attention and manipulation. We evaluate ActiveUMI on six challenging bimanual tasks. Policies trained exclusively on ActiveUMI data achieve an average success rate of 70\% on in-distribution tasks and demonstrate strong generalization, retaining a 56\% success rate when tested on novel objects and in new environments. Our results demonstrate that portable data collection systems, when coupled with learned active perception, provide an effective and scalable pathway toward creating generalizable and highly capable real-world robot policies.

cs.RO↗
arXiv2025

XR Blocks: Accelerating Human-centered AI + XR Innovation

We are on the cusp where Artificial Intelligence (AI) and Extended Reality (XR) are converging to unlock new paradigms of interactive computing. However, a significant gap exists between the ecosystems of these two fields: while AI research and development is accelerated by mature frameworks like JAX and benchmarks like LMArena, prototyping novel AI-driven XR interactions remains a high-friction process, often requiring practitioners to manually integrate disparate, low-level systems for perception, rendering, and interaction. To bridge this gap, we present XR Blocks, a cross-platform framework designed to accelerate human-centered AI + XR innovation. XR Blocks strives to provide a modular architecture with plug-and-play components for core abstraction in AI + XR: user, world, peers; interface, context, and agents. Crucially, it is designed with the mission of "reducing frictions from idea to reality", thus accelerating rapid prototyping of AI + XR apps. Built upon accessible technologies (WebXR, three.js, TensorFlow, Gemini), our toolkit lowers the barrier to entry for XR creators. We demonstrate its utility through a set of open-source templates, samples, and advanced demos, empowering the community to quickly move from concept to interactive XR prototype. Site: https://xrblocks.github.io

cs.HC↗
arXiv2025

Diffusion-VLA: Generalizable and Interpretable Robot Foundation Model via Self-Generated Reasoning

In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our approach is a next-token prediction objective, enabling the model to reason effectively over the user's query in the context of current observations. Subsequently, a diffusion model is attached to generate robust action outputs. To enhance policy learning through self-reasoning, we introduce a novel reasoning injection module that integrates reasoning phrases directly into the policy learning process. The whole framework is simple and flexible, making it easy to deploy and upgrade. We conduct extensive experiments using multiple real robots to validate the effectiveness of DiffusionVLA. Our tests include a challenging factory sorting task, where DiffusionVLA successfully categorizes objects, including those not seen during training. We observe that the reasoning module makes the model interpretable. It allows observers to understand the model thought process and identify potential causes of policy failures. Additionally, we test DiffusionVLA on a zero-shot bin-picking task, achieving 63.7\% accuracy on 102 previously unseen objects. Our method demonstrates robustness to visual changes, such as distractors and new backgrounds, and easily adapts to new embodiments. Furthermore, DiffusionVLA can follow novel instructions and retain conversational ability. Notably, DiffusionVLA is data-efficient and fast at inference; our smallest DiffusionVLA-2B runs 82Hz on a single A6000 GPU and can train from scratch on less than 50 demonstrations for a complex task. Finally, we scale the model from 2B to 72B parameters, showcasing improved generalization capabilities with increased model size.

cs.RO↗
arXiv2025

ChatVLA-2: Vision-Language-Action Model with Open-World Embodied Reasoning from Pretrained Knowledge

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities during fine-tuning as the model adapts to specific robotic tasks. We argue that a generalizable VLA model should retain and expand upon the VLM's core competencies: 1) Open-world embodied reasoning - the VLA should inherit the knowledge from VLM, i.e., recognize anything that the VLM can recognize, be capable of solving math problems, and possess visual-spatial intelligence, 2) Reasoning following - effectively translating the open-world reasoning into actionable steps for the robot. In this work, we introduce ChatVLA-2, a novel mixture-of-expert VLA model coupled with a specialized two-stage training pipeline designed to preserve the VLM's original strengths while enabling actionable reasoning. To validate our approach, we design a math-matching task wherein a robot interprets math problems written on a whiteboard and picks corresponding number cards from a table to solve equations. Remarkably, our method exhibits exceptional mathematical reasoning and OCR capabilities, despite these abilities not being explicitly trained within the VLA. Furthermore, we demonstrate that the VLA possesses strong spatial reasoning skills, enabling it to interpret novel directional instructions involving previously unseen objects. Overall, our method showcases reasoning and comprehension abilities that significantly surpass state-of-the-art imitation learning methods such as OpenVLA, DexVLA, and pi-zero. This work represents a substantial advancement toward developing truly generalizable robotic foundation models endowed with robust reasoning capacities.

cs.RO↗
arXiv2025

HealthGenie: Empowering Users with Healthy Dietary Guidance through Knowledge Graph and Large Language Models

