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Yicheng Liu

Publications and source records attributed to Yicheng Liu.

At least 19 recordsLinked to original sources

PGuard: A Native, Streaming, and Plug-in Guardrail for Multimodal Large Language Models

As streaming generation becomes the dominant serving paradigm for both text-only and multimodal large language models, ensuring safety throughout the generation process has become a critical challenge. We introduce PGuard, a native, streaming, and plug-in guardrail that transforms safety monitoring from an external serving dependency into an integrated capability of the backbone model. PGuard directly leverages the backbone's intermediate representations for token-level safety detection, without altering its original inference pathway or generation behavior. Specifically, dynamic layer gating selectively aggregates residual-stream representations across layers to extract safety-relevant signals during both prefill and autoregressive decoding. To balance detection accuracy and computational efficiency, PGuard supports multiple representation-modeling architectures, including a lightweight stateless variant and sequence-aware variants built on multi-scale causal EMA-attention and GRU-based recurrent modules. Its design also accounts for the execution characteristics of LLM serving frameworks, such as SGLang, optimizing computation and data access to minimize additional runtime and synchronization overhead. As a result, PGuard incurs only 0.82-2.26% end-to-end overhead on the hundred-billion-parameter backbone Qwen3.5-122B-A10B served by SGLang. Extensive evaluations across more than 30 benchmarks spanning text and multimodal safety, jailbreaks, cyber and CBRN risks, multilingual scenarios, and real-world traffic demonstrate state-of-the-art performance among native guardrails. On text queries with Qwen3.5-9B, PGuard achieves an average F1 score of 0.836, approaching dedicated external guardrails, while supporting deployment-time configuration of category-specific thresholds and enforcement actions.

cs.CL↗

EqC: Equilibrium Energy Control for Introspective Lifelong Robot Learning

Long-term robot autonomy depends on more than effective action generation: a policy must recognize when its behavior is no longer sufficiently supported and use assistance to improve. We introduce Equilibrium Energy Control (EqC), a framework for introspective lifelong robot learning built around an explicit conditional energy landscape. EqC casts generative action refinement as equilibrium-seeking optimization, while the geometry of the refinement process reveals whether the generated behavior remains consistent with the learned landscape. This competence signal enables Energy-Gated DAgger, where persistent energy-consistency violations trigger expert takeover and the resulting recovery trajectories are aggregated for subsequent policy updates. EqC integrates naturally into both Diffusion Transformer policies and flow-matching-based vision-language-action (VLA) policies. Across simulation and real-world bimanual manipulation, EqC matches or improves control performance and robustness while enabling timely intervention near the policy's competence boundary. A real-world study further shows how these interventions progressively expand the range of situations handled autonomously, providing a practical path from static generative controllers toward self-improving robot systems.

cs.RO↗

DexNinja: Learning Robust Dexterous Cutting Policy with a Real-to-Sim-to-Real Data Engine

Cutting a piece of food looks effortless in human hands. For a robot, however, every cut is a high-contact interaction with a deformable, elasto-plastic object whose behavior changes with pose, contact mode, and cutting stage. Collecting real-world data is expensive and wasteful: each trial typically contaminates or damages the food, so obtaining scalable real world data for dexterous cutting is expensive and difficult. Simulation is an appealing alternative, but a large sim-to-real gap exists in both physics and perception. This gap is especially severe for topology-changing interactions like cutting, where small errors in contact, friction, or material and elasticity responses quickly compound. We propose \textsc{DexNinja}, a real2sim2real framework that turns a handful of real demonstrations into a dense and realistic training distribution. \textsc{DexNinja} (i) reconstructs object instances from real captures, (ii) randomizes physically meaningful parameters under category-level constraints, and (iii) produces augmented dexterous manipulation episodes using a custom differentiable simulator that couples robot dynamics, tactile contact, and deformable cutting. We evaluate \textsc{DexNinja} on a dexterous food-slicing task and show that (1) with tens of real demonstrations and hundreds of augmented simulator data, the success rate could reach more than 60\%. (2) the augmented data consistently improves success rates when only using real data with more than 20\% via sim-to-real, and (3) the resulting policies generalize to out-of-distribution objects with varying shapes and sizes.

