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Researcher profile

Yuxiang Lu

Yuxiang Lu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computation and LanguageArtificial IntelligenceComputer VisionRobotics

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Published work

3 published item(s)

preprint2026arXiv

DreamAvoid: Critical-Phase Test-Time Dreaming to Avoid Failures in VLA Policies

Vision-Language-Action (VLA) models are often brittle in fine-grained manipulation, where minor action errors during the critical phases can rapidly escalate into irrecoverable failures. Since existing VLA models rely predominantly on successful demonstrations for training, they lack an explicit awareness of failure during these critical phases. To address this, we propose DreamAvoid, a critical-phase test-time dreaming framework that enables VLA models to anticipate and avoid failures. We also introduce an autonomous boundary learning paradigm to refine the system's understanding of the subtle boundary between success and failure. Specifically, we (1) utilize a Dream Trigger to determine whether the execution has entered a critical phase, (2) sample multiple candidate action chunks from the VLA via an Action Proposer, and (3) employ a Dream Evaluator, jointly trained on mixed data (success, failure, and boundary cases), to "dream" the short-horizon futures corresponding to the candidate actions, evaluate their values, and select the optimal action. We conduct extensive evaluations on real-world manipulation tasks and simulation benchmarks. The results demonstrate that DreamAvoid can effectively avoid failures, thereby improving the overall task success rate. Our code is available at https://github.com/XianzheFan/DreamAvoid.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

ERNIE-Search: Bridging Cross-Encoder with Dual-Encoder via Self On-the-fly Distillation for Dense Passage Retrieval

Neural retrievers based on pre-trained language models (PLMs), such as dual-encoders, have achieved promising performance on the task of open-domain question answering (QA). Their effectiveness can further reach new state-of-the-arts by incorporating cross-architecture knowledge distillation. However, most of the existing studies just directly apply conventional distillation methods. They fail to consider the particular situation where the teacher and student have different structures. In this paper, we propose a novel distillation method that significantly advances cross-architecture distillation for dual-encoders. Our method 1) introduces a self on-the-fly distillation method that can effectively distill late interaction (i.e., ColBERT) to vanilla dual-encoder, and 2) incorporates a cascade distillation process to further improve the performance with a cross-encoder teacher. Extensive experiments are conducted to validate that our proposed solution outperforms strong baselines and establish a new state-of-the-art on open-domain QA benchmarks.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

ERNIE-SPARSE: Learning Hierarchical Efficient Transformer Through Regularized Self-Attention

Sparse Transformer has recently attracted a lot of attention since the ability for reducing the quadratic dependency on the sequence length. We argue that two factors, information bottleneck sensitivity and inconsistency between different attention topologies, could affect the performance of the Sparse Transformer. This paper proposes a well-designed model named ERNIE-Sparse. It consists of two distinctive parts: (i) Hierarchical Sparse Transformer (HST) to sequentially unify local and global information. (ii) Self-Attention Regularization (SAR) method, a novel regularization designed to minimize the distance for transformers with different attention topologies. To evaluate the effectiveness of ERNIE-Sparse, we perform extensive evaluations. Firstly, we perform experiments on a multi-modal long sequence modeling task benchmark, Long Range Arena (LRA). Experimental results demonstrate that ERNIE-Sparse significantly outperforms a variety of strong baseline methods including the dense attention and other efficient sparse attention methods and achieves improvements by 2.77% (57.78% vs. 55.01%). Secondly, to further show the effectiveness of our method, we pretrain ERNIE-Sparse and verified it on 3 text classification and 2 QA downstream tasks, achieve improvements on classification benchmark by 0.83% (92.46% vs. 91.63%), on QA benchmark by 3.24% (74.67% vs. 71.43%). Experimental results continue to demonstrate its superior performance.

0 citations0 reviewsNo code linkedOpen access