Seeking dietary guidance often requires navigating complex professional knowledge while accommodating individual health conditions. Knowledge Graphs (KGs) offer structured and interpretable nutritional information, whereas Large Language Models (LLMs) naturally facilitate conversational recommendation delivery. In this paper, we present HealthGenie, an interactive system that combines the strengths of LLMs and KGs to provide personalized dietary recommendations along with hierarchical information visualization for a quick and intuitive overview. Upon receiving a user query, HealthGenie performs query refinement and retrieves relevant information from a pre-built KG. The system then visualizes and highlights pertinent information, organized by defined categories, while offering detailed, explainable recommendation rationales. Users can further tailor these recommendations by adjusting preferences interactively. Our evaluation, comprising a within-subject comparative experiment and an open-ended discussion, demonstrates that HealthGenie effectively supports users in obtaining personalized dietary guidance based on their health conditions while reducing interaction effort and cognitive load. These findings highlight the potential of LLM-KG integration in supporting decision-making through explainable and visualized information. We examine the system's usefulness and effectiveness with an N=12 within-subject study and provide design considerations for future systems that integrate conversational LLM and KG.

cs.HC↗
arXiv2025

Vision-Based Multimodal Interfaces: A Survey and Taxonomy for Enhanced Context-Aware System Design

The recent surge in artificial intelligence, particularly in multimodal processing technology, has advanced human-computer interaction, by altering how intelligent systems perceive, understand, and respond to contextual information (i.e., context awareness). Despite such advancements, there is a significant gap in comprehensive reviews examining these advances, especially from a multimodal data perspective, which is crucial for refining system design. This paper addresses a key aspect of this gap by conducting a systematic survey of data modality-driven Vision-based Multimodal Interfaces (VMIs). VMIs are essential for integrating multimodal data, enabling more precise interpretation of user intentions and complex interactions across physical and digital environments. Unlike previous task- or scenario-driven surveys, this study highlights the critical role of the visual modality in processing contextual information and facilitating multimodal interaction. Adopting a design framework moving from the whole to the details and back, it classifies VMIs across dimensions, providing insights for developing effective, context-aware systems.

cs.HC↗
arXiv2025

InstructPipe: Generating Visual Blocks Pipelines with Human Instructions and LLMs

Visual programming has the potential of providing novice programmers with a low-code experience to build customized processing pipelines. Existing systems typically require users to build pipelines from scratch, implying that novice users are expected to set up and link appropriate nodes from a blank workspace. In this paper, we introduce InstructPipe, an AI assistant for prototyping machine learning (ML) pipelines with text instructions. We contribute two large language model (LLM) modules and a code interpreter as part of our framework. The LLM modules generate pseudocode for a target pipeline, and the interpreter renders the pipeline in the node-graph editor for further human-AI collaboration. Both technical and user evaluation (N=16) shows that InstructPipe empowers users to streamline their ML pipeline workflow, reduce their learning curve, and leverage open-ended commands to spark innovative ideas.

cs.HC↗
arXiv2025

ObjectVLA: End-to-End Open-World Object Manipulation Without Demonstration

Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, which limits its scalability and applicability in dynamic, real-world environments. One key challenge in this context is object generalization, where a robot trained to perform a task with one object, such as "hand over the apple," struggles to transfer its skills to a semantically similar but visually different object, such as "hand over the peach." This gap in generalization to new objects beyond those in the same category has yet to be adequately addressed in previous work on end-to-end visuomotor policy learning. In this paper, we present a simple yet effective approach for achieving object generalization through Vision-Language-Action (VLA) models, referred to as \textbf{ObjectVLA}. Our model enables robots to generalize learned skills to novel objects without requiring explicit human demonstrations for each new target object. By leveraging vision-language pair data, our method provides a lightweight and scalable way to inject knowledge about the target object, establishing an implicit link between the object and the desired action. We evaluate ObjectVLA on a real robotic platform, demonstrating its ability to generalize across 100 novel objects with a 64\% success rate in selecting objects not seen during training. Furthermore, we propose a more accessible method for enhancing object generalization in VLA models, using a smartphone to capture a few images and fine-tune the pre-trained model. These results highlight the effectiveness of our approach in enabling object-level generalization and reducing the need for extensive human demonstrations, paving the way for more flexible and scalable robotic learning systems.

cs.RO↗
arXiv2025

ChatVLA: Unified Multimodal Understanding and Robot Control with Vision-Language-Action Model

Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in vision-language-action models (VLA), we identify two key challenges: spurious forgetting, where robot training overwrites crucial visual-text alignments, and task interference, where competing control and understanding tasks degrade performance when trained jointly. To overcome these limitations, we propose ChatVLA, a novel framework featuring Phased Alignment Training, which incrementally integrates multimodal data after initial control mastery, and a Mixture-of-Experts architecture to minimize task interference. ChatVLA demonstrates competitive performance on visual question-answering datasets and significantly surpasses state-of-the-art vision-language-action (VLA) methods on multimodal understanding benchmarks. Notably, it achieves a six times higher performance on MMMU and scores 47.2% on MMStar with a more parameter-efficient design than ECoT. Furthermore, ChatVLA demonstrates superior performance on 25 real-world robot manipulation tasks compared to existing VLA methods like OpenVLA. Our findings highlight the potential of our unified framework for achieving both robust multimodal understanding and effective robot control.

cs.RO↗