Learning from Human Driving: A Human-in-the-Loop Online Behavior Cloning Framework for Autonomous Driving

With the evolution of large foundation models (LFMs), data-driven autonomous driving has made significant strides. However, existing paradigms still face severe challenges in complex interaction and long-tail scenarios due to distribution shift and causal confusion. These limitations often result in a lack of human-level decision-making flexibility and safety in extreme conditions. To overcome this limitation, this paper proposes a Human-in-the-Loop Online Behavior Cloning frame work (HiL-OBC) for autonomous driving, which aims to deeply integrate the cross-modal perceptual capabilities of LFMs with the high-level driving intelligence of human experts. Specifically, HiL-OBC deployment is executed through three critical phases: policy initialization with human intervention, latent behavioral modeling with Bayesian policy adaptation, and online deploy ment and updates. Furthermore, we design a Multi-modal Online Behavior Cloning (MOBC) model, which optimizes the base driving policy online through a lightweight network architecture, a takeover trigger mechanism, and a multi-variant loss function, thereby enhancing the system's decision-making robustness in complex environments. We evaluated the HiL-OBC on the LangAuto-Human CARLA benchmark. Experimental results demonstrate that the driving policies optimized via the human-in-the-loop mechanism achieve substantial performance gains: the DS of StructNav, LFG, and LMDrive increased by 47.25%, 31.59%, and 32.12%, respectively, with a simultaneous of various experimental settings and key components highlights the advantages of human-in-the-loop learning in improving decision-making robustness and overall driving performance.

Memory Retrieval for Changing Preferences

Long-context dialogue systems must decide both when to access memory and which parts of the interaction history are relevant. Existing approaches typically rely on heuristic retrieval signals or always-on memory usage, failing to account for the changing and potentially inconsistent nature of user preferences. In this work, we propose a unified framework for memory access and selection based on changing preferences. We formulate personalized memory retrieval as identifying which historical turns provide evidence about a user's latent preference state, rather than relying on surface-level semantic similarity. To this end, we quantify the utility of each memory turn using a Bayes factor, defined as the improvement in the model's likelihood of the reference response when the turn is included in context. This provides a principled measure of evidence strength and a unified signal for both memory access and selection. By framing memory retrieval as utility estimation, the model learns to identify salient turns and regulate memory usage based on expected utility. Experiments on four heterogeneous memory benchmarks show that our approach outperforms existing embedding-based retrieval on long-context, preference-intensive tasks where modeling changing preferences is essential, while remaining competitive in low-density regimes where semantic similarity suffices.

Counterfactual Trace Auditing of LLM Agent Skills

Large Language Model agents are increasingly augmented with agent skills. Current evaluation methods for skills remain limited. Most deployed benchmarks report only pass rate before and after a skill is attached, treating the skill as a black box change to agent behavior. We introduce Counterfactual Trace Auditing (CTA), a framework for measuring how a skill changes agent behavior. CTA pairs each with skill agent trace with a without skill counterpart on the same task, segments both traces into goal directed phases, aligns the phases, and emits structured Skill Influence Pattern (SIP) annotations. These annotations describe the behavioral effect of a skill rather than only its task outcome. We instantiate CTA on SWE-Skills-Bench with Claude across 49 software engineering tasks. The resulting audit reveals a clear evaluation gap. Pass rate changes by only +0.3 percentage points on average, suggesting little aggregate effect. Yet CTA identifies 522 SIP instances across the same paired traces, showing that the skills substantially reshape agent behavior even when pass rate is nearly unchanged. The audit also separates several recurring effects that pass rate cannot detect, including literal template copying, off task artifact creation, excess planning, and task recovery. Three findings emerge. First, high baseline tasks contain most of the observed skill effects, although their pass rate is already saturated and therefore cannot reflect those effects. Second, tasks with moderate baseline performance show the most recoverable gain, but often at substantially higher token cost. Third, the dominant SIP type can be identified by baseline bucket: surface anchoring is most common on ceiling tasks and edge-case prompting is most common on mid-range and floor tasks. These regularities turn informal failure mode observations into reproducible behavioral measurements.

