Yukun Zhao

Yukun Zhao, Lingyong Yan, Weiwei Sun et al. · baidu

Dialogue assessment plays a critical role in the development of open-domain dialogue systems. Existing work are uncapable of providing an end-to-end and human-epistemic assessment dataset, while they only provide sub-metrics like coherence or the dialogues are conversed between annotators far from real user settings. In this paper, we release a large-scale dialogue quality assessment dataset (DiQAD), for automatically assessing open-domain dialogue quality. Specifically, we (1) establish the assessment criteria based on the dimensions conforming to human judgements on dialogue qualities, and (2) annotate large-scale dialogues that conversed between real users based on these annotation criteria, which contains around 100,000 dialogues. We conduct several experiments and report the performances of the baselines as the benchmark on DiQAD. The dataset is openly accessible at https://github.com/yukunZhao/Dataset_Dialogue_quality_evaluation.

Yukun Zhao, Lingyong Yan, Weiwei Sun et al. · baidu

Large Language Models (LLMs) have shown great potential in Natural Language Processing (NLP) tasks. However, recent literature reveals that LLMs generate nonfactual responses intermittently, which impedes the LLMs' reliability for further utilization. In this paper, we propose a novel self-detection method to detect which questions that a LLM does not know that are prone to generate nonfactual results. Specifically, we first diversify the textual expressions for a given question and collect the corresponding answers. Then we examine the divergencies between the generated answers to identify the questions that the model may generate falsehoods. All of the above steps can be accomplished by prompting the LLMs themselves without referring to any other external resources. We conduct comprehensive experiments and demonstrate the effectiveness of our method on recently released LLMs, e.g., Vicuna, ChatGPT, and GPT-4.

Yougang Lyu, Piji Li, Yechang Yang et al.

Natural language understanding (NLU) models often rely on dataset biases rather than intended task-relevant features to achieve high performance on specific datasets. As a result, these models perform poorly on datasets outside the training distribution. Some recent studies address this issue by reducing the weights of biased samples during the training process. However, these methods still encode biased latent features in representations and neglect the dynamic nature of bias, which hinders model prediction. We propose an NLU debiasing method, named debiasing contrastive learning (DCT), to simultaneously alleviate the above problems based on contrastive learning. We devise a debiasing, positive sampling strategy to mitigate biased latent features by selecting the least similar biased positive samples. We also propose a dynamic negative sampling strategy to capture the dynamic influence of biases by employing a bias-only model to dynamically select the most similar biased negative samples. We conduct experiments on three NLU benchmark datasets. Experimental results show that DCT outperforms state-of-the-art baselines on out-of-distribution datasets while maintaining in-distribution performance. We also verify that DCT can reduce biased latent features from the model's representation.

Changkun Liu, Yukun Zhao, Tristan Braud

Markerless Mobile Augmented Reality (AR) aims to anchor digital content in the physical world without using specific 2D or 3D objects. Absolute Pose Regressors (APR) are end-to-end machine learning solutions that infer the device's pose from a single monocular image. Thanks to their low computation cost, they can be directly executed on the constrained hardware of mobile AR devices. However, APR methods tend to yield significant inaccuracies for input images that are too distant from the training set. This paper introduces KS-APR, a pipeline that assesses the reliability of an estimated pose with minimal overhead by combining the inference results of the APR and the prior images in the training set. Mobile AR systems tend to rely upon visual-inertial odometry to track the relative pose of the device during the experience. As such, KS-APR favours reliability over frequency, discarding unreliable poses. This pipeline can integrate most existing APR methods to improve accuracy by filtering unreliable images with their pose estimates. We implement the pipeline on three types of APR models on indoor and outdoor datasets. The median error on position and orientation is reduced for all models, and the proportion of large errors is minimized across datasets. Our method enables state-of-the-art APRs such as DFNetdm to outperform single-image and sequential APR methods. These results demonstrate the scalability and effectiveness of KS-APR for visual localization tasks that do not require one-shot decisions.

