Simon C.H. Yu

Ayoosh Bansal, Hunmin Kim, Simon Yu et al.

Perception of obstacles remains a critical safety concern for autonomous vehicles. Real-world collisions have shown that the autonomy faults leading to fatal collisions originate from obstacle existence detection. Open source autonomous driving implementations show a perception pipeline with complex interdependent Deep Neural Networks. These networks are not fully verifiable, making them unsuitable for safety-critical tasks. In this work, we present a safety verification of an existing LiDAR based classical obstacle detection algorithm. We establish strict bounds on the capabilities of this obstacle detection algorithm. Given safety standards, such bounds allow for determining LiDAR sensor properties that would reliably satisfy the standards. Such analysis has as yet been unattainable for neural network based perception systems. We provide a rigorous analysis of the obstacle detection system with empirical results based on real-world sensor data.

Ayoosh Bansal, Hunmin Kim, Simon Yu et al.

Advances in deep learning have revolutionized cyber-physical applications, including the development of Autonomous Vehicles. However, real-world collisions involving autonomous control of vehicles have raised significant safety concerns regarding the use of Deep Neural Networks (DNN) in safety-critical tasks, particularly Perception. The inherent unverifiability of DNNs poses a key challenge in ensuring their safe and reliable operation. In this work, we propose Perception Simplex (PS), a fault-tolerant application architecture designed for obstacle detection and collision avoidance. We analyze an existing LiDAR-based classical obstacle detection algorithm to establish strict bounds on its capabilities and limitations. Such analysis and verification have not been possible for deep learning-based perception systems yet. By employing verifiable obstacle detection algorithms, PS identifies obstacle existence detection faults in the output of unverifiable DNN-based object detectors. When faults with potential collision risks are detected, appropriate corrective actions are initiated. Through extensive analysis and software-in-the-loop simulations, we demonstrate that PS provides predictable and deterministic fault tolerance against obstacle existence detection faults, establishing a robust safety guarantee.

Chaoxing Huang, Yurui Qian, Simon Chun Ho Yu et al.

$T_{1ρ}$ mapping is a promising quantitative MRI technique for the non-invasive assessment of tissue properties. Learning-based approaches can map $T_{1ρ}$ from a reduced number of $T_{1ρ}$ weighted images, but requires significant amounts of high quality training data. Moreover, existing methods do not provide the confidence level of the $T_{1ρ}$ estimation. To address these problems, we proposed a self-supervised learning neural network that learns a $T_{1ρ}$ mapping using the relaxation constraint in the learning process. Epistemic uncertainty and aleatoric uncertainty are modelled for the $T_{1ρ}$ quantification network to provide a Bayesian confidence estimation of the $T_{1ρ}$ mapping. The uncertainty estimation can also regularize the model to prevent it from learning imperfect data. We conducted experiments on $T_{1ρ}$ data collected from 52 patients with non-alcoholic fatty liver disease. The results showed that our method outperformed the existing methods for $T_{1ρ}$ quantification of the liver using as few as two $T_{1ρ}$-weighted images. Our uncertainty estimation provided a feasible way of modelling the confidence of the self-supervised learning based $T_{1ρ}$ estimation, which is consistent with the reality in liver $T_{1ρ}$ imaging.

Seungjun Moon, Sangjoon Yu, Gyeong-Moon Park

The rapid advancement of neural radiance fields (NeRF) has paved the way to generate animatable human avatars from a monocular video. However, the sole usage of NeRF suffers from a lack of details, which results in the emergence of hybrid representation that utilizes SMPL-based mesh together with NeRF representation. While hybrid-based models show photo-realistic human avatar generation qualities, they suffer from extremely slow inference due to their deformation scheme: to be aligned with the mesh, hybrid-based models use the deformation based on SMPL skinning weights, which needs high computational costs on each sampled point. We observe that since most of the sampled points are located in empty space, they do not affect the generation quality but result in inference latency with deformation. In light of this observation, we propose EPSilon, a hybrid-based 3D avatar generation scheme with novel efficient point sampling strategies that boost both training and inference. In EPSilon, we propose two methods to omit empty points at rendering; empty ray omission (ERO) and empty interval omission (EIO). In ERO, we wipe out rays that progress through the empty space. Then, EIO narrows down the sampling interval on the ray, which wipes out the region not occupied by either clothes or mesh. The delicate sampling scheme of EPSilon enables not only great computational cost reduction during deformation but also the designation of the important regions to be sampled, which enables a single-stage NeRF structure without hierarchical sampling. Compared to existing methods, EPSilon maintains the generation quality while using only 3.9% of sampled points and achieves around 20 times faster inference, together with 4 times faster training convergence. We provide video results on https://github.com/seungjun-moon/epsilon.