cs.RO↗

ActionCodec: What Makes for Good Action Tokenizers

Vision-Language-Action (VLA) models leveraging the native autoregressive paradigm of Vision-Language Models (VLMs) have demonstrated superior instruction-following and training efficiency. Central to this paradigm is action tokenization, yet its design has primarily focused on reconstruction fidelity, failing to address its direct impact on VLA optimization. Consequently, the fundamental question of \textit{what makes for good action tokenizers} remains unanswered. In this paper, we bridge this gap by establishing design principles specifically from the perspective of VLA optimization. We identify a set of best practices based on information-theoretic insights, including maximized temporal token overlap, minimized vocabulary redundancy, enhanced multimodal mutual information, and token independence. Guided by these principles, we introduce \textbf{ActionCodec}, a high-performance action tokenizer that significantly enhances both training efficiency and VLA performance across diverse simulation and real-world benchmarks. Notably, on LIBERO, a SmolVLM2-2.2B fine-tuned with ActionCodec achieves a 95.5\% success rate without any robotics pre-training. With advanced architectural enhancements, this reaches 97.4\%, representing a new SOTA for VLA models without robotics pre-training. We believe our established design principles, alongside the released model, will provide a clear roadmap for the community to develop more effective action tokenizers.

cs.RO↗

LocusRL: Diagnosing LLM Reward and Policy Interventions in Competitive Games

Large language models can intervene in reinforcement learning through both reward design and action selection, yet aggregate performance offers an incomplete account of what these interventions actually do. Similar returns can conceal different learning mechanisms, while plausible rewards can induce undesirable behavior. We introduce LocusRL, a diagnostic framework that connects controlled reward-policy comparisons with audits of reward judgments, signal delivery, optimization objectives, and executed actions. The framework traces performance differences to testable explanations and checks targeted corrections through executable rules and counterfactual replay. Across two evaluation batches covering ten Connect Four training seeds, we uncover seed-dependent reversals in intervention effects and show how tracing actual updates changes their interpretation: historical Qwen training operates through reward-weighted teacher-action likelihood. A separate matched three-seed reward-direction experiment distinguishes sensitivity to a learning signal from its usefulness. With terminal rewards held fixed, a sign-reversed dense oracle yields a 2.8% aggregate win rate, compared with 57.2% for terminal-only training and 46.7% for the positive dense oracle. Thus, a reward can strongly influence learning without improving performance. At the decision level, counterfactual replay verifies a winning correction to a diagnosed action error. Complementary experiments in Leduc and reward-validation studies in Goofspiel extend the analysis to imperfect-information settings, revealing how reference-label definitions and validation-data exposure affect intervention assessment. Together, these findings show why evaluating LLM interventions requires tracing how their outputs become learning signals and actions. LocusRL turns aggregate outcomes into actionable diagnoses and verifiable corrections.

cs.LG↗

Rethinking Causal Action Tokenization with Conditional Annealing in Flow Matching

Autoregressive Vision-Language-Action (VLA) models offer a scalable path to robot learning, yet existing action tokenizers treat tokenization as a compression problem, producing representations that are semantically misaligned with the autoregressive backbone. We propose CATok, a causal action tokenizer that reframes tokenization as a causally structured generative process. CATok introduces a conditional annealing mechanism that extracts action tokens by progressively annealing a flow-matching process: each token is conditioned on all preceding tokens and encodes the residual reconstruction signal at a specific noise level, establishing a coarse-to-fine causal token space whose generative semantics are structurally aligned with autoregressive modeling. A token-conditioned flow-matching decoder built on Multimodal Diffusion Transformer (MMDiT) reconstructs continuous action chunks from these discrete tokens with the precision of hybrid diffusion-head architectures. This discrete bottleneck enforces knowledge insulation by design, cleanly separating high-level semantic reasoning from low-level motor execution without requiring explicit attention masking. Extensive evaluations across three simulation benchmarks and real-world robotic manipulation tasks demonstrate that CATok consistently surpasses existing tokenization methods in both reconstruction fidelity-compression tradeoff and inference efficiency, while improving VLA task success rate and training efficiency, establishing a high-performance, scalable foundation for purely autoregressive VLA systems.

