Luyao Zhang

Qihang Zhang, Lin Li, Luyao Zhang et al.

The advent of video-action models offers a promising path for robot control. Nevertheless, we argue that repurposing video generative models designed for digital content creation is inherently inadequate for physical environments. To bridge this gap, we present LingBot-VA 2.0, a video-action foundation model built from the ground up for embodiment. Four core design principles showcase its evolution from LingBot-VA. (1) Departing from traditional reconstruction-focused VAEs, we introduce a semantic visual-action tokenizer, which aligns visual representations with both semantics and actions, improving instruction following and action precision in subsequent policy learning. (2) Given the strictly causal nature of temporal dynamics, we adopt a causal pretraining paradigm, training from scratch to circumvent the catastrophic forgetting that frequently occurs when adapting bidirectional architectures. (3) To meet the demands of high-frequency inference, our model employs a sparse MoE backbone, expanding model capacity without compromising efficiency. (4) Real-time closed-loop control is realized through an enhanced asynchronous inference scheme, which predicts future latents in parallel with action execution while re-grounding each rollout on the latest observation via learned forward dynamics. Real-world deployment validates LingBot-VA 2.0 as a robust foundation model, as evidenced by its few-shot generalization across complex manipulation tasks.

Shilin Ou, Yifan Xu, Luyao Zhang

As agentic AI systems are increasingly applied to cyber-physical environments, their evaluation requires assessment of both task performance and trustworthiness. In decentralized energy markets, autonomous agents may improve market utility, but may also exploit invalid physical data, create artificial liquidity, and produce unstable governance decisions. Therefore, we propose SolarChain-Eval, a physics-constrained benchmark for evaluating trustworthy economic agents. It formulates market governance as a Gymnasium-compatible Markov Decision Process, where agents make hourly decisions. SolarChain-Eval evaluates each policy across multiple dimensions, including market utility, physical safety, slippage, action smoothness, spatial fairness, and auditability. To support agentic evaluation, SolarChain-Eval incorporates an LLM-based Planner/Auditor layer. The Planner defines episode-level action bounds and audit rules, while the Auditor reviews and revises high-risk actions. All interventions are recorded through structured logs, including trigger signals, proposed actions, revised actions, and audit rationales. Experiments with static, random, myopic, RL, and RL+LLM policies reveal a clear utility-safety trade-off. RL agents improve market utility but can still produce unsafe behavior. When the physics penalty is removed, reward-maximizing agents exploit invalid generation and increase artificial liquidity. The LLM Planner/Auditor improves auditability and mitigates selected risks, but it cannot fully compensate for a misspecified reward function. These results indicate that trustworthy agentic AI evaluation requires both physical constraints and transparent intervention traces. We release data and code as open access on GitHub for replicability.