Yunfei Ge

Xinhai Li, Xiaotao Zhang, Yuehao Huang et al.

Embodied navigation connects intelligent agents with the physical world and is fundamental for general robotic intelligence. Limited availability and quality of navigation data have constrained Vision-and-Language Navigation (VLN) systems' generalization and long-horizon capabilities. To address this, we curate diverse 3D scenes and develop an automated pipeline for large-scale navigation data, resulting in the GN-Matrix dataset. Building on a 3D Gaussian Splatting (3DGS) engine, we introduce a high-fidelity simulation platform supporting interactive roaming and collision-aware navigation. We further propose GN-Bench, the first BEV-based benchmark incorporating dynamic 3DGS avatars for human-robot interaction evaluation. To leverage the simulator, we develop an RL-driven navigation foundation model, Break and Establish (BAE). After supervised learning, DAgger exposes the model to rollout-induced states, breaking narrow expert-centric distributions and enabling downstream RL exploration. This unified VLN paradigm integrates map-based and map-free tasks, including instruction following, human following, and goal navigation. GN-BAE formalizes high-fidelity 3DGS-rendered Bird's Eye View representations as compact memory, unlocking latent spatial reasoning in VLMs. Extensive evaluations on GN-Bench and VLN-CE show that GN0 outperforms state-of-the-art VLN methods. Overall, GN-Matrix offers a unified framework spanning data, simulation, and learning, advancing embodied navigation in research and industrial applications.

Xinyu Che, Junqi Xiong, Yunfei Ge et al.

Abundant procedural knowledge on the Web holds great potential for helping agents solve long-horizon tasks. However, such knowledge is often multimodal, heterogeneous, noisy, and implicitly assumes human executors, making it difficult to use directly as the skills required by agents. To bridge the gap between human-oriented guides and agent-executable skills, we formalize this problem as guide-to-skill learning: converting in-the-wild guides into executable skills and continuously improving them from trajectories observable to the agent. To evaluate the capability of existing agents on this task, we introduce MMG2Skill-Bench, the first benchmark designed for this problem. We further propose MMG2Skill, a closed-loop framework that compiles guides into editable skills, conditions a fixed vision-language model (VLM) agent on these skills during execution, and revises the skills from trajectory-level root-cause feedback without using benchmark scores. Across GUI control, open-ended gameplay, and strategic card play with six VLM backbones, MMG2Skill consistently outperforms vanilla baseline agents in every model-domain setting, achieving macro-average gains of +12.8 to +25.3 percentage points across backbones. Ablation studies show that directly prompting agents with raw guides can degrade performance, while both structured skill construction and trajectory-driven revision are necessary for the observed improvements. On success-inferable tasks, analyzer-based early stopping further prevents late-stage performance regressions and saves 25%-53% of attempts when the success signal is properly calibrated.

Yunfei Ge, Tao Li, Quanyan Zhu

The increasing connectivity and intricate remote access environment have made traditional perimeter-based network defense vulnerable. Zero trust becomes a promising approach to provide defense policies based on agent-centric trust evaluation. However, the limited observations of the agent's trace bring information asymmetry in the decision-making. To facilitate the human understanding of the policy and the technology adoption, one needs to create a zero-trust defense that is explainable to humans and adaptable to different attack scenarios. To this end, we propose a scenario-agnostic zero-trust defense based on Partially Observable Markov Decision Processes (POMDP) and first-order Meta-Learning using only a handful of sample scenarios. The framework leads to an explainable and generalizable trust-threshold defense policy. To address the distribution shift between empirical security datasets and reality, we extend the model to a robust zero-trust defense minimizing the worst-case loss. We use case studies and real-world attacks to corroborate the results.

Yunfei Ge, Quanyan Zhu

Artificial Intelligence (AI) has received an increasing amount of attention in multiple areas. The uncertainties and risks in AI-powered systems have created reluctance in their wild adoption. As an economic solution to compensate for potential damages, AI liability insurance is a promising market to enhance the integration of AI into daily life. In this work, we use an AI-powered E-diagnosis system as an example to study AI liability insurance. We provide a quantitative risk assessment model with evidence-based numerical analysis. We discuss the insurability criteria for AI technologies and suggest necessary adjustments to accommodate the features of AI products. We show that AI liability insurance can act as a regulatory mechanism to incentivize compliant behaviors and serve as a certificate of high-quality AI systems. Furthermore, we suggest premium adjustment to reflect the dynamic evolution of the inherent uncertainty in AI. Moral hazard problems are discussed and suggestions for AI liability insurance are provided.