EP-GRPO: Entropy-Progress Aligned Group Relative Policy Optimization with Implicit Process Guidance

Reinforcement learning with verifiable rewards (RLVR), particularly Group Relative Policy Optimization (GRPO), has advanced LLM reasoning. However, GRPO suffers from three credit assignment failures: uniform token-level granularity that ignores heterogeneous informational value, uniform polarity that penalizes correct steps and rewards incorrect ones, and zero-variance collapse that erases outcome-driven gradients. We systematically quantify these failures, revealing highly non-uniform token informativeness, widespread step-level polarity misalignment, and substantial training waste. To address these limitations, we propose Entropy-Progress Aligned GRPO (EP-GRPO), a framework that mines the model's intrinsic information flow for dense, self-supervised guidance. EP-GRPO integrates entropy-gated modulation to prioritize high entropy decision pivots, implicit process signals from policy divergence anchored to outcome advantages for directional token-level feedback without external reward models, and cumulative entropy mapping that enables progress-aligned advantage normalization, naturally maintaining gradient flow under zero reward variance. Extensive experiments on mathematical reasoning benchmarks demonstrate that EP-GRPO achieves superior accuracy and efficiency compared to GRPO and its variants. The code will be available.

A Survey on LLM-based Conversational User Simulation

User simulation has long played a vital role in computer science due to its potential to support a wide range of applications. Language, as the primary medium of human communication, forms the foundation of social interaction and behavior. Consequently, simulating conversational behavior has become a key area of study. Recent advancements in large language models (LLMs) have significantly catalyzed progress in this domain by enabling high-fidelity generation of synthetic user conversation. In this paper, we survey recent advancements in LLM-based conversational user simulation. We introduce a novel taxonomy covering user granularity and simulation objectives. Additionally, we systematically analyze core techniques and evaluation methodologies. We aim to keep the research community informed of the latest advancements in conversational user simulation and to further facilitate future research by identifying open challenges and organizing existing work under a unified framework.

DM-ASR: Diarization-aware Multi-speaker ASR with Large Language Models

Multi-speaker automatic speech recognition (ASR) aims to transcribe conversational speech involving multiple speakers, requiring the model to capture not only what was said, but also who said it and sometimes when it was spoken. Recent Speech-LLM approaches have shown the potential of unified modeling for this task, but jointly learning speaker attribution, temporal structure, and lexical recognition remains difficult and data-intensive. At the current stage, leveraging reliable speaker diarization as an explicit structural prior provides a practical and efficient way to simplify this task. To effectively exploit such priors, we propose DM-ASR, a diarization-aware multi-speaker ASR framework that reformulates the task as a multi-turn dialogue generation process. Given an audio chunk and diarization results, DM-ASR decomposes transcription into a sequence of speaker- and time-conditioned queries, each corresponding to one speaker in one time segment. This formulation converts multi-speaker recognition into a series of structured sub-tasks, explicitly decoupling speaker-temporal structure from linguistic content and enabling effective integration of diarization cues with the reasoning capability of large language models. We further introduce an optional word-level timestamp prediction mechanism that interleaves word and timestamp tokens, yielding richer structured outputs and better transcription quality. Our analysis shows that diarization systems provide more reliable speaker identities and segment-level boundaries, while LLMs excel at modeling linguistic content and long-range dependencies, demonstrating their complementary strengths. Experiments on Mandarin and English benchmarks show that the proposed approach achieves strong performance with relatively small models and training data, while remaining competitive with or outperforming existing unified approaches.