cs.RO↗

From Evaluation to Enhancement: Benchmarking and Improving Think-with-Video Reasoning for Video Generative Models

Video generation has advanced to produce visually compelling and temporally coherent results. Yet, whether these models can genuinely think with video--executing symbolic rules, respecting physical laws, and pursuing intentional goals--remains an open question. Existing benchmarks only partially address this, often conflating visual quality with cognitive correctness. We introduce VWG-Bench (Video World Generalist Benchmark), a comprehensive benchmark spanning 9 reasoning dimensions and 38 fine-grained tasks. To enable precise diagnosis, we design a three-level VLM-as-Judge protocol that independently assesses video-level fluency, task-level rule adherence, and sample-level goal realization. Evaluations of leading models reveal a striking gap: while models achieve strong rendering scores, they consistently fail on logic-heavy and rule-constrained tasks. To address this, we propose Vid-PRE (Video Prompt Reasoner and Enhancer), a model-agnostic prompt rewriter that offloads the cognitive burden of reasoning to a dedicated VLM. Trained via reinforcement learning with purely text-based rewards, Vid-PRE produces concise, constraint-aware prompts without the instability of video-level reward signals. Experiments show that Vid-PRE yields substantial reasoning improvements across multiple generators without architectural modifications. Together, VWG-Bench and Vid-PRE offer a rigorous diagnostic lens and a scalable path toward true think-with-video capabilities. All data and code are publicly available at https://huggingface.co/datasets/KlingTeam/VWG-Bench.

cs.CV↗

FitControler: Toward Fit-Aware Virtual Try-On

Realistic virtual try-on (VTON) concerns not only faithful rendering of garment details but also coordination of the style. Prior art typically pursues the former, but neglects a key factor that shapes the holistic style -- garment fit. Garment fit delineates how a garment aligns with the body of a wearer and is a fundamental element in fashion design. In this work, we introduce fit-aware VTON and present FitControler, a learnable plug-in that can seamlessly integrate into modern VTON models to enable customized fit control. To achieve this, we highlight two challenges: i) how to delineate layouts of different fits and ii) how to render the garment that matches the layout. FitControler first features a fit-aware layout generator to redraw the body-garment layout conditioned on a set of delicately processed garment-agnostic representations, and a multi-scale fit injector is then used to deliver layout cues to enable layout-driven VTON. In particular, we build a fit-aware VTON dataset termed Fit4Men, including 13,000 body-garment pairs of different fits, covering both tops and bottoms, and featuring varying camera distances and body poses. Two fit consistency metrics are also introduced to assess the fitness of generations. Extensive experiments show that FitControler can work with various VTON models and achieve accurate fit control. Code and data will be released.

cs.CV↗

G0.5: One Autoregressive Stream for Robot Reasoning and Action

The prevailing recipe for Vision-Language-Action (VLA) models couples a pretrained VLM with a separately trained flow-matching action expert. This makes the VLM a context encoder rather than a decision-maker. We introduce G0.5, a pretrained autoregressive VLA in which a single transformer decoder emits reasoning and action tokens under a single objective. Three components make this tractable at foundation-model scale: a learnable cross-embodiment action tokenizer that maps heterogeneous robot actions into a shared vocabulary; a native chain-of-thought stream interleaving task decomposition, object grounding, and action hints with action tokens; and a visual memory module that injects multi-second history through the vision encoder. Because reasoning and action share a single set of weights, the pretrained VLM's capabilities carry over to physical behavior: the model follows instructions closely, and prompts directly steer action granularity, task horizon, and out-of-distribution scene handling without further training. Pretrained on a large collection of robot datasets together with VQA samples, G0.5 surpasses state-of-the-art models across 7 independent regimes: real-world fine-tuning on R1lite and R1pro robots (76.7\% vs.\ 53.3\% for $π_{0.5}$ and 24.4\% for GR00T-N1.7), the 2025 BEHAVIOR Challenge on 50 long-horizon household mobile manipulation tasks using a generalist policy (31.4\% vs.\ 26.3\% for $π_{0.5}$ and 26.1\% for the challenge winner), DROID post-training followed by zero-shot transfer to an unseen environment and objects (82.5\%), a language-following Pick-and-Place benchmark, LIBERO (98.9\%), RoboTwin 2.0 (93.3\%), and SimplerEnv-Bridge (87.3\%).