Bo Liu, Leon Guertler, Simon Yu et al. · pku

Recent advances in reinforcement learning have shown that language models can develop sophisticated reasoning through training on tasks with verifiable rewards, but these approaches depend on human-curated problem-answer pairs and domain-specific reward engineering. We introduce SPIRAL, a self-play framework where models learn by playing multi-turn, zero-sum games against continuously improving versions of themselves, eliminating the need for human supervision. Through self-play, SPIRAL generates an infinite curriculum of progressively challenging problems as models must constantly adapt to stronger opponents. To enable this self-play training at scale, We implement a fully online, multi-turn, multi-agent reinforcement learning system for LLMs and propose role-conditioned advantage estimation (RAE) to stabilize multi-agent training. Using SPIRAL, self-play on zero-sum games produces reasoning capabilities that transfer broadly. Training Qwen3-4B-Base on Kuhn Poker alone achieves 8.6% improvement on math and 8.4% on general reasoning, outperforming SFT on 25,000 expert game trajectories. Analysis reveals that this transfer occurs through three cognitive patterns: systematic decomposition, expected value calculation, and case-by-case analysis. Multi-game training (TicTacToe, Kuhn Poker, Simple Negotiation) further enhances performance as each game develops distinct reasoning strengths. Applying SPIRAL to a strong reasoning model (DeepSeek-R1-Distill-Qwen-7B) can still lead to 2.0% average improvement. These results demonstrate that zero-sum games naturally develop transferable reasoning capabilities, highlighting a promising direction for autonomous reasoning development.

Weixin Chen, Simon Yu, Huajie Shao et al.

End-to-end deep neural networks have achieved remarkable success across various domains but are often criticized for their lack of interpretability. While post hoc explanation methods attempt to address this issue, they often fail to accurately represent these black-box models, resulting in misleading or incomplete explanations. To overcome these challenges, we propose an inherently transparent model architecture called Neural Probabilistic Circuits (NPCs), which enable compositional and interpretable predictions through logical reasoning. In particular, an NPC consists of two modules: an attribute recognition model, which predicts probabilities for various attributes, and a task predictor built on a probabilistic circuit, which enables logical reasoning over recognized attributes to make class predictions. To train NPCs, we introduce a three-stage training algorithm comprising attribute recognition, circuit construction, and joint optimization. Moreover, we theoretically demonstrate that an NPC's error is upper-bounded by a linear combination of the errors from its modules. To further demonstrate the interpretability of NPC, we provide both the most probable explanations and the counterfactual explanations. Empirical results on four benchmark datasets show that NPCs strike a balance between interpretability and performance, achieving results competitive even with those of end-to-end black-box models while providing enhanced interpretability.

Jiayi Zhang, Simon Yu, Derek Chong et al.

Post-training alignment often reduces LLM diversity, leading to a phenomenon known as mode collapse. Unlike prior work that attributes this effect to algorithmic limitations, we identify a fundamental, pervasive data-level driver: typicality bias in preference data, whereby annotators systematically favor familiar text as a result of well-established findings in cognitive psychology. We formalize this bias theoretically, verify it on preference datasets empirically, and show that it plays a central role in mode collapse. Motivated by this analysis, we introduce Verbalized Sampling, a simple, training-free prompting strategy to circumvent mode collapse. VS prompts the model to verbalize a probability distribution over a set of responses (e.g., "Generate 5 jokes about coffee and their corresponding probabilities"). Comprehensive experiments show that VS significantly improves performance across creative writing (poems, stories, jokes), dialogue simulation, open-ended QA, and synthetic data generation, without sacrificing factual accuracy and safety. For instance, in creative writing, VS increases diversity by 1.6-2.1x over direct prompting. We further observe an emergent trend that more capable models benefit more from VS. In sum, our work provides a new data-centric perspective on mode collapse and a practical inference-time remedy that helps unlock pre-trained generative diversity.

Simon Yu, Peilin Yu, Hongbo Zheng et al.