Yunfei Ge, Quanyan Zhu

Penetration testing is an essential means of proactive defense in the face of escalating cybersecurity incidents. Traditional manual penetration testing methods are time-consuming, resource-intensive, and prone to human errors. Current trends in automated penetration testing are also impractical, facing significant challenges such as the curse of dimensionality, scalability issues, and lack of adaptability to network changes. To address these issues, we propose MEGA-PT, a meta-game penetration testing framework, featuring micro tactic games for node-level local interactions and a macro strategy process for network-wide attack chains. The micro- and macro-level modeling enables distributed, adaptive, collaborative, and fast penetration testing. MEGA-PT offers agile solutions for various security schemes, including optimal local penetration plans, purple teaming solutions, and risk assessment, providing fundamental principles to guide future automated penetration testing. Our experiments demonstrate the effectiveness and agility of our model by providing improved defense strategies and adaptability to changes at both local and network levels.

Weiji Xie, Chenjia Bai, Jiyuan Shi et al.

Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid robots are still struggle to traverse extreme environments, especially in cases that lack external perception (e.g., vision or LiDAR). This is because current methods often rely on gait-based or perception-condition rewards, lacking effective mechanisms to handle unobservable obstacles and sudden balance loss. To address this challenge, we propose a novel whole-body locomotion algorithm based on dynamic balance and Reinforcement Learning (RL) that enables humanoid robots to traverse extreme terrains, particularly narrow pathways and unexpected obstacles, using only proprioception. Specifically, we introduce a dynamic balance mechanism by leveraging an extended measure of Zero-Moment Point (ZMP)-driven rewards and task-driven rewards in a whole-body actor-critic framework, aiming to achieve coordinated actions of the upper and lower limbs for robust locomotion. Experiments conducted on a full-sized Unitree H1-2 robot verify the ability of our method to maintain balance on extremely narrow terrains and under external disturbances, demonstrating its effectiveness in enhancing the robot's adaptability to complex environments. The videos are given at https://whole-body-loco.github.io.

Yang Zhang, Chenwei Wang, Ouyang Lu et al.

Vision-Language-Action (VLA) models pre-trained on large, diverse datasets show remarkable potential for general-purpose robotic manipulation. However, a primary bottleneck remains in adapting these models to downstream tasks, especially when the robot's embodiment or the task itself differs from the pre-training data. This discrepancy leads to a significant mismatch in action distributions, demanding extensive data and compute for effective fine-tuning. To address this challenge, we introduce \textbf{Align-Then-stEer (\texttt{ATE})}, a novel, data-efficient, and plug-and-play adaptation framework. \texttt{ATE} first aligns disparate action spaces by constructing a unified latent space, where a variational autoencoder constrained by reverse KL divergence embeds adaptation actions into modes of the pre-training action latent distribution. Subsequently, it steers the diffusion- or flow-based VLA's generation process during fine-tuning via a guidance mechanism that pushes the model's output distribution towards the target domain. We conduct extensive experiments on cross-embodiment and cross-task manipulation in both simulation and real world. Compared to direct fine-tuning of representative VLAs, our method improves the average multi-task success rate by up to \textbf{9.8\%} in simulation and achieves a striking \textbf{32\% success rate gain} in a real-world cross-embodiment setting. Our work presents a general and lightweight solution that greatly enhances the practicality of deploying VLA models to new robotic platforms and tasks.

Tianxing Chen, Kaixuan Wang, Zhaohui Yang et al.