cs.RO↗

MADE: Belief-Driven Dual-Agent Coordination for Autonomous Model Deployment

LLM-based agents now have strong general capabilities. However, they still struggle with domain-specific tasks, motivating the integration of external tools to broaden their capabilities. The open-source community offers a vast array of AI models typically released as heterogeneous research artifacts, whereas transforming them into ready-to-call APIs is costly and labor-intensive. Automated model deployment is therefore essential for bridging the gap between model resources and tool usability, yet it remains a long-horizon, multi-stage task that has not been sufficiently explored. To tackle this challenge, we introduce Model Automated Deployment Engine (MADE), a dual-agent coordination system. Specifically, given a model resource, MADE iteratively constructs and validates the deployment artifacts, updates its deployment belief based on execution feedback, and revisits invalid upstream artifacts until the model is successfully served as a ready-to-call API that can then be used by other agents. We further introduce M2ABench, a benchmark for the task of transforming Models to ready-to-call APIs. M2ABench comprises 122 real-world models with standardized test cases for evaluation. Experimental results demonstrate that MADE achieves a deployment success rate of 68.85%, outperforming SWE-agent and OpenHands by 13.93 and 44.26 percentage points, respectively. Our code and dataset are publicly available at https://github.com/HITDiSC/MADE.

cs.SE↗

Dual-Path LLM Reasoning for Multimodal Few-Shot Knowledge Graph Completion

Knowledge graph completion (KGC) aims to infer missing facts in knowledge graphs (KGs), thereby improving their completeness and supporting downstream intelligent applications. However, emerging entities and relations in real-world deployments make inductive KGC difficult, especially under few-shot and zero-shot settings. Multimodal information and Large Language Model (LLM)-derived priors can enrich sparse relational contexts, but they may also introduce noisy or hallucinated evidence. To address these issues, we propose DuPLeR, a \textbf{Du}al-\textbf{P}ath \textbf{L}LM \textbf{R}easoning framework for multimodal few-shot KGC. DuPLeR builds a calibrated relation graph by combining multimodal LLM-derived type priors with factual support structures, and performs dual-level structural reasoning over the refined relation topology. Moreover, a dual-pathway multimodal enhancement module regulates message passing with query-relevant multimodal signals and supplements entity representations after graph propagation. Experiments on eight inductive variants of two multimodal KG (MMKG) benchmarks show that DuPLeR achieves robust performance in data-scarce KGC scenarios.

cs.CL↗

Demystifying Numerical Instability in LLM Inference: Achieving Reproducible Inference for Mission-Critical Tasks with HEAL