We present VISAT, a novel open dataset and benchmarking suite for evaluating model robustness in the task of traffic sign recognition with the presence of visual attributes. Built upon the Mapillary Traffic Sign Dataset (MTSD), our dataset introduces two benchmarks that respectively emphasize robustness against adversarial attacks and distribution shifts. For our adversarial attack benchmark, we employ the state-of-the-art Projected Gradient Descent (PGD) method to generate adversarial inputs and evaluate their impact on popular models. Additionally, we investigate the effect of adversarial attacks on attribute-specific multi-task learning (MTL) networks, revealing spurious correlations among MTL tasks. The MTL networks leverage visual attributes (color, shape, symbol, and text) that we have created for each traffic sign in our dataset. For our distribution shift benchmark, we utilize ImageNet-C's realistic data corruption and natural variation techniques to perform evaluations on the robustness of both base and MTL models. Moreover, we further explore spurious correlations among MTL tasks through synthetic alterations of traffic sign colors using color quantization techniques. Our experiments focus on two major backbones, ResNet-152 and ViT-B/32, and compare the performance between base and MTL models. The VISAT dataset and benchmarking framework contribute to the understanding of model robustness for traffic sign recognition, shedding light on the challenges posed by adversarial attacks and distribution shifts. We believe this work will facilitate advancements in developing more robust models for real-world applications in autonomous driving and cyber-physical systems.

Simon Yu, Gang Li, Weiyan Shi et al.

Large language models (LLMs) are moving beyond static uses and are now powering agents that learn continually during their interaction with external environments. For example, agents can learn reusable skills while navigating web pages or toggling new tools. However, existing methods for skill learning often create skills that are over-specialized to a single website and fail to generalize. We introduce PolySkill, a new framework that enables agents to learn generalizable and compositional skills. The core idea, inspired by polymorphism in software engineering, is to decouple a skill's abstract goal (what it accomplishes) and its concrete implementation (how it is executed). Experiments show that our method (1) improves skill reuse by 1.7x on seen websites and (2) boosts success rates by up to 9.4% on Mind2Web and 13.9% on unseen websites, while reducing steps by over 20%. (3) In self-exploration settings without specified tasks, our framework improves the quality of proposed tasks and enables agents to learn generalizable skills that work across different sites. By enabling the agent to identify and refine its own goals, the PolySkill enhances the agent's ability to learn a better curriculum, leading to the acquisition of more generalizable skills compared to baseline methods. This work provides a practical path toward building agents capable of continual learning in adaptive environments. Our findings show that separating a skill's goal from its execution is a crucial step toward developing autonomous agents that can learn and generalize across the open web continuously.

Jie He, Simon Yu, Deyi Xiong et al.

Recent advancements of in-context learning (ICL) show language models can significantly improve their performance when demonstrations are provided. However, little attention has been paid to model calibration and prediction confidence of ICL in cross-lingual scenarios. To bridge this gap, we conduct a thorough analysis of ICL for cross-lingual sentiment classification. Our findings suggest that ICL performs poorly in cross-lingual scenarios, exhibiting low accuracy and presenting high calibration errors. In response, we propose a novel approach, N2C2, which employs a -nearest neighbors augmented classifier for prediction confidence calibration. N2C2 narrows the prediction gap by leveraging a datastore of cached few-shot instances. Specifically, N2C2 integrates the predictions from the datastore and incorporates confidence-aware distribution, semantically consistent retrieval representation, and adaptive neighbor combination modules to effectively utilize the limited number of supporting instances. Evaluation on two multilingual sentiment classification datasets demonstrates that N2C2 outperforms traditional ICL. It surpasses fine tuning, prompt tuning and recent state-of-the-art methods in terms of accuracy and calibration errors.

Pinzhen Chen, Simon Yu, Zhicheng Guo et al.

Multilingual large language models are designed, claimed, and expected to cater to speakers of varied languages. We hypothesise that the current practices of fine-tuning and evaluating these models may not perfectly align with this objective owing to a heavy reliance on translation, which cannot cover language-specific knowledge but can introduce translation defects. It remains unknown whether the nature of the instruction data has an impact on the model output; conversely, it is questionable whether translated test sets can capture such nuances. Due to the often coupled practices of using translated data in both stages, such imperfections could have been overlooked. This work investigates these issues using controlled native or translated data during the instruction tuning and evaluation stages. We show that native or generation benchmarks reveal a notable difference between native and translated instruction data especially when model performance is high, whereas other types of test sets cannot. The comparison between round-trip and single-pass translations reflects the importance of knowledge from language-native resources. Finally, we demonstrate that regularization is beneficial to bridging this gap on structured but not generative tasks.

Jiyang Chen, Simon Yu, Rohan Tabish et al.

Object detection in state-of-the-art Autonomous Vehicles (AV) framework relies heavily on deep neural networks. Typically, these networks perform object detection uniformly on the entire camera LiDAR frames. However, this uniformity jeopardizes the safety of the AV by giving the same priority to all objects in the scenes regardless of their risk of collision to the AV. In this paper, we present a new end-to-end pipeline for AV that introduces the concept of LiDAR cluster first and camera inference later to detect and classify objects. The benefits of our proposed framework are twofold. First, our pipeline prioritizes detecting objects that pose a higher risk of collision to the AV, giving more time for the AV to react to unsafe conditions. Second, it also provides, on average, faster inference speeds compared to popular deep neural network pipelines. We design our framework using the real-world datasets, the Waymo Open Dataset, solving challenges arising from the limitations of LiDAR sensors and object detection algorithms. We show that our novel object detection pipeline prioritizes the detection of higher risk objects while simultaneously achieving comparable accuracy and a 25% higher average speed compared to camera inference only.

