LangMap: A Hierarchical Benchmark for Open-Vocabulary Goal Navigation

The relationships between objects and language are fundamental to meaningful communication between humans and AI, and to practically useful embodied intelligence. We introduce HieraNav, a multi-granularity, open-vocabulary goal navigation task where agents interpret natural language instructions to reach targets at four semantic levels: scene, room, region, and instance. To this end, we present Language as a Map (LangMap), a large-scale benchmark built on real-world 3D indoor scans with comprehensive human-verified annotations and tasks spanning these levels. LangMap provides region labels, discriminative region descriptions, discriminative instance descriptions covering 414 object categories, and over 18K navigation tasks. Each target features both concise and detailed descriptions, enabling evaluation across different instruction styles. LangMap achieves superior annotation quality, outperforming GOAT-Bench by 23.8% in discriminative accuracy using four times fewer words. Comprehensive evaluations of zero-shot and supervised models on LangMap reveal that richer context and memory improve success, while long-tailed, small, context-dependent, and distant goals, as well as multi-goal completion, remain challenging. HieraNav and LangMap establish a rigorous testbed for advancing language-driven embodied navigation. Project: https://bo-miao.github.io/LangMap

Towards Explicit Acoustic Evidence Perception in Audio LLMs for Speech Deepfake Detection

Speech deepfake detection (SDD) focuses on identifying whether a given speech signal is genuine or has been synthetically generated. Existing audio large language model (LLM)-based methods excel in content understanding; however, their predictions are often biased toward semantically correlated cues, which results in fine-grained acoustic artifacts being overlooked during the decisionmaking process. Consequently, fake speech with natural semantics can bypass detectors despite harboring subtle acoustic anomalies; this suggests that the challenge stems not from the absence of acoustic data, but from its inadequate accessibility when semantic-dominant reasoning prevails. To address this issue, we investigate SDD within the audio LLM paradigm and introduce SDD with Auditory Perception-enhanced Audio Large Language Model (SDD-APALLM), an acoustically enhanced framework designed to explicitly expose fine-grained time-frequency evidence as accessible acoustic cues. By combining raw audio with structured spectrograms, the proposed framework empowers audio LLMs to more effectively capture subtle acoustic inconsistencies without compromising their semantic understanding. Experimental results indicate consistent gains in detection accuracy and robustness, especially in cases where semantic cues are misleading. Further analysis reveals that these improvements stem from a coordinated utilization of semantic and acoustic information, as opposed to simple modality aggregation.

A Linearization of DFT Spectrum for Precision Power Measurement in Presence of Interharmonics

The presence of interharmonics in power systems can lead to asynchronous sampling, a phenomenon further aggravated by shifts in the fundamental frequency, which significantly degrades the accuracy of power measurements. Under such asynchronous conditions, interharmonics lose orthogonality with the fundamental and harmonic components, giving rise to additional power components. To address these challenges, this paper introduces a linearization algorithm based on DFT spectrum analysis for precise power measurement in systems containing interharmonics. The proposed approach constructs a system of linear equations from the DFT spectrum and solves it through efficient matrix operations, enabling accurate extraction of interharmonic components near the fundamental and harmonic frequencies (with a frequency interval $\geq$1 Hz). This allows for precise measurement of power across the fundamental, harmonic, interharmonic, and cross-power bands, as well as total power. Test results demonstrate that the proposed method accurately computes various power components under diverse conditions--including varying interharmonic/fundamental/harmonic intervals, fundamental frequency deviations, and noise. Compared to existing methods such as fast Fourier transform (FFT), Windowed interpolation FFT, and Matrix pencil-Singular value decomposition, the proposed technique reduces estimation error by several times to multiple folds and exhibits improved robustness, while maintaining a computational time of only 7 ms for processing 10-power-line-cycle (200 ms) data.

