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Zirui Wang

Publications and source records attributed to Zirui Wang.

2 recordsLinked to original sources

ABLE: Representing and Mapping LLMs via Attribution-Based Large-model Embedding

The explosive growth of large language models (LLMs) has created a heterogeneous and poorly documented ecosystem, making systematic model comparison increasingly important for provenance auditing, security analysis, and model selection. Existing representation methods struggle to address this setting efficiently. Approaches analyzing internal parameters are powerful when architectures are compatible, but face scalability barriers under structural heterogeneity, while methods relying on external outputs may conflate models with similar behaviors and are difficult to align in richer output spaces across different tokenizers. To bridge this gap, we propose ABLE (Attribution-Based Large-model Embedding), a framework that leverages the interpretability space to construct model representations. By aggregating gradient-based feature attributions via a tokenizer-agnostic word-level alignment, ABLE captures model-specific input-sensitivity patterns rather than only surface-level outputs. Beyond empirical utility, we provide a stability analysis showing that, under standard regularity assumptions for differentiable Transformer-style models, ABLE induces a Lipschitz-continuous parameter-to-embedding map with finite-sample convergence guarantees. Extensive experiments on 239 open-source LLMs demonstrate that our training-free approach achieves competitive or superior performance in relation prediction, model routing, and benchmark score prediction.

cs.CL

RoboGesture: Real-Time Semantic-aligned Co-Speech Gestures Generation for Humanoid Interaction

Enabling humanoid robots to respond to human speech with synchronized and semantically meaningful gestures is fundamental to natural human-robot interaction. However, this task faces three critical barriers: the scarcity of semantically rich datasets, the "modality eclipse" where models ignore audio cues in favor of kinematic inertia, and the sim-to-real gap regarding physical safety. We propose RoboGesture, a robot-centric framework that co-designs data, modeling, and control to power a complete interactive human-humanoid system in which the robot listens, responds, and gestures in real time. We first establish the RoboGesture dataset featuring over 300 gesture categories and develop an automated pipeline to synthesize large-scale collision-free, robot-specific audio-motion pairs. Our architecture features a Hierarchical Semantic-Acoustic Aligner that extracts multi-granular prosodic and semantic cues directly from raw audio tokens. These cues drive a Streaming Conditional Motion Generator based on a diffusion transformer with conditional flow matching. To ensure high responsiveness, we introduce Anti-Inertia CFG Masking, which prevents the model from collapsing into repetitive historical patterns by compelling it to proactively mine control signals from the audio modality. Finally, an MPC-based safety filter ensures real-time, collision-free execution on physical hardware. Experiments on a Unitree G1 humanoid demonstrate that RoboGesture generates safer, more rhythmic, and more semantically appropriate responses compared to state-of-the-art baselines.

cs.RO