Embodied Artificial Intelligence (Embodied AI) is an emerging frontier in robotics, driven by the need for autonomous systems that can perceive, reason, and act in complex physical environments. While single-arm systems have shown strong task performance, collaborative dual-arm systems are essential for handling more intricate tasks involving rigid, deformable, and tactile-sensitive objects. To advance this goal, we launched the RoboTwin Dual-Arm Collaboration Challenge at the 2nd MEIS Workshop, CVPR 2025. Built on the RoboTwin Simulation platform (1.0 and 2.0) and the AgileX COBOT-Magic Robot platform, the competition consisted of three stages: Simulation Round 1, Simulation Round 2, and a final Real-World Round. Participants totally tackled 17 dual-arm manipulation tasks, covering rigid, deformable, and tactile-based scenarios. The challenge attracted 64 global teams and over 400 participants, producing top-performing solutions like SEM and AnchorDP3 and generating valuable insights into generalizable bimanual policy learning. This report outlines the competition setup, task design, evaluation methodology, key findings and future direction, aiming to support future research on robust and generalizable bimanual manipulation policies. The Challenge Webpage is available at https://robotwin-benchmark.github.io/cvpr-2025-challenge/.

Haozhe Lei, Yunfei Ge, Quanyan Zhu

The integration of AI into modern critical infrastructure systems, such as healthcare, has introduced new vulnerabilities that can significantly impact workflow, efficiency, and safety. Additionally, the increased connectivity has made traditional human-driven penetration testing insufficient for assessing risks and developing remediation strategies. Consequently, there is a pressing need for a distributed, adaptive, and efficient automated penetration testing framework that not only identifies vulnerabilities but also provides countermeasures to enhance security posture. This work presents ADAPT, a game-theoretic and neuro-symbolic framework for automated distributed adaptive penetration testing, specifically designed to address the unique cybersecurity challenges of AI-enabled healthcare infrastructure networks. We use a healthcare system case study to illustrate the methodologies within ADAPT. The proposed solution enables a learning-based risk assessment. Numerical experiments are used to demonstrate effective countermeasures against various tactical techniques employed by adversarial AI.

Yunfei Ge, Quanyan Zhu

This chapter explores the symbiotic relationship between Artificial Intelligence (AI) and trust in networked systems, focusing on how these two elements reinforce each other in strategic cybersecurity contexts. AI's capabilities in data processing, learning, and real-time response offer unprecedented support for managing trust in dynamic, complex networks. However, the successful integration of AI also hinges on the trustworthiness of AI systems themselves. Using a game-theoretic framework, this chapter presents approaches to trust evaluation, the strategic role of AI in cybersecurity, and governance frameworks that ensure responsible AI deployment. We investigate how trust, when dynamically managed through AI, can form a resilient security ecosystem. By examining trust as both an AI output and an AI requirement, this chapter sets the foundation for a positive feedback loop where AI enhances network security and the trust placed in AI systems fosters their adoption.

Yunfei Ge, Ya-Ting Yang, Quanyan Zhu

The pervasive integration of Artificial Intelligence (AI) has introduced complex challenges in the responsibility and accountability in the event of incidents involving AI-enabled systems. The interconnectivity of these systems, ethical concerns of AI-induced incidents, coupled with uncertainties in AI technology and the absence of corresponding regulations, have made traditional responsibility attribution challenging. To this end, this work proposes a Computational Reflective Equilibrium (CRE) approach to establish a coherent and ethically acceptable responsibility attribution framework for all stakeholders. The computational approach provides a structured analysis that overcomes the limitations of conceptual approaches in dealing with dynamic and multifaceted scenarios, showcasing the framework's traceability, coherence, and adaptivity properties in the responsibility attribution process. We examine the pivotal role of the initial activation level associated with claims in equilibrium computation. Using an AI-assisted medical decision-support system as a case study, we illustrate how different initializations lead to diverse responsibility distributions. The framework offers valuable insights into accountability in AI-induced incidents, facilitating the development of a sustainable and resilient system through continuous monitoring, revision, and reflection.

Yunfei Ge, Quanyan Zhu

Supply chain security has become a growing concern in security risk analysis of the Internet of Things (IoT) systems. Their highly connected structures have significantly enlarged the attack surface, making it difficult to track the source of the risk posed by malicious or compromised suppliers. This chapter presents a system-scientific framework to study the accountability in IoT supply chains and provides a holistic risk analysis technologically and socio-economically. We develop stylized models and quantitative approaches to evaluate the accountability of the suppliers. Two case studies are used to illustrate accountability measures for scenarios with single and multiple agents. Finally, we present the contract design and cyber insurance as economic solutions to mitigate supply chain risks. They are incentive-compatible mechanisms that encourage truth-telling of the supplier and facilitate reliable accountability investigation for the buyer.