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版本更新 · v2arXiv:2605.16797

EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices

Liuchuan Yu, Erdem Murat, Beichen Wang, Yan Zeng, Tingting Luo, Huizhen Zhou, Shanghao Li, Huining Feng 等 13 位作者

原文摘要

Egocentric video is increasingly used as a data source for robot learning, activity understanding, and embodied AI research, but collecting it at scale remains fragmented in practice: each candidate host device, such as an Android phone, iPhone, iPad, smart glasses, or extended reality (XR) headset, exposes a different SDK, a different policy on raw camera access, and different limitations on external USB cameras and on-device tracking. Synchronized ego-view and wrist-view capture is therefore typically obtained by either committing to a single proprietary platform or building one-off rigs that do not transfer across devices. To address this gap, we present EgoKit, a toolkit that exposes the same egocentric recording workflow across six heterogeneous host devices. Across all supported devices, EgoKit presents the same recording interaction and produces locally stored video with a uniform log format; on XR headsets, it additionally logs head pose and OpenXR-standard 26-joint hand tracking aligned to the video streams. The companion accessories, including two wrist cameras with mounts, a head strap, and a USB-C hub, add wrist-view capture to any supported host without custom hardware fabrication. To validate that EgoKit data can train robot policies, we replicated HumanEgo with 41 demonstrations recorded by EgoKit-PICO: in simulation, policies trained on 20 or 40 of them placed a cube on a tray in 60-74% of 100 unseen layouts, about as often as policies trained on Project Aria recordings of the same layouts. EgoKit is available at https://egokit.chuange.org/.

cs.CV · cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.31572

nuReasoning: A Reasoning-Centric Dataset and Benchmark for Long-Tail Autonomous Driving

Zhiyu Huang, Johnson Liu, Rui Song, Xuewei Qi, Yiluan Guo, Zewei Zhou, Hanyin Zhang, Mingxuan Gao 等 15 位作者

原文摘要

Reasoning is essential for autonomous driving (AD) in long-tail scenarios, where vehicles must apply commonsense knowledge, understand spatial relations, infer agent interactions, and make safe decisions. However, existing AD datasets and benchmarks mainly target perception, prediction, or planning, and provide limited supervision for reasoning over realistic long-tail driving scenes. We introduce nuReasoning, a large-scale real-world dataset and benchmark for reasoning-centric AD. Following the lineage of nuScenes and nuPlan, nuReasoning advances real-world AD datasets and benchmarks toward reasoning in long-tail driving scenarios. The dataset contains 20,000 clips, each 20 seconds long, collected across multiple cities, with synchronized multi-camera images, LiDAR data, HD maps, object annotations, and human-verified reasoning annotations spanning Spatial Reasoning, Decision Reasoning, and Counterfactual Reasoning. Unlike prior datasets that focus primarily on visual question answering, nuReasoning supports both reasoning evaluation and planning evaluation, enabling a direct study of how reasoning supervision affects driving performance. Experiments show that fine-tuning VLMs on nuReasoning substantially improves driving-specific question answering, while incorporating reasoning supervision into VLA training improves planning performance even when textual reasoning outputs are disabled at inference time. These results establish nuReasoning as a foundation for evaluating and improving robust, interpretable, reasoning-driven AD systems in realistic long-tail settings.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2602.08686