As Large Language Models (LLMs) deploy into mission-critical domains (e.g., finance, medicine, and law), output reproducibility has become a strict system requirement. While practitioners use greedy decoding to eliminate algorithmic stochasticity, empirical deployments with 16-bit precisions still exhibit catastrophic output divergence across heterogeneous GPUs. Through SASS-level profiling, we reveal that this inconsistency is fundamentally driven by truncation errors introduced during downcasting at kernel boundaries. However, achieving reproducibility via a global FP32 pipeline incurs prohibitive system penalties: bypassing 16-bit hardware accelerators hurts compute efficiency, while upcasting the KV cache doubles memory overhead. To bridge this gap, we propose Hybrid Error ALleviation (HEAL), a targeted intervention that approximates FP32 precision while resolving hardware constraints through two targeted mechanisms. First, recognizing that floating-point formats underutilize their bit-width for Q, K, V tensors, HEAL applies INT16 quantization that preserves numerical stability without expanding the KV cache footprint. Second, HEAL synthesizes high-precision matrix multiplications via an algebraic error compensation strategy, executing entirely on high-throughput 16-bit Tensor Cores. To evaluate our approach practically, we introduce MCR-Bench, a benchmark targeting reproducibility in mission-critical tasks. HEAL achieves the same level of reproducibility on downstream tasks as the FP32 baseline while reducing the performance overhead by up to 7.1x.

cs.LG↗

Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models

Most vision-language-action (VLA) models map observations directly to actions without explicit intermediate planning, which limits performance on long-horizon tasks where early mistakes compound. We propose Coarse-to-Control, a plan-execute VLA that introduces planning natively in the action-token space. The key idea is to let the policy first predict a compact sequence of coarse action tokens that summarize the intended future trajectory, and then generate executable action tokens conditioned on this plan. Because both planning and execution share a unified discrete action vocabulary, the plan stays close to the control manifold and provides directly actionable guidance rather than an abstract hint that must be translated back to motor commands. Experiments on LIBERO, SimplerEnv-WidowX, and real-world manipulation tasks show that action-token planning consistently improves over direct action generation, with the largest gains on long-horizon multi-stage tasks.

cs.RO↗

A Fully GPU-Accelerated Framework for High-Performance Configuration Interaction Selection with Neural Network Quantum States

AI-driven methods have demonstrated considerable success in tackling the central challenge of accurately solving the Schrödinger equation for complex many-body systems. Among neural network quantum state (NNQS) approaches, the NNQS-SCI (Selected Configuration Interaction) method stands out as a state-of-the-art technique, recognized for its high accuracy and scalability. However, its application to larger systems is severely constrained by a hybrid CPU-GPU architecture. Specifically, centralized CPU-based global de-duplication creates a severe scalability barrier due to communication bottlenecks, while host-resident coupled-configuration generation induces prohibitive computational overheads. We introduce QiankunNet-cuSCI, a fully GPU-accelerated SCI framework designed to overcome these bottlenecks. It first integrates a distributed, load-balanced global de-duplication algorithm to minimize redundancy and communication overhead at scale. To address compute limitations, it employs specialized, fine-grained CUDA kernels for exact coupled configuration generation. Finally, to break the single-GPU memory barrier exposed by this full acceleration, it incorporates a GPU memory-centric runtime featuring GPU-side pooling, streaming mini-batches, and overlapped offloading. This design enables much larger configuration spaces and shifts the bottleneck from host-side limitations back to on-device inference. Our evaluation demonstrates that our work fundamentally expands the scale of solvable problems. On an NVIDIA A100 cluster with 64 GPUs, our work achieves up to 2.32X end-to-end speedup over the highly-optimized NNQS-SCI baseline while preserving the same chemical accuracy. Furthermore, it demonstrates excellent distributed performance, maintaining over 90% parallel efficiency in strong scaling tests.

cs.DC↗

Generative Control as Optimization: Time Unconditional Flow Matching for Adaptive and Robust Robotic Control

Diffusion models and flow matching have become a cornerstone of robotic imitation learning, yet they suffer from a structural inefficiency where inference is often bound to a fixed integration schedule that is agnostic to state complexity. This paradigm forces the policy to expend the same computational budget on trivial motions as it does on complex tasks. We introduce Generative Control as Optimization (GeCO), a time-unconditional framework that transforms action synthesis from trajectory integration into iterative optimization. GeCO learns a stationary velocity field in the action-sequence space where expert behaviors form stable attractors. Consequently, test-time inference becomes an adaptive process that allocates computation based on convergence--exiting early for simple states while refining longer for difficult ones. Furthermore, this stationary geometry yields an intrinsic, training-free safety signal, as the field norm at the optimized action serves as a robust out-of-distribution (OOD) detector, remaining low for in-distribution states while significantly increasing for anomalies. We validate GeCO on standard simulation benchmarks and demonstrate seamless scaling to pi0-series Vision-Language-Action (VLA) models. As a plug-and-play replacement for standard flow-matching heads, GeCO improves success rates and efficiency with an optimization-native mechanism for safe deployment. Video and code can be found at https://hrh6666.github.io/GeCO/

