Yuxuan Li

Yuxuan Li, Leyang Li, Hao-Ping Lee et al.

A growing body of research assumes that large language model (LLM) agents can serve as proxies for how people form attitudes toward and behave in response to security and privacy (S&P) threats. If correct, these simulations could offer a scalable way to forecast S&P risks in products prior to deployment. We interrogate this assumption using SP-ABCBench, a new benchmark of 30 tests derived from validated S&P human-subject studies, which measures alignment between simulations and human-subjects studies on a 0-100 ascending scale, where higher scores indicate better alignment across three dimensions: Attitude, Behavior, and Coherence. Evaluating twelve LLMs, four persona construction strategies, and two prompting methods, we found that there remains substantial room for improvement: all models score between 50 and 64 on average. Newer, bigger, and smarter models do not reliably do better and sometimes do worse. Some simulation configurations, however, do yield high alignment: e.g., with scores above 95 for some behavior tests when agents are prompted to apply bounded rationality and weigh privacy costs against perceived benefits. We release SP-ABCBench to enable reproducible evaluation as methods improve.

Yuxuan Li, Vijay Veerabadran, Michael L. Iuzzolino et al.

We introduce EgoToM, a new video question-answering benchmark that extends Theory-of-Mind (ToM) evaluation to egocentric domains. Using a causal ToM model, we generate multi-choice video QA instances for the Ego4D dataset to benchmark the ability to predict a camera wearer's goals, beliefs, and next actions. We study the performance of both humans and state of the art multimodal large language models (MLLMs) on these three interconnected inference problems. Our evaluation shows that MLLMs achieve close to human-level accuracy on inferring goals from egocentric videos. However, MLLMs (including the largest ones we tested with over 100B parameters) fall short of human performance when inferring the camera wearers' in-the-moment belief states and future actions that are most consistent with the unseen video future. We believe that our results will shape the future design of an important class of egocentric digital assistants which are equipped with a reasonable model of the user's internal mental states.

Jianhua Sun, Jiude Wei, Yuxuan Li et al.

We human rely on a wide range of commonsense knowledge to interact with an extensive number and categories of objects in the physical world. Likewise, such commonsense knowledge is also crucial for robots to successfully develop generalized object manipulation skills. While recent advancements in Large Language Models (LLM) have showcased their impressive capabilities in acquiring commonsense knowledge and conducting commonsense reasoning, effectively grounding this semantic-level knowledge produced by LLMs to the physical world to thoroughly guide robots in generalized articulated object manipulation remains a challenge that has not been sufficiently addressed. To this end, we introduce analytic concepts, procedurally defined upon mathematical symbolism that can be directly computed and simulated by machines. By leveraging the analytic concepts as a bridge between the semantic-level knowledge inferred by LLMs and the physical world where real robots operate, we are able to figure out the knowledge of object structure and functionality with physics-informed representations, and then use the physically grounded knowledge to instruct robot control policies for generalized, interpretable and accurate articulated object manipulation. Extensive experiments in both simulation and real-world environments demonstrate the superiority of our approach.

Jianhua Sun, Yuxuan Li, Longfei Xu et al.

We present ConceptFactory, a novel scope to facilitate more efficient annotation of 3D object knowledge by recognizing 3D objects through generalized concepts (i.e. object conceptualization), aiming at promoting machine intelligence to learn comprehensive object knowledge from both vision and robotics aspects. This idea originates from the findings in human cognition research that the perceptual recognition of objects can be explained as a process of arranging generalized geometric components (e.g. cuboids and cylinders). ConceptFactory consists of two critical parts: i) ConceptFactory Suite, a unified toolbox that adopts Standard Concept Template Library (STL-C) to drive a web-based platform for object conceptualization, and ii) ConceptFactory Asset, a large collection of conceptualized objects acquired using ConceptFactory suite. Our approach enables researchers to effortlessly acquire or customize extensive varieties of object knowledge to comprehensively study different object understanding tasks. We validate our idea on a wide range of benchmark tasks from both vision and robotics aspects with state-of-the-art algorithms, demonstrating the high quality and versatility of annotations provided by our approach. Our website is available at https://apeirony.github.io/ConceptFactory.