Yuan Gao

Yuan Gao, Dengyuan Hua, Mattia Piccinini et al.

Vision Language Models (VLMs) bridge visual perception and linguistic reasoning. In Autonomous Driving (AD), this synergy has enabled Vision Language Action (VLA) models, which translate high-level multimodal understanding into driving behaviors, typically represented as future trajectories. However, existing VLA models mainly generate generic collision-free trajectories. Beyond collision avoidance, adapting to diverse driving styles (e.g., sporty, comfortable) is essential for personalized driving. Moreover, many methods treat trajectory generation as naive token prediction, which can produce kinematically infeasible actions. To address these limitations, we present StyleVLA, a physics-informed VLA framework for generating diverse and physically plausible driving behaviors. We introduce a hybrid loss that combines a kinematic consistency constraint with a continuous regression head to improve trajectory feasibility. To train StyleVLA, built on Qwen3-VL-4B, we construct a large-scale instruction dataset with over 1.2k scenarios, 76k Bird's Eye View (BEV) samples, and 42k First Person View (FPV) samples, with ground-truth trajectories for five driving styles and natural-language instructions. Experiments show that our 4B-parameter StyleVLA significantly outperforms proprietary models (e.g., Gemini-3-Pro) and state-of-the-art VLA models. Using a composite driving score measuring success rate, physical feasibility, and style adherence, StyleVLA achieves 0.55 on BEV and 0.51 on FPV, versus 0.32 and 0.35 for Gemini-3-Pro. These results show that a specialized, physics-informed, lightweight model can surpass closed-source models on domain-specific tasks.

Zi Haur Pang, Yahui Fu, Yuan Gao et al.

Emotional Validation is a psychotherapy communication technique that involves recognizing, understanding, and explicitly acknowledging another person's feelings and actions, which strengthens alliance and reduces negative affect. To maximize the emotional support provided by validation, it is crucial to deliver it with appropriate timing and frequency. This study investigates validation timing detection from the speech perspective. Leveraging both paralinguistic and emotional information, we propose a paralinguistic- and emotion-aware model for validation timing detection without relying on textual context. Specifically, we first conduct continued self-supervised training and fine-tuning on different HuBERT backbones to obtain (i) a paralinguistics-aware Self-Supervised Learning (SSL) encoder and (ii) a multi-task speech emotion classification encoder. We then fuse these encoders and further fine-tune the combined model on the downstream validation timing detection task. Experimental evaluations on the TUT Emotional Storytelling Corpus (TESC) compare multiple models, fusion mechanisms, and training strategies, and demonstrate that the proposed approach achieves significant improvements over conventional speech baselines. Our results indicate that non-linguistic speech cues, when integrated with affect-related representations, carry sufficient signal to decide when validation should be expressed, offering a speech-first pathway toward more empathetic human-robot interaction.