VoLN: Vision-Only Long-Horizon Navigation---Paradigm, Benchmark, and Method

Vision-and-Language Navigation (VLN) enables embodied agents to follow natural-language instructions. However, route-level instructions commonly encode spatial priors, such as orientation, distance, and layout, that are not explicitly available from onboard sensing at deployment in open, GPS-denied environments. Benchmark performance under such interfaces therefore jointly reflects visual navigation ability and the use of route structure explicitly supplied by the task description. As a complementary formulation, we propose Vision-Only Long-Horizon Navigation (VoLN), which shifts route-relevant information from externally supplied instructions and global guidance to locally observable in-scene cues. In VoLN, goal views specify the destination, while route-relevant information is available only through locally observable in-scene cues that the agent must detect, interpret, and select online. We instantiate VoLN for aerial navigation through VoLN-UAV, a 7,210-episode benchmark that combines long-horizon goal-directed flight, continuous 3D motion, large viewpoint changes, and context-dependent beacon selection. We further provide VoLN-MLLM as an initial reference baseline. It aligns self-supervised visual features with a structured semantic space and predicts short-horizon waypoint segments from observation history, goal views, retrieved visual--semantic tokens, and proprioception. On the five-environment Test-Unseen split, it obtains success rates of 7.4%, 4.5%, and 1.8% on Easy, Normal, and Hard episodes, respectively. These results provide an initial evaluation of VoLN and reveal substantial remaining challenges in long-horizon evidence integration, cross-view goal matching, and closed-loop stability. Project page: https://admire-ljb.github.io/VoLN-UAV/

AERIS: Aerial-Edge Role-Driven Intelligence at Runtime via Orchestrated Language-Model Swarm

Integrating large language models into robotic systems holds promise for enhancing autonomy, yet practical deployment remains constrained by strict heartbeat-constrained scheduling and limited computational power. We propose AERIS: an edge deployment framework for aerial platforms. It organizes dedicated small language models combined with lightweight perception and control modules into roles that can be instantiated at runtime, and dynamically rebinds them across different executors as resources change, thereby pushing intelligent capabilities to the edge. AERIS achieves long-horizon instruction decomposition through an attention-subgoal alignment mechanism, which involves annotating the currently active instruction step in messages, thereby progressively approaching long-term objectives. We evaluate AERIS on a high-fidelity UAV Vision-and-Language Navigation benchmark. Under a heartbeat-timed execution mechanism, AERIS maintains a stable perception-decision-control loop between a low-frequency planner and a high-frequency controller, supporting real-time closed-loop operation. We further validate its deployability through two real-world experiments focused on planning and fast response. A demonstration video is provided in the supplementary materials.

Code Is More Than Text: Uncertainty Estimation for Code Generation

Large language models (LLMs) are increasingly deployed as code generators, where silently wrong programs pose real safety and reliability risks. Reliable uncertainty estimation (UE) is essential for selective prediction, human-in-the-loop review, and downstream agentic decisions. Yet most existing code UE methods are inherited from natural language (NL) generation and ignore properties that make code distinct. We argue that code differs from NL in three ways: a single wrong token can break an entire program (token fragility); algorithmic intent and concrete implementation can disagree independently (intent-code gap); and programs can be executed (executability). We instantiate these properties as three orthogonal uncertainty axes: lexical (Top-K token entropy), algorithmic (pseudo-code consistency), and functional (behavioral consistency). Across five code LLMs, our three-axis ensemble improves average AUROC from 0.696 for the strongest NL-derived baseline to 0.776 (+8.1 points). Notably, on Qwen3-14B, our single-pass Top-K token entropy matches the strongest multi-pass baseline while being over 3x cheaper; across models, it remains a competitive low-cost signal. These results suggest that code UE deserves code-specific design rather than direct NL ports.

