arXiv subjects

Tao Yu

Publications and source records attributed to Tao Yu.

3 recordsLinked to original sources

arXiv2026

FineVLA: Fine-Grained Instruction Alignment for Steerable Vision-Language-Action Policies

Vision-Language-Action (VLA) models are increasingly expected to not only complete robot tasks, but also follow human instructions about how those tasks should be executed. However, existing robot datasets usually pair trajectories with coarse goal-level language, leaving execution-critical details such as active arm, approach direction, and contact region unspecified. This limits steerable policy learning and robotic video understanding. We introduce FineVLA, an open framework for action-aligned fine-grained VLA supervision. The framework includes: (1) a data construction tool that unifies 972,247 trajectories across 85K tasks from 10 open-source robot datasets and builds FineVLA-Data, a human-verified dataset of 47,159 fine-grained trajectories; (2) a held-out benchmark with 500 videos, 11,631 atomic facts, and 1,030 VQA questions; (3) a robotics-specialized VLM annotator for scalable fine-grained annotation; and (4) a steerable VLA policy trained with controlled mixtures of fine-grained and raw goal-level instructions. Our experiments yield three findings. First, fine-grained supervision does not sacrifice goal-level success: FG-only improves over Raw-only by +1.4 to +8.1 success-rate points across settings. Second, fine-grained and raw instructions are complementary, following a consistent inverted-U trend peaking at FG:Raw = 1:2 to 1:1. The best mixed setting reaches 86.8%/82.5% in RoboTwin simulation and 62.7/100 in real-world dual-arm manipulation (vs. 49.9 Raw-only). Third, fine-grained supervision improves steerable control: the largest real-world gains appear on pose (+23), color (+18), and approach direction (+18)--factors where goal-level instructions provide no guidance. Overall, fine-grained language should augment goal-level instructions: specifying how to execute alongside what to achieve. Project page: https://finevla.xlang.ai/

cs.RO↗

arXiv2026

FFSlim: An Efficient and Lightweight Format for Multi-modal Data Storage and Retrieval

With the rapid expansion of large-scale media-text corpora, multi-modal datasets increasingly require efficient storage and retrieval. Existing formats such as Files, TDP, and FFRecord work adequately for uni-modal data but expose fundamental limitations in multi-modal settings, including storage redundancy, massive small-file overheads, cache-unfriendly layouts, and heavy index structures. These issues jointly inflate storage and memory usage and make I/O the dominant bottleneck in real training workloads. We present FFSlim, a lightweight format for storing and retrieving multi-modal data. FFSlim improves storage efficiency and loading throughput through three components: a unified file format that removes media duplication and avoids small-file proliferation; an adaptive retrieval mechanism that enables low-overhead pair-level access and accelerates repeated media loading; and a redundancy detection and aggregation module that converts existing datasets into the FFSlim layout. The experimental results demonstrate that FFSlim achieves 2.07x and 8.26x higher data loading and write throughput on average than the strongest baseline, with minimal storage and index overhead. Consequently, these underlying I/O accelerations enable FFSlim to reduce end-to-end training time by 5.36%-14.18% across seven diverse multi-modal models.

cs.PF↗

arXiv2026

openJiuwen: Beyond Static Harnesses for Long-Horizon Coding Agents

Long-horizon coding agents operate over evolving repository states while increasingly relying on heterogeneous capabilities, delegated agents, and multi-agent coordination. These trends pose two complementary challenges for the agent harness. First, developers need to compose capabilities, reconfigure execution logic, and scale increasingly complex agent systems without repeatedly rebuilding orchestration. Second, complex coding tasks continuously produce new evidence---such as semantic diagnostics, execution outcomes, task progress, and changing context relevance---that should dynamically influence subsequent runtime decisions. We characterize these challenges as Structural Composability and Runtime Adaptivity. We present openJiuwen, an open-source harness designed for both developer composability and adaptive task execution. openJiuwen provides a shared execution substrate and Rail-based capability composition across single agents, delegated sub-agents, and Swarm Flow, enabling developers to construct sophisticated agent harnesses under common execution semantics. It further adapts framework-controlled runtime decisions around a fixed model policy, allowing evolving evidence to dynamically affect context, feedback, and task control toward successful completion. We systematically evaluate openJiuwen on SWE-bench Verified and Terminal-Bench 2.1, where it achieves 82.6% and 87.19%, respectively, exceeding the strongest selected official-leaderboard point estimates by 3.4 and 3.39 percentage points. These results show that openJiuwen achieves strong performance on complex coding tasks while providing a composable and adaptive harness design.

cs.AI↗