Changkun Liu, Yukun Zhao, Tristan Braud

Visual Inertial Odometry (VIO) is an essential component of modern Augmented Reality (AR) applications. However, VIO only tracks the relative pose of the device, leading to drift over time. Absolute pose estimation methods infer the device's absolute pose, but their accuracy depends on the input quality. This paper introduces VIO-APR, a new framework for markerless mobile AR that combines an absolute pose regressor (APR) with a local VIO tracking system. VIO-APR uses VIO to assess the reliability of the APR and the APR to identify and compensate for VIO drift. This feedback loop results in more accurate positioning and more stable AR experiences. To evaluate VIO-APR, we created a dataset that combines camera images with ARKit's VIO system output for six indoor and outdoor scenes of various scales. Over this dataset, VIO-APR improves the median accuracy of popular APR by up to 36\% in position and 29\% in orientation, increases the percentage of frames in the high ($0.25 m, 2^{\circ}$) accuracy level by up to 112\% and reduces the percentage of frames predicted below the low ($5 m, 10^\circ$) accuracy greatly. We implement VIO-APR into a mobile AR application using Unity to demonstrate its capabilities. VIO-APR results in noticeably more accurate localization and a more stable overall experience.

Yunke Wang, Minjing Dong, Yukun Zhao et al.

Imitation learning has emerged as a promising approach for addressing sequential decision-making problems, with the assumption that expert demonstrations are optimal. However, in real-world scenarios, most demonstrations are often imperfect, leading to challenges in the effectiveness of imitation learning. While existing research has focused on optimizing with imperfect demonstrations, the training typically requires a certain proportion of optimal demonstrations to guarantee performance. To tackle these problems, we propose to purify the potential noises in imperfect demonstrations first, and subsequently conduct imitation learning from these purified demonstrations. Motivated by the success of diffusion model, we introduce a two-step purification via diffusion process. In the first step, we apply a forward diffusion process to smooth potential noises in imperfect demonstrations by introducing additional noise. Subsequently, a reverse generative process is utilized to recover the optimal demonstration from the diffused ones. We provide theoretical evidence supporting our approach, demonstrating that the distance between the purified and optimal demonstration can be bounded. Empirical results on MuJoCo and RoboSuite demonstrate the effectiveness of our method from different aspects.

Dongsheng Zhu, Xunzhu Tang, Weidong Han et al.

This paper presents VisLingInstruct, a novel approach to advancing Multi-Modal Language Models (MMLMs) in zero-shot learning. Current MMLMs show impressive zero-shot abilities in multi-modal tasks, but their performance depends heavily on the quality of instructions. VisLingInstruct tackles this by autonomously evaluating and optimizing instructional texts through In-Context Learning, improving the synergy between visual perception and linguistic expression in MMLMs. Alongside this instructional advancement, we have also optimized the visual feature extraction modules in MMLMs, further augmenting their responsiveness to textual content. Our comprehensive experiments on MMLMs, based on FlanT5 and Vicuna, show that VisLingInstruct significantly improves zero-shot performance in visual multi-modal tasks. Notably, it achieves a 13.1% and 9% increase in accuracy over the prior state-of-the-art on the TextVQA and HatefulMemes datasets. Our main code is available at https://github.com/Zhudongsheng75/VisLingInstruct.

Yueqing Hu, Xinyang Peng, Yukun Zhao et al.

Recent scholarship typically characterizes Large Language Models (LLMs) through either an \textit{Instrumental Paradigm} (viewing models as reflections of their developers' culture) or a \textit{Substitutive Paradigm} (viewing models as bilingual proxies that switch cultural frames based on language). This study challenges these anthropomorphic frameworks by proposing \textbf{Machine Culture} as an emergent, distinct phenomenon. We employed a 2 (Model Origin: US vs. China) $\times$ 2 (Prompt Language: English vs. Chinese) factorial design across eight multimodal tasks, uniquely incorporating image generation and interpretation to extend analysis beyond textual boundaries. Results revealed inconsistencies with both dominant paradigms: Model origin did not predict cultural alignment, with US models frequently exhibiting ``holistic'' traits typically associated with East Asian data. Similarly, prompt language did not trigger stable cultural frame-switching; instead, we observed \textbf{Cultural Reversal}, where English prompts paradoxically elicited higher contextual attention than Chinese prompts. Crucially, we identified a novel phenomenon termed \textbf{Service Persona Camouflage}: Reinforcement Learning from Human Feedback (RLHF) collapsed cultural variance in affective tasks into a hyper-positive, zero-variance ``helpful assistant'' persona. We conclude that LLMs do not simulate human culture but exhibit an emergent Machine Culture -- a probabilistic phenomenon shaped by \textit{superposition} in high-dimensional space and \textit{mode collapse} from safety alignment.