cs.RO↗

Planning Under Observation Mismatch for Traffic Signal Control via Adaptive Modular World Models

Deploying learned decision-making systems often requires transferring to new sites where the sensing pipeline differs. In such cases, observations can change in semantics and dimensionality even when action primitives and objectives remain comparable. In this work, we study transferable model-based planning under this observation mismatch, which remains challenging for existing learning-based approaches. We propose Adaptive Modularized Model (AMM), a modular planning architecture that separates a domain-specific observation adapter from a shared internal dynamics model defined in a common planning state space. The dynamics model is meta-learned from multiple source domains to enable fast adaptation with limited target interaction. At run time, AMM performs receding-horizon planning by rolling out candidate action sequences under the learned dynamics and selecting actions that optimize a task-specific objective over predicted futures. We instantiate the approach on cross-domain traffic signal control, where actions correspond to signal phases and the planning objective captures congestion. Experiments show that AMM improves both performance and data efficiency compared with existing conventional controllers and learning-based baselines.

cs.LG↗

UI-Voyager: A Self-Evolving GUI Agent Learning via Failed Experience

Autonomous mobile GUI agents have attracted increasing attention along with the advancement of Multimodal Large Language Models (MLLMs). However, existing methods still suffer from inefficient learning from failed trajectories and ambiguous credit assignment under sparse rewards for long-horizon GUI tasks. To that end, we propose UI-Voyager, a novel two-stage self-evolving mobile GUI agent. In the first stage, we employ Rejection Fine-Tuning (RFT), which enables the continuous co-evolution of data and models in a fully autonomous loop. The second stage introduces Group Relative Self-Distillation (GRSD), which identifies critical fork points in group rollouts and constructs dense step-level supervision from successful trajectories to correct failed ones. Extensive experiments on AndroidWorld show that our 4B model achieves an 81.0% Pass@1 success rate, outperforming numerous recent baselines and exceeding human-level performance. Ablation and case studies further verify the effectiveness of GRSD. Our method represents a significant leap toward efficient, self-evolving, and high-performance mobile GUI automation without expensive manual data annotation.

cs.LG↗

Fast-WAM: Do World Action Models Need Test-time Future Imagination?

World Action Models (WAMs) have emerged as a promising alternative to Vision-Language-Action (VLA) models for embodied control because they explicitly model how visual observations may evolve under action. Most existing WAMs follow an imagine-then-execute paradigm, incurring substantial test-time latency from iterative video denoising, yet it remains unclear whether explicit future imagination is actually necessary for strong action performance. In this paper, we ask whether WAMs need explicit future imagination at test time, or whether their benefit comes primarily from video modeling during training. We disentangle the role of video modeling during training from explicit future generation during inference by proposing \textbf{Fast-WAM}, a WAM architecture that retains video co-training during training but skips future prediction at test time. We further instantiate several Fast-WAM variants to enable a controlled comparison of these two factors. Across these variants, we find that Fast-WAM remains competitive with imagine-then-execute variants, while removing video co-training causes a much larger performance drop. Empirically, Fast-WAM achieves competitive results with state-of-the-art methods both on simulation benchmarks (LIBERO and RoboTwin) and real-world tasks, without embodied pretraining. It runs in real time with 190ms latency, over 4$\times$ faster than existing imagine-then-execute WAMs. These results suggest that the main value of video prediction in WAMs may lie in improving world representations during training rather than generating future observations at test time. Project page: https://yuantianyuan01.github.io/FastWAM/

cs.CV↗