Toward Native Multimodal Modeling: A Roadmap

Multimodal modeling represents a vital step from modality-agnostic reasoning toward world modeling. While early approaches predominantly rely on late-fusion that assembles encoders and frozen language backbones with output heads, recent efforts have shifted the paradigm toward native multimodal modeling (NMM) with the intrinsic integration of modalities for superior multimodal performance. Despite its potential, the design space of native architectures remains insufficiently defined. In this paper, we present the community with a formalized roadmap for this transition. Specifically, we formally define the architectural nativity, distinguishing mid-fusion and early-fusion from non-native paradigms. We further organize the existing native models through the lens of input-output duality into three categories: (i) Multi-to-Text for cross-modal comprehension with text-only output; (ii) Multi-to-Target for scenario-oriented generation, e.g., image, audio and video generation, and (iii) Multi-to-Multi for unified modeling with symmetric input-output. We deliver a comprehensive and industrial-grade investigation into the transition toward the definitive NMM framework, where understanding and generation seamlessly coexist within a unified transformer paradigm. We systematically unpack the end-to-end pipeline from industrial perspectives from architectural coordination, massive data curation, to full-stack training recipes, inference & deployment, and the comprehensive evaluation for truly native modeling.

Hallucination Detection and Evaluation of Large Language Model

Hallucinations in Large Language Models (LLMs) pose a significant challenge, generating misleading or unverifiable content that undermines trust and reliability. Existing evaluation methods, such as KnowHalu, employ multi-stage verification but suffer from high computational costs. To address this, we integrate the Hughes Hallucination Evaluation Model (HHEM), a lightweight classification-based framework that operates independently of LLM-based judgments, significantly improving efficiency while maintaining high detection accuracy. We conduct a comparative analysis of hallucination detection methods across various LLMs, evaluating True Positive Rate (TPR), True Negative Rate (TNR), and Accuracy on question-answering (QA) and summarization tasks. Our results show that HHEM reduces evaluation time from 8 hours to 10 minutes, while HHEM with non-fabrication checking achieves the highest accuracy \(82.2\%\) and TPR \(78.9\%\). However, HHEM struggles with localized hallucinations in summarization tasks. To address this, we introduce segment-based retrieval, improving detection by verifying smaller text components. Additionally, our cumulative distribution function (CDF) analysis indicates that larger models (7B-9B parameters) generally exhibit fewer hallucinations, while intermediate-sized models show higher instability. These findings highlight the need for structured evaluation frameworks that balance computational efficiency with robust factual validation, enhancing the reliability of LLM-generated content.

MADRL-Based Rate Adaptation for 360$\degree$ Video Streaming with Multi-Viewpoint Prediction

Over the last few years, 360$\degree$ video traffic on the network has grown significantly. A key challenge of 360$\degree$ video playback is ensuring a high quality of experience (QoE) with limited network bandwidth. Currently, most studies focus on tile-based adaptive bitrate (ABR) streaming based on single viewport prediction to reduce bandwidth consumption. However, the performance of models for single-viewpoint prediction is severely limited by the inherent uncertainty in head movement, which can not cope with the sudden movement of users very well. This paper first presents a multimodal spatial-temporal attention transformer to generate multiple viewpoint trajectories with their probabilities given a historical trajectory. The proposed method models viewpoint prediction as a classification problem and uses attention mechanisms to capture the spatial and temporal characteristics of input video frames and viewpoint trajectories for multi-viewpoint prediction. After that, a multi-agent deep reinforcement learning (MADRL)-based ABR algorithm utilizing multi-viewpoint prediction for 360$\degree$ video streaming is proposed for maximizing different QoE objectives under various network conditions. We formulate the ABR problem as a decentralized partially observable Markov decision process (Dec-POMDP) problem and present a MAPPO algorithm based on centralized training and decentralized execution (CTDE) framework to solve the problem. The experimental results show that our proposed method improves the defined QoE metric by up to 85.5\% compared to existing ABR methods.