CompilerKV: Risk-Adaptive KV Compression via Offline Experience Compilation

Ning Yang, Chengzhi Wang, Yibo Liu, Baoliang Tian, Haijun Zhang

原文摘要

Prefill-only KV compression freezes a token subset at the end of prefill and decodes from it without further eviction. The retention decision is therefore irreversible, yet existing methods estimate the corrective signals it relies on, per-head reliability and prompt-level compression sensitivity, online from a single noisy prompt. We argue this is the wrong statistical unit: these signals exhibit far higher cross-prompt regularity than within-prompt signal-to-noise. We introduce \textsc{CompilerKV}, a KV-retention policy whose corrective tables are compiled offline from a calibration corpus, reducing online correction after the standard observation-window scan to $O(1)$ lookups plus a budget clamp. We find that compiled retention tables behave as portable architectural priors: rankings transfer across disjoint corpora on four backbones (mean Spearman $\barρ{=}0.90$), and direct model-to-model table transfer costs only $0.4$--$0.8$ LongBench points on average. At a 512-token budget, \textsc{CompilerKV} attains compressed-SOTA on all four backbones, improving over the strongest prefill-only baseline by $+1.67$ points on average (task-bootstrap 95\% CI $[+1.08,+2.37]$). Pressure regimes amplify the gap: under a fixed $512/32k$ cache ratio, \textsc{CompilerKV} remains the strongest compressed method through 128k RULER ($\sim\!73$ vs.\ FullKV $\sim\!79$, SnapKV $\sim\!38$); on 32k NIAH it reaches $0.89$ vs.\ SnapKV $0.42$; and at 32k input, retaining only $1.56\%$ of the prefill KV, batch-16 serving remains feasible where FullKV is OOM.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01342

J-Anchor: Defending Against Prefill Attacks via J-Space Selective Refusal Restoration

Running Yang, Beidi Zhao, Xiaoxiao Li

原文摘要

Prefill jailbreaks can cause safety-aligned language models to continue an unsafe assistant prefix even when they would refuse the same request under normal decoding. We study how the model's internal harmfulness and refusal signals evolve along this attacker-controlled trajectory. Using the Jacobian lens, we track vocabulary-grounded harmfulness and refusal signals from the assistant header through prefilling and subsequent generation. We identify a characteristic phenomenon, which we call refusal-state erosion: both the refusal signal and the harmfulness signal weaken as the prefill progresses, but the refusal signal progressively declines to the benign baseline by the end of the prefill, while the harmfulness signal remains above its benign baseline and detectable during subsequent generation. Motivated by this observation, we introduce J-Anchor, a training-free inference-time defense that uses the model's pre-attack harmfulness and refusal signals as a request-specific anchor and selectively restores weakened refusal in J-space during prefilling and decoding. J-Anchor substantially reduces attack success under both fixed and deep prefill attacks across different model families. J-Anchor largely preserves benign behavior and reasoning ability, and ablations highlight the importance of targeted restoration in the J-space refusal subspace. Our results suggest that preserving latent refusal dynamics offers a promising route to robust defense against prefill jailbreaks.

cs.CR · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36379

Evaluating Federated Vision-Language and Vision-Only Models for Privacy-Aware Breast Cancer Imaging

Malithi Mithsara Wanniarachchi Kankanamge, Ning Yang, Sree Bash Debnath, Md Zobaer Islam, Abdur R. Shahid

原文摘要

Artificial intelligence (AI) shows promise for breast imaging, but limited labeled data, institutional data fragmentation, and privacy concerns hinder centralized training. We investigate a privacy-aware federated learning framework combining pretrained vision-language models (VLMs) with client-level differential privacy. We compare general-purpose CLIP models, biomedical BiomedCLIP, and an ImageNet-pretrained ViT-B/16 baseline on two public breast imaging datasets, with and without differential privacy. We also evaluate a CLIP ViT-B/16 ablation that removes the text pathway. Evaluation includes patient-level ROC-AUC with bootstrap 95% confidence intervals, baseline comparisons, threshold sensitivity, inter-model agreement, and communication cost. Under federated learning, all five models achieve high normal-versus-sick discrimination (ROC-AUC: 0.940-0.990). However, acquisition year alone achieves 0.974 on the same test partition, raising concerns about confounding rather than genuine pathology recognition. Benign-versus-malignant discrimination remains uncertain (ROC-AUC: 0.504-0.637), with all confidence intervals including 0.50. Removing the text pathway preserves classification accuracy while halving communication cost. Differential privacy reduces ROC-AUC by 0.375, attributable to perturbing the full model state rather than only trainable parameters. These findings highlight the importance of evaluating confounding, predictive reliability, privacy implementation, and deployment efficiency when developing federated AI systems for breast imaging.

cs.CV · cs.CR · cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2604.00004

LinearARD: Linear-Memory Attention Distillation for RoPE Restoration

Ning Yang, Hengyu Zhong, Wentao Wang, Baoliang Tian, Yuan Zhou, Haijun Zhang, Jun Wang

