A Novel ViDAR Device With Visual Inertial Encoder Odometry and Reinforcement Learning-Based Active SLAM Method

In the field of multi-sensor fusion for simultaneous localization and mapping (SLAM), monocular cameras and IMUs are widely used to build simple and effective visual-inertial systems. However, limited research has explored the integration of motor-encoder devices to enhance SLAM performance. By incorporating such devices, it is possible to significantly improve active capability and field of view (FOV) with minimal additional cost and structural complexity. This paper proposes a novel visual-inertial-encoder tightly coupled odometry (VIEO) based on a ViDAR (Video Detection and Ranging) device. A ViDAR calibration method is introduced to ensure accurate initialization for VIEO. In addition, a platform motion decoupled active SLAM method based on deep reinforcement learning (DRL) is proposed. Experimental data demonstrate that the proposed ViDAR and the VIEO algorithm significantly increase cross-frame co-visibility relationships compared to its corresponding visual-inertial odometry (VIO) algorithm, improving state estimation accuracy. Additionally, the DRL-based active SLAM algorithm, with the ability to decouple from platform motion, can increase the diversity weight of the feature points and further enhance the VIEO algorithm's performance. The proposed methodology sheds fresh insights into both the updated platform design and decoupled approach of active SLAM systems in complex environments.

Attention-Based Map Encoding for Learning Generalized Legged Locomotion

Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds are sparse, robustness against uncertainties and disturbances, and generalizability across diverse terrains. While traditional model-based controllers excel at planning on complex terrains, they struggle with real-world uncertainties. Learning-based controllers offer robustness to such uncertainties but often lack precision on terrains with sparse steppable areas. Hybrid methods achieve enhanced robustness on sparse terrains by combining both methods but are computationally demanding and constrained by the inherent limitations of model-based planners. To achieve generalized legged locomotion on diverse terrains while preserving the robustness of learning-based controllers, this paper proposes to learn an attention-based map encoding conditioned on robot proprioception, which is trained as part of the end-to-end controller using reinforcement learning. We show that the network learns to focus on steppable areas for future footholds when the robot dynamically navigates diverse and challenging terrains. We synthesize behaviors that exhibit robustness against uncertainties while enabling precise and agile traversal of sparse terrains. Additionally, our method offers a way to interpret the topographical perception of a neural network. We have trained two controllers for a 12-DoF quadrupedal robot and a 23-DoF humanoid robot respectively and tested the resulting controllers in the real world under various challenging indoor and outdoor scenarios, including ones unseen during training.

OmniDRCA: Parallel Speech-Text Foundation Model via Dual-Resolution Speech Representations and Contrastive Alignment

Recent studies on end-to-end speech generation with large language models (LLMs) have attracted significant community attention, with multiple works extending text-based LLMs to generate discrete speech tokens. Existing approaches primarily fall into two categories: (1) Methods that generate discrete speech tokens independently without incorporating them into the LLM's autoregressive process, resulting in text generation being unaware of concurrent speech synthesis. (2) Models that generate interleaved or parallel speech-text tokens through joint autoregressive modeling, enabling mutual modality awareness during generation. This paper presents OmniDRCA, a parallel speech-text foundation model based on joint autoregressive modeling, featuring dual-resolution speech representations and contrastive cross-modal alignment. Our approach processes speech and text representations in parallel while enhancing audio comprehension through contrastive alignment. Experimental results on Spoken Question Answering benchmarks demonstrate that OmniDRCA establishes new state-of-the-art (SOTA) performance among parallel joint speech-text modeling based foundation models, and achieves competitive performance compared to interleaved models. Additionally, we explore the potential of extending the framework to full-duplex conversational scenarios.

Plug-and-Play Co-Occurring Face Attention for Robust Audio-Visual Speaker Extraction

Audio-visual speaker extraction isolates a target speaker's speech from a mixture speech signal conditioned on a visual cue, typically using the target speaker's face recording. However, in real-world scenarios, other co-occurring faces are often present on-screen, providing valuable speaker activity cues in the scene. In this work, we introduce a plug-and-play inter-speaker attention module to process these flexible numbers of co-occurring faces, allowing for more accurate speaker extraction in complex multi-person environments. We integrate our module into two prominent models: the AV-DPRNN and the state-of-the-art AV-TFGridNet. Extensive experiments on diverse datasets, including the highly overlapped VoxCeleb2 and sparsely overlapped MISP, demonstrate that our approach consistently outperforms baselines. Furthermore, cross-dataset evaluations on LRS2 and LRS3 confirm the robustness and generalizability of our method.

Invisible Prompts, Visible Threats: Malicious Font Injection in External Resources for Large Language Models

Large Language Models (LLMs) are increasingly equipped with capabilities of real-time web search and integrated with protocols like Model Context Protocol (MCP). This extension could introduce new security vulnerabilities. We present a systematic investigation of LLM vulnerabilities to hidden adversarial prompts through malicious font injection in external resources like webpages, where attackers manipulate code-to-glyph mapping to inject deceptive content which are invisible to users. We evaluate two critical attack scenarios: (1) "malicious content relay" and (2) "sensitive data leakage" through MCP-enabled tools. Our experiments reveal that indirect prompts with injected malicious font can bypass LLM safety mechanisms through external resources, achieving varying success rates based on data sensitivity and prompt design. Our research underscores the urgent need for enhanced security measures in LLM deployments when processing external content.

