Hongyu Zhang
Publications
Rethinking Video Generation Model for the Embodied World
Video generation models have significantly advanced embodied intelligence, unlocking new possibilities for generating diverse robot data that capture perception, reasoning, and action in the physical world. However, synthesizing high-quality videos that accurately reflect real-world robotic interactions remains challenging, and the lack of a standardized benchmark limits fair comparisons and progress. To address this gap, we introduce a comprehensive robotics benchmark, RBench, designed to evaluate robot-oriented video generation across five task domains and four distinct embodiments. It assesses both task-level correctness and visual fidelity through reproducible sub-metrics, including structural consistency, physical plausibility, and action completeness. Evaluation of 25 representative models highlights significant deficiencies in generating physically realistic robot behaviors. Furthermore, the benchmark achieves a Spearman correlation coefficient of 0.96 with human evaluations, validating its effectiveness. While RBench provides the necessary lens to identify these deficiencies, achieving physical realism requires moving beyond evaluation to address the critical shortage of high-quality training data. Driven by these insights, we introduce a refined four-stage data pipeline, resulting in RoVid-X, the largest open-source robotic dataset for video generation with 4 million annotated video clips, covering thousands of tasks and enriched with comprehensive physical property annotations. Collectively, this synergistic ecosystem of evaluation and data establishes a robust foundation for rigorous assessment and scalable training of video models, accelerating the evolution of embodied AI toward general intelligence.
CORVUS: Red-Teaming Hallucination Detectors via Internal Signal Camouflage in Large Language Models
Single-pass hallucination detectors rely on internal telemetry (e.g., uncertainty, hidden-state geometry, and attention) of large language models, implicitly assuming hallucinations leave separable traces in these signals. We study a white-box, model-side adversary that fine-tunes lightweight LoRA adapters on the model while keeping the detector fixed, and introduce CORVUS, an efficient red-teaming procedure that learns to camouflage detector-visible telemetry under teacher forcing, including an embedding-space FGSM attention stress test. Trained on 1,000 out-of-distribution Alpaca instructions (<0.5% trainable parameters), CORVUS transfers to FAVA-Annotation across Llama-2, Vicuna, Llama-3, and Qwen2.5, and degrades both training-free detectors (e.g., LLM-Check) and probe-based detectors (e.g., SEP, ICR-probe), motivating adversary-aware auditing that incorporates external grounding or cross-model evidence.