原文摘要

The extension of context windows in Large Language Models is typically facilitated by scaling positional encodings followed by Continued Pre-Training (CPT). While effective, this paradigm is notoriously data-hungry and computationally expensive, requiring massive long-text corpora to recalibrate the model to the shifted positional distribution. We propose LinearARD, a restoration distillation method that restores Rotary Position Embedding (RoPE)-scaled students through attention-structure consistency with a frozen native-RoPE teacher. Rather than next-token prediction or opaque hidden-state matching, LinearARD aligns row-wise distributions of dense $Q/Q$, $K/K$, and $V/V$ self-relation matrices from the final attention layer to directly supervise attention dynamics. To remove the quadratic memory bottleneck of $n \times n$ relation maps, we introduce a linear-activation-memory kernel that stores only per-token log-sum-exp statistics and recomputes logits in the backward pass to obtain exact Kullback-Leibler divergence gradients. Across LLaMA2-7B, LLaMA3-8B, and Mistral-7B-v0.1 extended to 32K context, LinearARD recovers 93.1%/94.2%/94.3% of native short-context performance and achieves strong long-context robustness on RULER using only 4.25M tokens---amounting to just 1.6% (a $\sim$60$\times$ reduction) of the 256M-token budget required by state-of-the-art baselines. Under this severely constrained budget, CPT and LongReD remain near zero on RULER, demonstrating that relation-level restoration provides a substantially better efficiency-quality tradeoff. Our code is available at https://github.com/gracefulning/LinearARD.

cs.CL · cs.AI

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1310ACL Anthology · ACL 2026

OASIS: Mitigating Harmful Fine-tuning Attacks on LLMs via Orthogonal and Adaptive Safety Alignment Strategy

Jiayu Tang, Guowei Peng, Qiuhao Xie, Yuning Yang, Xiurui Xie University of Electronic Science and Technology of China, Guisong Liu

原文摘要

The “Fine-Tuning-as-a-Service” paradigm exposes large language models to catastrophic safety degradation from less harmful samples. Alignment-stage defenses address this by proactively injecting adversarial perturbations to bolster the model’s inherent robustness against harmful drift. However, existing methods rely on perturbation directions that often conflict with harmful gradients, inadvertently facilitating the acquisition of malicious features rather than suppressing them. To address this issue, we propose Orthogonal and Adaptive Safety Alignment Strategy (OASIS) to mathematically decouple safety enforcement from harmful feature acquisition. By projecting perturbations orthogonal to harmful gradients and concentrating optimization on adaptively selected safety-critical layers, OASIS effectively resolves directional conflicts while maximizing parameter efficiency. Extensive experiments on four LLMs across three datasets (SST2, GSM8K, and AGNews) demonstrate that OASIS reduces the Harmful Score by approximately 60% compared to competitive baselines, while maintaining stable downstream task utility.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.887ACL Anthology · ACL 2026

Chain-of-Thought Compression Should Not Be Blind: V-Skip for Efficient Multimodal Reasoning via Dual-Path Anchoring

Dongxu Zhang, Yiding Sun, Cheng Tan Shanghai Artificial Intelligence Laboratory and The Chinese University of Hong Kong, Wenbiao Yan, Ning Yang Institute of automation, Chinese academy of science, Chinese Academy of Sciences, Jihua Zhu Xi'an Jiaotong University, Haijun Zhang

原文摘要

While Chain-of-Thought (CoT) reasoning significantly enhances the performance of Multimodal Large Language Models (MLLMs), its autoregressive nature incurs prohibitive latency constraints. Current efforts to mitigate this via token compression often fail by blindly applying text-centric metrics to multimodal contexts. We identify a critical failure mode termed Visual Amnesia, where linguistically redundant tokens are erroneously pruned, leading to hallucinations. To address this, we introduce V-Skip that reformulates token pruning as a Visual-Anchored Information Bottleneck (VA-IB) optimization problem. V-Skip employs a dual-path gating mechanism that weighs token importance through both linguistic surprisal and cross-modal attention flow, effectively rescuing visually salient anchors. Extensive experiments on Qwen2-VL and Llama-3.2 families demonstrate that V-Skip achieves a speedup with negligible accuracy loss. Specifically, it preserves fine-grained visual details, outperforming other baselines over 30% on the DocVQA.

cs.CL · cs.CV

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表