Understanding and Preserving Safety in Fine-Tuned LLMs

Fine-tuning is an essential and pervasive functionality for applying large language models (LLMs) to downstream tasks. However, it has the potential to substantially degrade safety alignment, e.g., by greatly increasing susceptibility to jailbreak attacks, even when the fine-tuning data is entirely harmless. Despite garnering growing attention in defense efforts during the fine-tuning stage, existing methods struggle with a persistent safety-utility dilemma: emphasizing safety compromises task performance, whereas prioritizing utility typically requires deep fine-tuning that inevitably leads to steep safety declination. In this work, we address this dilemma by shedding new light on the geometric interaction between safety- and utility-oriented gradients in safety-aligned LLMs. Through systematic empirical analysis, we uncover three key insights: (I) safety gradients lie in a low-rank subspace, while utility gradients span a broader high-dimensional space; (II) these subspaces are often negatively correlated, causing directional conflicts during fine-tuning; and (III) the dominant safety direction can be efficiently estimated from a single sample. Building upon these novel insights, we propose safety-preserving fine-tuning (SPF), a lightweight approach that explicitly removes gradient components conflicting with the low-rank safety subspace. Theoretically, we show that SPF guarantees utility convergence while bounding safety drift. Empirically, SPF consistently maintains downstream task performance and recovers nearly all pre-trained safety alignment, even under adversarial fine-tuning scenarios. Furthermore, SPF exhibits robust resistance to both deep fine-tuning and dynamic jailbreak attacks. Together, our findings provide new mechanistic understanding and practical guidance toward always-aligned LLM fine-tuning.

Edge-Optimized Multimodal Learning for UAV Video Understanding via BLIP-2

The demand for real-time visual understanding and interaction in complex scenarios is increasingly critical for unmanned aerial vehicles. However, a significant challenge arises from the contradiction between the high computational cost of large Vision language models and the limited computing resources available on UAV edge devices. To address this challenge, this paper proposes a lightweight multimodal task platform based on BLIP-2, integrated with YOLO-World and YOLOv8-Seg models. This integration extends the multi-task capabilities of BLIP-2 for UAV applications with minimal adaptation and without requiring task-specific fine-tuning on drone data. Firstly, the deep integration of BLIP-2 with YOLO models enables it to leverage the precise perceptual results of YOLO for fundamental tasks like object detection and instance segmentation, thereby facilitating deeper visual-attention understanding and reasoning. Secondly, a content-aware key frame sampling mechanism based on K-Means clustering is designed, which incorporates intelligent frame selection and temporal feature concatenation. This equips the lightweight BLIP-2 architecture with the capability to handle video-level interactive tasks effectively. Thirdly, a unified prompt optimization scheme for multi-task adaptation is implemented. This scheme strategically injects structured event logs from the YOLO models as contextual information into BLIP-2's input. Combined with output constraints designed to filter out technical details, this approach effectively guides the model to generate accurate and contextually relevant outputs for various tasks.

Interpretable All-Type Audio Deepfake Detection with Audio LLMs via Frequency-Time Reinforcement Learning

Recent advances in audio large language models (ALLMs) have made high-quality synthetic audio widely accessible, increasing the risk of malicious audio deepfakes across speech, environmental sounds, singing voice, and music. Real-world audio deepfake detection (ADD) therefore requires all-type detectors that generalize across heterogeneous audio and provide interpretable decisions. Given the strong multi-task generalization ability of ALLMs, we first investigate their performance on all-type ADD under both supervised fine-tuning (SFT) and reinforcement fine-tuning (RFT). However, SFT using only binary real/fake labels tends to reduce the model to a black-box classifier, sacrificing interpretability. Meanwhile, vanilla RFT under sparse supervision is prone to reward hacking and can produce hallucinated, ungrounded rationales. To address this, we propose an automatic annotation and polishing pipeline that constructs Frequency-Time structured chain-of-thought (CoT) rationales, producing ~340K cold-start demonstrations. Building on CoT data, we propose Frequency Time-Group Relative Policy Optimization (FT-GRPO), a two-stage training paradigm that cold-starts ALLMs with SFT and then applies GRPO under rule-based frequency-time constraints. Experiments demonstrate that FT-GRPO achieves state-of-the-art performance on all-type ADD while producing interpretable, FT-grounded rationales. The data and code are available online.