100 Days After DeepSeek-R1: A Survey on Replication Studies and More Directions for Reasoning Language Models

The recent development of reasoning language models (RLMs) represents a novel evolution in large language models. In particular, the recent release of DeepSeek-R1 has generated widespread social impact and sparked enthusiasm in the research community for exploring the explicit reasoning paradigm of language models. However, the implementation details of the released models have not been fully open-sourced by DeepSeek, including DeepSeek-R1-Zero, DeepSeek-R1, and the distilled small models. As a result, many replication studies have emerged aiming to reproduce the strong performance achieved by DeepSeek-R1, reaching comparable performance through similar training procedures and fully open-source data resources. These works have investigated feasible strategies for supervised fine-tuning (SFT) and reinforcement learning from verifiable rewards (RLVR), focusing on data preparation and method design, yielding various valuable insights. In this report, we provide a summary of recent replication studies to inspire future research. We primarily focus on SFT and RLVR as two main directions, introducing the details for data construction, method design and training procedure of current replication studies. Moreover, we conclude key findings from the implementation details and experimental results reported by these studies, anticipating to inspire future research. We also discuss additional techniques of enhancing RLMs, highlighting the potential of expanding the application scope of these models, and discussing the challenges in development. By this survey, we aim to help researchers and developers of RLMs stay updated with the latest advancements, and seek to inspire new ideas to further enhance RLMs.

SegOTA: Accelerating Over-the-Air Federated Learning with Segmented Transmission

Federated learning (FL) with over-the-air computation efficiently utilizes the communication resources, but it can still experience significant latency when each device transmits a large number of model parameters to the server. This paper proposes the Segmented Over-The-Air (SegOTA) method for FL, which reduces latency by partitioning devices into groups and letting each group transmit only one segment of the model parameters in each communication round. Considering a multi-antenna server, we model the SegOTA transmission and reception process to establish an upper bound on the expected model learning optimality gap. We minimize this upper bound, by formulating the per-round online optimization of device grouping and joint transmit-receive beamforming, for which we derive efficient closed-form solutions. Simulation results show that our proposed SegOTA substantially outperforms the conventional full-model OTA approach and other common alternatives.

ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generation

End-to-end (E2E) autonomous driving methods still struggle to make correct decisions in interactive closed-loop evaluation due to limited causal reasoning capability. Current methods attempt to leverage the powerful understanding and reasoning abilities of Vision-Language Models (VLMs) to resolve this dilemma. However, the problem is still open that few VLMs for E2E methods perform well in the closed-loop evaluation due to the gap between the semantic reasoning space and the purely numerical trajectory output in the action space. To tackle this issue, we propose ORION, a holistic E2E autonomous driving framework by vision-language instructed action generation. ORION uniquely combines a QT-Former to aggregate long-term history context, a Large Language Model (LLM) for driving scenario reasoning, and a generative planner for precision trajectory prediction. ORION further aligns the reasoning space and the action space to implement a unified E2E optimization for both visual question-answering (VQA) and planning tasks. Our method achieves an impressive closed-loop performance of 77.74 Driving Score (DS) and 54.62% Success Rate (SR) on the challenge Bench2Drive datasets, which outperforms state-of-the-art (SOTA) methods by a large margin of 14.28 DS and 19.61% SR.

UniCodec: Unified Audio Codec with Single Domain-Adaptive Codebook

The emergence of audio language models is empowered by neural audio codecs, which establish critical mappings between continuous waveforms and discrete tokens compatible with language model paradigms. The evolutionary trends from multi-layer residual vector quantizer to single-layer quantizer are beneficial for language-autoregressive decoding. However, the capability to handle multi-domain audio signals through a single codebook remains constrained by inter-domain distribution discrepancies. In this work, we introduce UniCodec, a unified audio codec with a single codebook to support multi-domain audio data, including speech, music, and sound. To achieve this, we propose a partitioned domain-adaptive codebook method and domain Mixture-of-Experts strategy to capture the distinct characteristics of each audio domain. Furthermore, to enrich the semantic density of the codec without auxiliary modules, we propose a self-supervised mask prediction modeling approach. Comprehensive objective and subjective evaluations demonstrate that UniCodec achieves excellent audio reconstruction performance across the three audio domains, outperforming existing unified neural codecs with a single codebook, and even surpasses state-of-the-art domain-specific codecs on both acoustic and semantic representation capabilities.

MMRC: A Large-Scale Benchmark for Understanding Multimodal Large Language Model in Real-World Conversation

Recent multimodal large language models (MLLMs) have demonstrated significant potential in open-ended conversation, generating more accurate and personalized responses. However, their abilities to memorize, recall, and reason in sustained interactions within real-world scenarios remain underexplored. This paper introduces MMRC, a Multi-Modal Real-world Conversation benchmark for evaluating six core open-ended abilities of MLLMs: information extraction, multi-turn reasoning, information update, image management, memory recall, and answer refusal. With data collected from real-world scenarios, MMRC comprises 5,120 conversations and 28,720 corresponding manually labeled questions, posing a significant challenge to existing MLLMs. Evaluations on 20 MLLMs in MMRC indicate an accuracy drop during open-ended interactions. We identify four common failure patterns: long-term memory degradation, inadequacies in updating factual knowledge, accumulated assumption of error propagation, and reluctance to say no. To mitigate these issues, we propose a simple yet effective NOTE-TAKING strategy, which can record key information from the conversation and remind the model during its responses, enhancing conversational capabilities. Experiments across six MLLMs demonstrate significant performance improvements.