Xi Wang
Publications
ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies
Generalist manipulation policies are increasingly presented as foundation models for robotic control, but their real-world generalization remains difficult to diagnose. A policy may succeed on demonstrated tasks while still failing to execute fine-grained atomic skills or recombine learned skills in new task structures. We introduce \textbf{ATOM-Bench}, a real-world benchmark for evaluating both atomic skills and compositional generalization in manipulation policies. ATOM-Bench factorizes tabletop manipulation into motor atoms and instruction atoms, and contains 30 atomic tasks and 24 held-out compositional tasks across paired single-arm and dual-arm robot tracks. We collect 3,000 human demonstrations for atomic fine-tuning and release both the demonstration data and evaluation rollout data to support reproducible real-world evaluation. Policies are fine-tuned on atomic tasks and evaluated on both atomic skill acquisition and held-out compositional tasks. We further introduce Atomic Score (AS) and Compositional Failure Share (CFS) to distinguish failures caused by weak atomic skills from failures caused by limited compositional reuse. Through 2,700 physical rollouts on five representative manipulation policies, we find that current policies can acquire simple instruction-grounding skills, but still struggle with fine-grained motor atoms, counting, and logical filtering. More importantly, strong atomic performance does not reliably transfer to held-out compositional tasks. ATOM-Bench provides a diagnostic testbed for studying whether failures arise from weak motor execution, poor instruction grounding, or limited compositional reuse.
A Tale of Two Temperatures: Simple, Efficient, and Diverse Sampling from Diffusion Language Models
Much work has been done on designing fast and accurate sampling for diffusion language models (dLLMs). However, these efforts have largely focused on the tradeoff between speed and quality of individual samples; how to additionally ensure diversity across samples remains less well understood. In this work, we show that diversity can be increased by using softened, tempered versions of familiar confidence-based remasking heuristics, retaining their computational benefits and offering simple implementations. We motivate this approach by introducing an idealized formal model of fork tokens and studying the impact of remasking on the expected entropy at the forks. Empirically, the proposed tempered heuristics close the exploration gap (pass@k) between existing confidence-based and autoregressive sampling, hence outperforming both when controlling for cost (pass@NFE). We further study how the increase in diversity translates to downstream post-training and test-time compute scaling. Overall, our findings demonstrate that simple, efficient, and diverse sampling from dLLMs is possible.
The Myth of Expert Specialization in MoEs: Why Routing Reflects Geometry, Not Necessarily Domain Expertise
Mixture of Experts (MoEs) are now ubiquitous in large language models, yet the mechanisms behind their "expert specialization" remain poorly understood. We show that, since MoE routers are linear maps, hidden state similarity is both necessary and sufficient to explain expert usage similarity, and specialization is therefore an emergent property of the representation space, not of the routing architecture itself. We confirm this at both token and sequence level across five pre-trained models. We additionally prove that load-balancing loss suppresses shared hidden state directions to maintain routing diversity, which might provide a theoretical explanation for specialization collapse under less diverse data, e.g. small batch. Despite this clean mechanistic account, we find that specialization patterns in pre-trained MoEs resist human interpretation: expert overlap between different models answering the same question is no higher than between entirely different questions ($\sim$60\%); prompt-level routing does not predict rollout-level routing; and deeper layers exhibit near-identical expert activation across semantically unrelated inputs, especially in reasoning models. We conclude that, while the efficiency perspective of MoEs is well understood, understanding expert specialization is at least as hard as understanding LLM hidden state geometry, a long-standing open problem in the literature.