Xinyun Wang

Shuaijie She, Shujian Huang, Xingyun Wang et al.

LLMs (Large Language Models) usually interact with users in the form of dialogue and generate responses following their instructions, which naturally require dialogue comprehension abilities. However, dialogue comprehension is a general language ability which is hard to be evaluated directly. In this work, we propose to perform the evaluation focusing on the factual consistency issue with the help of the dialogue summarization task. Besides evaluating and analyzing the dialogue summarization performance (DIAC-Sum) of different LLMs, we also derive factual questions from the generated summaries and use them as a more flexible measurement of dialogue comprehension (DIAC-QA). Our evaluation shows that, on average, 26.8% of the summaries generated by LLMs contain factual inconsistency. Even ChatGPT, the strongest model evaluated, has such errors in 16% of its summaries. For answering the factual questions, which is more challenging, the average error rate of all evaluated LLMs is 36.1%. Both results indicate serious deficiencies. Detailed analysis shows that the understanding of subject/object of the conversation is still challenging for LLMs. Furthermore, to stimulate and enhance the dialogue comprehension ability of LLMs, we propose a fine-tuning paradigm with auto-constructed multi-task data, which achieved a relative error rate reduction of 11% on DIAC-QA.

Yikai Zhou, Xingyun Wang, Jieming Cui et al.

Unified humanoid policies handle agile whole-body motion, yet stumble on a simple demand: staying balanced on one leg. On our single-leg-balance benchmark, eight released state-of-the-art general policies hold a clean single-leg stance on 0 of 90 test motions; they stay up only by stepping or hopping, recovering from imbalance rather than preventing it. Prevention needs the capture point (xCoM), the center of mass (CoM) extrapolated by its velocity, which has never driven a hardware policy because it requires a base linear velocity no on-board sensor provides; expressed relative to the support foot, that velocity cancels exactly, leaving an observation reconstructible from encoders and IMU alone. We put this first deployable dynamic-CoM observation directly into the actor that runs on hardware, and pair it with a reward library translated term by term from human postural control, under one principle: prevention over repair. Trained by asymmetric FastSAC with a privileged critic and no distillation, the resulting policy, FDDC (First Deployable Dynamic-CoM), holds clean single-leg balance on 86 of 90 held-out motions across nine stratified pose classes and transfers to a real Unitree G1; in ablation, the dynamic-CoM observation is the single largest driver: removing it alone costs 40 points of clean single-leg balance. We release the full stack with the first method-agnostic, reproducible sim2sim benchmark for humanoid single-leg balance, scoring each policy in a simulator distinct from its training one, a step toward turning balance from a per-task trick into a capability the field can measure.