Safety at One Shot: Patching Fine-Tuned LLMs with A Single Instance

Fine-tuning safety-aligned large language models (LLMs) can substantially compromise their safety. Previous approaches require many safety samples or calibration sets, which not only incur significant computational overhead during realignment but also lead to noticeable degradation in model utility. Contrary to this belief, we show that safety alignment can be fully recovered with only a single safety example, without sacrificing utility and at minimal cost. Remarkably, this recovery is effective regardless of the number of harmful examples used in fine-tuning or the size of the underlying model, and convergence is achieved within just a few epochs. Furthermore, we uncover the low-rank structure of the safety gradient, which explains why such efficient correction is possible. We validate our findings across five safety-aligned LLMs and multiple datasets, demonstrating the generality of our approach.

OmniAgent: Audio-Guided Active Perception Agent for Omnimodal Audio-Video Understanding

Omnimodal large language models have made significant strides in unifying audio and visual modalities; however, they often lack the fine-grained cross-modal understanding and have difficulty with multimodal alignment. To address these limitations, we introduce OmniAgent, a fully audio-guided active perception agent that dynamically orchestrates specialized tools to achieve more fine-grained audio-visual reasoning. Unlike previous works that rely on rigid, static workflows and dense frame-captioning, this paper demonstrates a paradigm shift from passive response generation to active multimodal inquiry. OmniAgent employs dynamic planning to autonomously orchestrate tool invocation on demand, strategically concentrating perceptual attention on task-relevant cues. Central to our approach is a novel coarse-to-fine audio-guided perception paradigm, which leverages audio cues to localize temporal events and guide subsequent reasoning. Extensive empirical evaluations on three audio-video understanding benchmarks demonstrate that OmniAgent achieves state-of-the-art performance, surpassing leading open-source and proprietary models by substantial margins of 10% - 20% accuracy.

EnvSSLAM-FFN: Lightweight Layer-Fused System for ESDD 2026 Challenge

Recent advances in generative audio models have enabled high-fidelity environmental sound synthesis, raising serious concerns for audio security. The ESDD 2026 Challenge therefore addresses environmental sound deepfake detection under unseen generators (Track 1) and black-box low-resource detection (Track 2) conditions. We propose EnvSSLAM-FFN, which integrates a frozen SSLAM self-supervised encoder with a lightweight FFN back-end. To effectively capture spoofing artifacts under severe data imbalance, we fuse intermediate SSLAM representations from layers 4-9 and adopt a class-weighted training objective. Experimental results show that the proposed system consistently outperforms the official baselines on both tracks, achieving Test Equal Error Rates (EERs) of 1.20% and 1.05%, respectively.

StreamingAssistant: Efficient Visual Token Pruning for Accelerating Online Video Understanding

Online video understanding is essential for applications like public surveillance and AI glasses. However, applying Multimodal Large Language Models (MLLMs) to this domain is challenging due to the large number of video frames, resulting in high GPU memory usage and computational latency. To address these challenges, we propose token pruning as a means to reduce context length while retaining critical information. Specifically, we introduce a novel redundancy metric, Maximum Similarity to Spatially Adjacent Video Tokens (MSSAVT), which accounts for both token similarity and spatial position. To mitigate the bidirectional dependency between pruning and redundancy, we further design a masked pruning strategy that ensures only mutually unadjacent tokens are pruned. We also integrate an existing temporal redundancy-based pruning method to eliminate temporal redundancy of the video modality. Experimental results on multiple online and offline video understanding benchmarks demonstrate that our method significantly improves the accuracy (i.e., by 4\% at most) while incurring a negligible pruning latency (i.e., less than 1ms). Our full implementation will be made publicly available.