Yuqiang Li
Publications
RoboAlign-R1: Distilled Multimodal Reward Alignment for Robot Video World Models
Existing robot video world models are typically trained with low-level objectives such as reconstruction and perceptual similarity, which are poorly aligned with the capabilities that matter most for robot decision making, including instruction following, manipulation success, and physical plausibility. They also suffer from error accumulation in long-horizon autoregressive prediction. We present RoboAlign-R1, a framework that combines reward-aligned post-training with stabilized long-horizon inference for robot video world models. We construct RobotWorldBench, a benchmark of 10,000 annotated video-instruction pairs collected from four robot data sources, and train a multimodal teacher judge, RoboAlign-Judge, to provide fine-grained six-dimensional evaluation of generated videos. We then distill the teacher into a lightweight student reward model for efficient reinforcement-learning-based post-training. To reduce long-horizon rollout drift, we further introduce Sliding Window Re-encoding (SWR), a training-free inference strategy that periodically refreshes the generation context. Under our in-domain evaluation protocol, RoboAlign-R1 improves the aggregate six-dimension score by 10.1% over the strongest baseline, including gains of 7.5% on Manipulation Accuracy and 4.6% on Instruction Following; these ranking improvements are further supported by an external VLM-based cross-check and a blinded human study. Meanwhile, SWR improves long-horizon prediction quality with only about 1% additional latency, yielding a 2.8% gain in SSIM and a 9.8% reduction in LPIPS. Together, these results show that reward-aligned post-training and stabilized long-horizon decoding improve task consistency, physical realism, and long-horizon prediction quality in robot video world models.
ChemLLM: A Chemical Large Language Model
Large language models (LLMs) have made impressive progress in chemistry applications. However, the community lacks an LLM specifically designed for chemistry. The main challenges are two-fold: firstly, most chemical data and scientific knowledge are stored in structured databases, which limits the model's ability to sustain coherent dialogue when used directly. Secondly, there is an absence of objective and fair benchmark that encompass most chemistry tasks. Here, we introduce ChemLLM, a comprehensive framework that features the first LLM dedicated to chemistry. It also includes ChemData, a dataset specifically designed for instruction tuning, and ChemBench, a robust benchmark covering nine essential chemistry tasks. ChemLLM is adept at performing various tasks across chemical disciplines with fluid dialogue interaction. Notably, ChemLLM achieves results comparable to GPT-4 on the core chemical tasks and demonstrates competitive performance with LLMs of similar size in general scenarios. ChemLLM paves a new path for exploration in chemical studies, and our method of incorporating structured chemical knowledge into dialogue systems sets a new standard for developing LLMs in various scientific fields. Codes, Datasets, and Model weights are publicly accessible at https://hf.co/AI4Chem