Chuheng Zhang
Publications
Learning Additively Compositional Latent Actions for Embodied AI
Latent action learning infers pseudo-action labels from visual transitions, providing an approach to leverage internet-scale video for embodied AI. However, most methods learn latent actions without structural priors that encode the additive, compositional structure of physical motion. As a result, latents often entangle irrelevant scene details or information about future observations with true state changes and miscalibrate motion magnitude. We introduce Additively Compositional Latent Action Model (AC-LAM), which enforces scene-wise additive composition structure over short horizons on the latent action space. These AC constraints encourage simple algebraic structure in the latent action space~(identity, inverse, cycle consistency) and suppress information that does not compose additively. Empirically, AC-LAM learns more structured, motion-specific, and displacement-calibrated latent actions and provides stronger supervision for downstream policy learning, outperforming state-of-the-art LAMs across simulated and real-world tabletop tasks.
ALOE: Action-Level Off-Policy Evaluation for Vision-Language-Action Model Post-Training
We study how to improve large foundation vision-language-action (VLA) systems through online reinforcement learning (RL) in real-world settings. Central to this process is the value function, which provides learning signals to guide VLA learning from experience. In practice, the value function is estimated from trajectory fragments collected from different data sources, including historical policies and intermittent human interventions. Estimating the value function of current behavior quality from the mixture data is inherently an off-policy evaluation problem. However, prior work often adopts conservative on-policy estimation for stability, which avoids direct evaluation of the current high-capacity policy and limits learning effectiveness. In this paper, we propose ALOE, an action-level off-policy evaluation framework for VLA post-training. ALOE applies chunking-based temporal-difference bootstrapping to evaluate individual action sequences instead of predicting final task outcomes. This design improves effective credit assignment to critical action chunks under sparse rewards and supports stable policy improvement. We evaluate our method on three real-world manipulation tasks, including smartphone packing as a high-precision task, laundry folding as a long-horizon deformable-object task, and bimanual pick-and-place involving multi-object perception. Across all tasks, ALOE improves learning efficiency without compromising execution speed, showing that off-policy RL can be reintroduced in a reliable manner for real-world VLA post-training. Videos and additional materials are available at our project website.
ChatAD: Reasoning-Enhanced Time-Series Anomaly Detection with Multi-Turn Instruction Evolution
LLM-driven Anomaly Detection (AD) helps enhance the understanding and explanatory abilities of anomalous behaviors in Time Series (TS). Existing methods face challenges of inadequate reasoning ability, deficient multi-turn dialogue capability, and narrow generalization. To this end, we 1) propose a multi-agent-based TS Evolution algorithm named TSEvol. On top of it, we 2) introduce the AD reasoning and multi-turn dialogue Dataset TSEData-20K and contribute the Chatbot family for AD, including ChatAD-Llama3-8B, Qwen2.5-7B, and Mistral-7B. Furthermore, 3) we propose the TS Kahneman-Tversky Optimization (TKTO) to enhance ChatAD's cross-task generalization capability. Lastly, 4) we propose a LLM-driven Learning-based AD Benchmark LLADBench to evaluate the performance of ChatAD and nine baselines across seven datasets and tasks. Our three ChatAD models achieve substantial gains, up to 34.50% in accuracy, 34.71% in F1, and a 37.42% reduction in false positives. Besides, via KTKO, our optimized ChatAD achieves competitive performance in reasoning and cross-task generalization on classification, forecasting, and imputation.