Yukun Zhao, Zichen Zhong, Yongshun Gong et al.

Denoising generative models have recently become the dominant paradigm for dexterous grasp generation, owing to their ability to model complex grasp distributions from large-scale data. However, existing diffusion-based methods typically formulate generation as a stochastic differential equation (SDE), which often requires many sequential denoising steps and introduces trajectory instability that can lead to physically infeasible grasps. In this paper, we propose EFF-Grasp, a novel Flow-Matching-based framework for physics-aware dexterous grasp generation. Specifically, we reformulate grasp synthesis as a deterministic ordinary differential equation (ODE) process, which enables efficient and stable generation through smooth probability flows. To further enforce physical feasibility, we introduce a training-free physics-aware energy guidance strategy. Our method defines an energy-guided target distribution using adapted explicit physical energy functions that capture key grasp constraints, and estimates the corresponding guidance term via a local Monte Carlo approximation during inference. In this way, EFF-Grasp dynamically steers the generation trajectory toward physically feasible regions without requiring additional physics-based training or simulation feedback. Extensive experiments on five benchmark datasets show that EFF-Grasp achieves superior performance in grasp quality and physical feasibility, while requiring substantially fewer sampling steps than diffusion-based baselines.

Hua Tang, Lingyong Yan, Yukun Zhao et al. · baidu

Large Language Models (LLMs) have demonstrated remarkable performance across diverse tasks. Nevertheless, they still pose notable safety risks due to potential misuse for malicious purposes. Jailbreaking, which seeks to induce models to generate harmful content through single-turn or multi-turn attacks, plays a crucial role in uncovering underlying security vulnerabilities. However, prior methods, including sophisticated multi-turn approaches, often struggle to adapt to the evolving dynamics of dialogue as interactions progress. To address this challenge, we propose \ours (JailBreaking via \textbf{G}lobally \textbf{R}efining and \textbf{A}daptively \textbf{F}abricating), a novel multi-turn jailbreaking method that globally refines the attack trajectory at each interaction. In addition, we actively fabricate model responses to suppress safety-related warnings, thereby increasing the likelihood of eliciting harmful outputs in subsequent queries. Extensive experiments across six state-of-the-art LLMs demonstrate the superior effectiveness of our approach compared to existing single-turn and multi-turn jailbreaking methods. Our code will be released at https://github.com/Ytang520/Multi-Turn_jailbreaking_Global-Refinment_and_Active-Fabrication.

Zichen Zhong, Haoliang Sun, Yukun Zhao et al.

Flow Matching enables simulation-free training of generative models on Riemannian manifolds, yet sampling typically still relies on numerically integrating a probability-flow ODE. We propose Riemannian MeanFlow (RMF), extending MeanFlow to manifold-valued generation where velocities lie in location-dependent tangent spaces. RMF defines an average-velocity field via parallel transport and derives a Riemannian MeanFlow identity that links average and instantaneous velocities for intrinsic supervision. We make this identity practical in a log-map tangent representation, avoiding trajectory simulation and heavy geometric computations. For stable optimization, we decompose the RMF objective into two terms and apply conflict-aware multi-task learning to mitigate gradient interference. RMF also supports conditional generation via classifier-free guidance. Experiments on spheres, tori, and SO(3) demonstrate competitive one-step sampling with improved quality-efficiency trade-offs and substantially reduced sampling cost.

Yukun Zhao, Lingyong Yan, Weiwei Sun et al. · baidu

Large language models (LLMs) have shown tremendous success in following user instructions and generating helpful responses. Nevertheless, their robustness is still far from optimal, as they may generate significantly inconsistent responses due to minor changes in the verbalized instructions. Recent literature has explored this inconsistency issue, highlighting the importance of continued improvement in the robustness of response generation. However, systematic analysis and solutions are still lacking. In this paper, we quantitatively define the inconsistency problem and propose a two-stage training framework consisting of instruction-augmented supervised fine-tuning and consistency alignment training. The first stage helps a model generalize on following instructions via similar instruction augmentations. In the second stage, we improve the diversity and help the model understand which responses are more aligned with human expectations by differentiating subtle differences in similar responses. The training process is accomplished by self-rewards inferred from the trained model at the first stage without referring to external human preference resources. We conduct extensive experiments on recent publicly available LLMs on instruction-following tasks and demonstrate the effectiveness of our training framework.

