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新论文 · v1arXiv:2611.15589

EMS-Nav: Embodied Multi-Scale Navigation

Zenghui Yang, Xinan Wang, Danyang Li, Zhe Xu, Zheng Yang, Jingao Xu, Qiang Ma

原文摘要

Industrial inspection robots must reach work areas and specific equipment. These destinations span spatial scales from regions to objects, so robots must relate each target to its surroundings to interpret the task and determine where to go. Existing methods support multi-scale navigation through rich environment representations, but at substantial computational and storage cost. These costs limit deployment where wireless coverage is incomplete and robots must rely on onboard computation to keep navigating. We introduce EMS-Nav, a biologically inspired multi-scale navigation framework for online, on-device operation. Its core innovation is to organize perception, spatial understanding, and navigation around regions, making local spaces the basic units of both environmental understanding and computation. EMS-Nav groups objects and their relationships into functionally meaningful spaces and builds a hierarchy from local areas to the broader environment. This organization supports efficient map construction alongside the interpretation and execution of language goals at different scales. In multi-scale navigation experiments, EMS-Nav achieves the highest success rates across all four target categories: objects, rooms, regions, and specific instances. It outperforms state-of-the-art open-vocabulary mapping and navigation methods, improving overall first-attempt success by 9.39 percentage points over the strongest baseline while reducing mapping overhead and language-model input size. Local deployment in real indoor environments further demonstrates its applicability to on-device embodied navigation. By establishing regions as the organizing basis for perception, spatial understanding, and language-guided action, EMS-Nav provides a system that combines multi-scale understanding with computational efficiency to support diverse language goals on resource-constrained robots.

cs.RO · cs.AI · cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.01563

CHATDIFY: Automating End-to-End Dify Workflow Synthesis from Natural Language via Multi-Agent Collaboration

Tao Fan, Guoqiang Ma

原文摘要

The proliferation of Large Language Models has catalyzed powerful application development platforms like Dify, which enable users to build sophisticated LLM-powered workflows through modular node orchestration. However, manually configuring these workflows requires deep platform expertise and remains time-consuming and error-prone, creating a significant barrier for non-expert users. To address this challenge, we propose \textsc{ChatDify}, a novel multi-agent framework that automates end-to-end Dify workflow synthesis from natural language descriptions. \textsc{ChatDify} employs an Actor-Critic architecture comprising three specialized agents: the \textit{Planner Agent} that decomposes user requests into structured execution plans, the \textit{Executor Agent} that performs context-aware parameter synthesis and schema-augmented DSL compilation, and the \textit{Reviewer Agent} that ensures reliability through hybrid verification with closed-loop refinement. We evaluate \textsc{ChatDify} on a curated benchmark of 100 production-inspired tasks across three state-of-the-art LLM backends, achieving 0.96, 0.91, and 0.75 success rates with Qwen-3.7, GLM-5.1, and DeepSeek-v4, respectively. These results demonstrate its robustness and practical applicability for lowering the technical barrier to creating sophisticated LLM applications.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2604.03203

PR3DICTR: A modular AI framework for medical 3D image-based detection and outcome prediction

Daniel C. MacRae, Luuk van der Hoek, Robert van der Wal, Suzanne P. M. de Vette, Hendrike Neh, Baoqiang Ma, Peter M. A. van Ooijen, Lisanne V. van Dijk

原文摘要

Three-dimensional medical image data and computer-aided decision making, particularly using deep learning, are becoming increasingly important in the medical field. To aid in these developments we introduce PR3DICTR: Platform for Research in 3D Image Classification and sTandardised tRaining. Built using community-standard distributions (PyTorch and MONAI), PR3DICTR provides an open-access, flexible and convenient framework for prediction model development, with an explicit focus on classification using three-dimensional medical image data. By combining modular design principles and standardization, it aims to alleviate developmental burden whilst retaining adjustability. It provides users with a wealth of pre-established functionality, for instance in model architecture design options, hyper-parameter solutions and training methodologies, but still gives users the opportunity and freedom to ``plug in'' their own solutions or modules. PR3DICTR can be applied to any binary or event-based three-dimensional classification task and can work with as little as two lines of code.

cs.CV · cs.AI · cs.LG

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1493ACL Anthology · ACL 2026

CO-EVO: Co-evolving Semantic Anchoring and Style Diversification for Federated DG-ReID

Fengchunzhang, Qiang Ma, Liuyu Xiang Beijing University of Posts and Telecommunications, Jinshan Lai, Tingxuan Huang, Jianwei Hu

原文摘要

Federated domain generalization for person re-identification (FedDG-ReID) aims to collaboratively train a pedestrian retrieval model across multiple decentralized source domains such that it can generalize to unseen target environments without compromising raw data privacy. However, this task is significantly challenged by the inherent stylistic gaps across decentralized clients. Without global supervision, models easily succumb to shortcut learning where representations overfit to domain specific camera biases rather than universal identity features. We propose CO-EVO, a novel federated framework that resolves this semantic-style conflict through a co-evolutionary mechanism. On the semantic side, Camera-Invariant Semantic Anchoring (CSA) learns identity prompts with cross-camera consistency to establish purified and domain-agnostic anchors that filter out local imaging noise. On the visual side, Global Style Diversification (GSD), powered by a Global Camera-Style Bank (GCSB), synthesizes realistic perturbations to expand the visual boundaries of training data. The core of CO-EVO is its co-evolutionary loop where purified anchors act as gravitational centers to guide the image encoder toward robust anatomical attributes amidst diverse style variations. Extensive experiments demonstrate that CO-EVO achieves state-of-the-art (SOTA) performance, proving that the synergy between semantic purification and style expansion is essential for robust cross-domain generalization. Our code is available at: https://github.com/NanYiyuzurn/ACL-LGPS-2026.

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.794ACL Anthology · ACL 2026

FedProxy: Federated Fine-Tuning of LLMs via Proxy SLMs and Heterogeneity-Aware Fusion

Tao Fan The Hong Kong University of Science and Technology, Guoqiang Ma, Yuanfeng Song ByteDance Inc., Lixin Fan, Kai Chen Hong Kong University of Science and Technology, Qiang Yang

原文摘要

Federated fine-tuning of Large Language Models (LLMs) is obstructed by a trilemma of challenges: protecting LLMs intellectual property (IP), ensuring client privacy, and mitigating performance loss on heterogeneous data. Existing methods like Offsite-Tuning (OT) secure the LLMs IP by having clients train only lightweight adapters, yet our analysis reveals they suffer from a fundamental performance bottleneck, leaving a significant gap compared to centralized training. To bridge this gap, we introduce FedProxy, a new federated adaptation framework. FedProxy replaces weak adapters with a unified, powerful Proxy Small Language Model (SLM), compressed from the proprietary LLM, to serve as a high-fidelity surrogate for collaborative fine-tuning. Our framework systematically resolves the trilemma through a three-stage architecture: (i) Efficient Representation via server-guided compression to create a resource-friendly proxy; (ii) Robust Optimization through an interference-mitigating aggregation strategy to handle data heterogeneity; and (iii) Effortless Fusion via a training-free “plug-in” mechanism to integrate learned knowledge back into the LLM. Experiments show FedProxy significantly outperforms OT methods and approaches centralized performance, establishing a new benchmark for secure and high-performance federated LLM adaptation.

cs.CL

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