Jin Hong, Simon Chun-Ho Yu, Weitian Chen

Liver segmentation on images acquired using computed tomography (CT) and magnetic resonance imaging (MRI) plays an important role in clinical management of liver diseases. Compared to MRI, CT images of liver are more abundant and readily available. However, MRI can provide richer quantitative information of the liver compared to CT. Thus, it is desirable to achieve unsupervised domain adaptation for transferring the learned knowledge from the source domain containing labeled CT images to the target domain containing unlabeled MR images. In this work, we report a novel unsupervised domain adaptation framework for cross-modality liver segmentation via joint adversarial learning and self-learning. We propose joint semantic-aware and shape-entropy-aware adversarial learning with post-situ identification manner to implicitly align the distribution of task-related features extracted from the target domain with those from the source domain. In proposed framework, a network is trained with the above two adversarial losses in an unsupervised manner, and then a mean completer of pseudo-label generation is employed to produce pseudo-labels to train the next network (desired model). Additionally, semantic-aware adversarial learning and two self-learning methods, including pixel-adaptive mask refinement and student-to-partner learning, are proposed to train the desired model. To improve the robustness of the desired model, a low-signal augmentation function is proposed to transform MRI images as the input of the desired model to handle hard samples. Using the public data sets, our experiments demonstrated the proposed unsupervised domain adaptation framework reached four supervised learning methods with a Dice score 0.912 plus or minus 0.037 (mean plus or minus standard deviation).

Liping Zhang, Simon Chun-Ho Yu

Accurate liver and lesion segmentation from computed tomography (CT) images are highly demanded in clinical practice for assisting the diagnosis and assessment of hepatic tumor disease. However, automatic liver and lesion segmentation from contrast-enhanced CT volumes is extremely challenging due to the diversity in contrast, resolution, and quality of images. Previous methods based on UNet for 2D slice-by-slice or 3D volume-by-volume segmentation either lack sufficient spatial contexts or suffer from high GPU computational cost, which limits the performance. To tackle these issues, we propose a novel context-aware PolyUNet for accurate liver and lesion segmentation. It jointly explores structural diversity and consecutive t-adjacent slices to enrich feature expressive power and spatial contextual information while avoiding the overload of GPU memory consumption. In addition, we utilize zoom out/in and two-stage refinement strategy to exclude the irrelevant contexts and focus on the specific region for the fine-grained segmentation. Our method achieved very competitive performance at the MICCAI 2017 Liver Tumor Segmentation (LiTS) Challenge among all tasks with a single model and ranked the $3^{rd}$, $12^{th}$, $2^{nd}$, and $5^{th}$ places in the liver segmentation, lesion segmentation, lesion detection, and tumor burden estimation, respectively.

Patrick Bilic, Patrick Christ, Hongwei Bran Li et al.

In this work, we report the set-up and results of the Liver Tumor Segmentation Benchmark (LiTS), which was organized in conjunction with the IEEE International Symposium on Biomedical Imaging (ISBI) 2017 and the International Conferences on Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2017 and 2018. The image dataset is diverse and contains primary and secondary tumors with varied sizes and appearances with various lesion-to-background levels (hyper-/hypo-dense), created in collaboration with seven hospitals and research institutions. Seventy-five submitted liver and liver tumor segmentation algorithms were trained on a set of 131 computed tomography (CT) volumes and were tested on 70 unseen test images acquired from different patients. We found that not a single algorithm performed best for both liver and liver tumors in the three events. The best liver segmentation algorithm achieved a Dice score of 0.963, whereas, for tumor segmentation, the best algorithms achieved Dices scores of 0.674 (ISBI 2017), 0.702 (MICCAI 2017), and 0.739 (MICCAI 2018). Retrospectively, we performed additional analysis on liver tumor detection and revealed that not all top-performing segmentation algorithms worked well for tumor detection. The best liver tumor detection method achieved a lesion-wise recall of 0.458 (ISBI 2017), 0.515 (MICCAI 2017), and 0.554 (MICCAI 2018), indicating the need for further research. LiTS remains an active benchmark and resource for research, e.g., contributing the liver-related segmentation tasks in \url{http://medicaldecathlon.com/}. In addition, both data and online evaluation are accessible via \url{www.lits-challenge.com}.