Song Tong, Kai Mao, Zhen Huang et al.

Leveraging the synergy between causal knowledge graphs and a large language model (LLM), our study introduces a groundbreaking approach for computational hypothesis generation in psychology. We analyzed 43,312 psychology articles using a LLM to extract causal relation pairs. This analysis produced a specialized causal graph for psychology. Applying link prediction algorithms, we generated 130 potential psychological hypotheses focusing on `well-being', then compared them against research ideas conceived by doctoral scholars and those produced solely by the LLM. Interestingly, our combined approach of a LLM and causal graphs mirrored the expert-level insights in terms of novelty, clearly surpassing the LLM-only hypotheses (t(59) = 3.34, p=0.007 and t(59) = 4.32, p<0.001, respectively). This alignment was further corroborated using deep semantic analysis. Our results show that combining LLM with machine learning techniques such as causal knowledge graphs can revolutionize automated discovery in psychology, extracting novel insights from the extensive literature. This work stands at the crossroads of psychology and artificial intelligence, championing a new enriched paradigm for data-driven hypothesis generation in psychological research.

Changkun Liu, Shuai Chen, Yukun Zhao et al.

Absolute Pose Regressors (APRs) directly estimate camera poses from monocular images, but their accuracy is unstable for different queries. Uncertainty-aware APRs provide uncertainty information on the estimated pose, alleviating the impact of these unreliable predictions. However, existing uncertainty modelling techniques are often coupled with a specific APR architecture, resulting in suboptimal performance compared to state-of-the-art (SOTA) APR methods. This work introduces a novel APR-agnostic framework, HR-APR, that formulates uncertainty estimation as cosine similarity estimation between the query and database features. It does not rely on or affect APR network architecture, which is flexible and computationally efficient. In addition, we take advantage of the uncertainty for pose refinement to enhance the performance of APR. The extensive experiments demonstrate the effectiveness of our framework, reducing 27.4\% and 15.2\% of computational overhead on the 7Scenes and Cambridge Landmarks datasets while maintaining the SOTA accuracy in single-image APRs.

Yukun Zhao, Lingyong Yan, Zhenyang Li et al. · baidu

Large language models have achieved remarkable success in various tasks. However, it is challenging for them to learn new tasks incrementally due to catastrophic forgetting. Existing approaches rely on experience replay, optimization constraints, or task differentiation, which encounter strict limitations in real-world scenarios. To address these issues, we propose Joint Flashback Adaptation. We first introduce flashbacks -- a limited number of prompts from old tasks -- when adapting to new tasks and constrain the deviations of the model outputs compared to the original one. We then interpolate latent tasks between flashbacks and new tasks to enable jointly learning relevant latent tasks, new tasks, and flashbacks, alleviating data sparsity in flashbacks and facilitating knowledge sharing for smooth adaptation. Our method requires only a limited number of flashbacks without access to the replay data and is task-agnostic. We conduct extensive experiments on state-of-the-art large language models across 1000+ instruction-following tasks, arithmetic reasoning tasks, and general reasoning tasks. The results demonstrate the superior performance of our method in improving generalization on new tasks and reducing forgetting in old tasks.

Changkun Liu, Yukun Zhao, Tristan Braud

Recent years have seen significant improvement in absolute camera pose estimation, paving the way for pervasive markerless Augmented Reality (AR). However, accurate absolute pose estimation techniques are computation- and storage-heavy, requiring computation offloading. As such, AR systems rely on visual-inertial odometry (VIO) to track the device's relative pose between requests to the server. However, VIO suffers from drift, requiring frequent absolute repositioning. This paper introduces MobileARLoc, a new framework for on-device large-scale markerless mobile AR that combines an absolute pose regressor (APR) with a local VIO tracking system. Absolute pose regressors (APRs) provide fast on-device pose estimation at the cost of reduced accuracy. To address APR accuracy and reduce VIO drift, MobileARLoc creates a feedback loop where VIO pose estimations refine the APR predictions. The VIO system identifies reliable predictions of APR, which are then used to compensate for the VIO drift. We comprehensively evaluate MobileARLoc through dataset simulations. MobileARLoc halves the error compared to the underlying APR and achieve fast (80\,ms) on-device inference speed.