Spotlight and Shadow: Attention-Guided Dual-Anchor Introspective Decoding for MLLM Hallucination Mitigation

Multimodal Large Language Models (MLLMs) have demonstrated remarkable reasoning capabilities yet continue to suffer from hallucination, where generated text contradicts visual content. In this paper, we introduce Dual-Anchor Introspective Decoding (DaID), a novel contrastive decoding framework that dynamically calibrates each token generation by mining the model's internal perceptual discrepancies. Specifically, DaID identifies a Spotlight layer to amplify visual factual signals and a Shadow layer to suppress textual inertia. By leveraging visual attention distributions to guide this dual-anchor selection process, our method ensures precise, token-specific adaptation. Experimental results across multiple benchmarks and MLLMs demonstrate that DaID significantly mitigates hallucination while enhancing general reasoning capabilities.

Controllable Generative Video Compression

Perceptual video compression adopts generative video modeling to improve perceptual realism but frequently sacrifices signal fidelity, diverging from the goal of video compression to faithfully reproduce visual signal. To alleviate the dilemma between perception and fidelity, in this paper we propose Controllable Generative Video Compression (CGVC) paradigm to faithfully generate details guided by multiple visual conditions. Under the paradigm, representative keyframes of the scene are coded and used to provide structural priors for non-keyframe generation. Dense per-frame control prior is additionally coded to better preserve finer structure and semantics of each non-keyframe. Guided by these priors, non-keyframes are reconstructed by controllable video generation model with temporal and content consistency. Furthermore, to accurately recover color information of the video, we develop a color-distance-guided keyframe selection algorithm to adaptively choose keyframes. Experimental results show CGVC outperforms previous perceptual video compression method in terms of both signal fidelity and perceptual quality.

Executing as You Generate: Hiding Execution Latency in LLM Code Generation

Current LLM-based coding agents follow a serial execution paradigm: the model first generates the complete code, then invokes an interpreter to execute it. This sequential workflow leaves the executor idle during generation and the generator idle during execution, resulting in unnecessary end-to-end latency. We observe that, unlike human developers, LLMs produce code tokens sequentially without revision, making it possible to execute code as it is being generated. We formalize this parallel execution paradigm, modeling it as a three-stage pipeline of generation, detection, and execution, and derive closed-form latency bounds that characterize its speedup potential and operating regimes. We then present Eager, a concrete implementation featuring AST-based chunking, dynamic batching with gated execution, and early error interruption. We evaluate Eager across four benchmarks, seven LLMs, and three execution environments. Results show that Eager reduces the non-overlapped execution latency by up to 99.9% and the end-to-end latency by up to 55% across seven LLMs and four benchmarks.

ERPO: Token-Level Entropy-Regulated Policy Optimization for Large Reasoning Models

Reinforcement learning from verifiable rewards (RLVR) has significantly advanced the reasoning capabilities of large language models. However, standard Group Relative Policy Optimization (GRPO) typically assigns a uniform, sequence-level advantage to all tokens, thereby overlooking the intrinsic information heterogeneity along reasoning chains. We show that this coarse-grained credit assignment leads to premature entropy collapse and encourages the model to generate redundant, low-quality reasoning paths. Through systematic empirical analysis, we identify Critical Decision Pivots (CDPs): transient high-entropy states where the policy's trajectory is most sensitive to perturbations. These pivots represent the "forks in the road" where effective multi-path exploration is most crucial yet often suppressed by uniform advantage signals. Building on these insights, we propose Entropy-Regulated Policy Optimization (ERPO), which transitions the optimization focus from coarse sequences to fine-grained token dynamics. ERPO introduces three synergistic components: (i) Entropy-aware Gating, which adaptively amplifies exploration at CDPs to facilitate diverse path discovery; (ii) Bucket-based Implicit Normalization, which mitigates difficulty bias by aligning token progress windows; and (iii) Result-anchored Advantage Synthesis, which re-weights token-level signals via outcome-driven anchors. Extensive experiments on competitive mathematical benchmarks (e.g., MATH, AIME) demonstrate that ERPO significantly outperforms GRPO. Notably, ERPO not only boosts reasoning accuracy but also yields significantly more concise and robust derivation paths, establishing a new efficiency-accuracy frontier for large reasoning models.