Suofei Feng
Publications
PISCO: Precise Video Instance Insertion with Sparse Control
The landscape of AI video generation is undergoing a pivotal shift: moving beyond general generation - which relies on exhaustive prompt-engineering and "cherry-picking" - towards fine-grained, controllable generation and high-fidelity post-processing. In professional AI-assisted filmmaking, it is crucial to perform precise, targeted modifications. A cornerstone of this transition is video instance insertion, which requires inserting a specific instance into existing footage while maintaining scene integrity. Unlike traditional video editing, this task demands several requirements: precise spatial-temporal placement, physically consistent scene interaction, and the faithful preservation of original dynamics - all achieved under minimal user effort. In this paper, we propose PISCO, a video diffusion model for precise video instance insertion with arbitrary sparse keyframe control. PISCO allows users to specify a single keyframe, start-and-end keyframes, or sparse keyframes at arbitrary timestamps, and automatically propagates object appearance, motion, and interaction. To address the severe distribution shift induced by sparse conditioning in pretrained video diffusion models, we introduce Variable-Information Guidance for robust conditioning and Distribution-Preserving Temporal Masking to stabilize temporal generation, together with geometry-aware conditioning for realistic scene adaptation. We further construct PISCO-Bench, a benchmark with verified instance annotations and paired clean background videos, and evaluate performance using both reference-based and reference-free perceptual metrics. Experiments demonstrate that PISCO consistently outperforms strong inpainting and video editing baselines under sparse control, and exhibits clear, monotonic performance improvements as additional control signals are provided. Project page: xiangbogaobarry.github.io/PISCO.
Traversal-as-Policy: Log-Distilled Gated Behavior Trees as Externalized, Verifiable Policies for Safe, Robust, and Efficient Agents
Autonomous LLM agents fail because long-horizon policy remains implicit in model weights and transcripts, while safety is retrofitted post hoc. We propose Traversal-as-Policy: distill sandboxed OpenHands execution logs into a single executable Gated Behavior Tree (GBT) and treat tree traversal -- rather than unconstrained generation -- as the control policy whenever a task is in coverage. Each node encodes a state-conditioned action macro mined and merge-checked from successful trajectories; macros implicated by unsafe traces attach deterministic pre-execution gates over structured tool context and bounded history, updated under experience-grounded monotonicity so previously rejected unsafe contexts cannot be re-admitted. At runtime, a lightweight traverser matches the base model's intent to child macros, executes one macro at a time under global and node-local gating, and when stalled performs risk-aware shortest-path recovery to a feasible success leaf; the visited path forms a compact spine memory that replaces transcript replay. Evaluated in a unified OpenHands sandbox on 15+ software, web, reasoning, and safety/security benchmarks, GBT improves success while driving violations toward zero and reducing cost. On SWE-bench Verified (Protocol A, 500 issues), GBT-SE raises success from 34.6% to 73.6%, reduces violations from 2.8% to 0.2%, and cuts token/character usage from 208k/820k to 126k/490k; with the same distilled tree, 8B executors more than double success on SWE-bench Verified (14.0%58.8%) and WebArena (9.1%37.3%).