OrigamiBench: An Interactive Environment to Synthesize Flat-Foldable Origamis

Building AI systems that can plan, act, and create in the physical world requires more than pattern recognition. Such systems must understand the causal mechanisms and constraints governing physical processes in order to guide sequential decisions. This capability relies on internal representations, analogous to an internal language model, that relate observations, actions, and resulting environmental changes. However, many existing benchmarks treat visual perception and programmatic reasoning as separate problems, focusing either on visual recognition or on symbolic tasks. The domain of origami provides a natural testbed that integrates these modalities. Constructing shapes through folding operations requires visual perception, reasoning about geometric and physical constraints, and sequential planning, while remaining sufficiently structured for systematic evaluation. We introduce OrigamiBench, an interactive benchmark in which models iteratively propose folds and receive feedback on physical validity and similarity to a target configuration. Experiments with modern vision-language models show that scaling model size alone does not reliably produce causal reasoning about physical transformations. Models fail to generate coherent multi-step folding strategies, suggesting that visual and language representations remain weakly integrated.

SCOUT: Fast Spectral CT Imaging in Ultra LOw-data Regimes via PseUdo-label GeneraTion

Noise and artifacts during computed tomography (CT) scans are a fundamental challenge affecting disease diagnosis. However, current methods either involve excessively long reconstruction times or rely on data-driven models for optimization, failing to adequately consider the valuable information inherent in the data itself, especially medical 3D data. This work proposes a reconstruction method under ultra-low raw data conditions, requiring no external data and avoiding lengthy pre-training processes. By leveraging spatial nonlocal similarity and the conjugate properties of the projection domain to generate pseudo-3D data for self-supervised training, high-fidelity results can be achieved in a very short time. Extensive experiments demonstrate that this method not only mitigates detector-induced ring artifacts but also exhibits unprecedented capabilities in detail recovery. This method provides a new paradigm for research using unlabeled raw projection data. Code is available at https://github.com/yqx7150/SCOUT.

Federated Learning with Profile Mapping under Distribution Shifts and Drifts

Federated Learning (FL) enables decentralized model training across clients without sharing raw data, but its performance degrades under real-world data heterogeneity. Existing methods often fail to address distribution shift across clients and distribution drift over time, or they rely on unrealistic assumptions such as known number of client clusters and data heterogeneity types, which limits their generalizability. We introduce Feroma, a novel FL framework that explicitly handles both distribution shift and drift without relying on client or cluster identity. Feroma builds on client distribution profiles-compact, privacy-preserving representations of local data-that guide model aggregation and test-time model assignment through adaptive similarity-based weighting. This design allows Feroma to dynamically select aggregation strategies during training, ranging from clustered to personalized, and deploy suitable models to unseen, and unlabeled test clients without retraining, online adaptation, or prior knowledge on clients' data. Extensive experiments show that compared to 10 state-of-the-art methods, Feroma improves performance and stability under dynamic data heterogeneity conditions-an average accuracy gain of up to 12 percentage points over the best baselines across 6 benchmarks-while maintaining computational and communication overhead comparable to FedAvg. These results highlight that distribution-profile-based aggregation offers a practical path toward robust FL under both data distribution shifts and drifts.

Federated Concept-Based Models: Interpretable models with distributed supervision

Concept-based models (CMs) enhance interpretability in deep learning by grounding predictions in human-understandable concepts. However, concept annotations are expensive to obtain and rarely available at scale within a single data source. Federated learning (FL) could alleviate this limitation by enabling cross-institutional training that leverages concept annotations distributed across multiple data owners. Yet, FL lacks interpretable modeling paradigms. Integrating CMs with FL is non-trivial: CMs assume a fixed concept space and a predefined model architecture, whereas real-world FL is heterogeneous and non-stationary, with institutions joining over time and bringing new supervision. In this work, we propose Federated Concept-based Models (F-CMs), a new methodology for deploying CMs in evolving FL settings. F-CMs aggregate concept-level information across institutions and efficiently adapt the model architecture in response to changes in the available concept supervision, while preserving institutional privacy. Empirically, F-CMs preserve the accuracy and intervention effectiveness of training settings with full concept supervision, while outperforming non-adaptive federated baselines. Notably, F-CMs enable interpretable inference on concepts not available to a given institution, a key novelty with respect to existing approaches.

ICPO: Illocution-Calibrated Policy Optimization for Multi-Turn Conversation

Large Language Models (LLMs) in multi-turn conversations often suffer from a ``lost-in-conversation'' phenomenon, where they struggle to recover from early incorrect assumptions, particularly when users provide ambiguous initial instructions. We find that standard post-training techniques like Reinforcement Learning with Verifiable Rewards (RLVR) exacerbate this issue by rewarding confident, direct answers, thereby inducing overconfidence and discouraging the model from seeking clarification. To address this, we propose Illocution-Calibrated Policy Optimization (ICPO), a novel training framework that sensitizes the model to instruction ambiguity. ICPO augments the training corpus with underspecified prompts and conditions the reward signal on the user's illocutionary intent, rewarding the model for expressing uncertainty or asking for clarification when faced with ambiguity. Experiments demonstrate that ICPO fosters appropriate humility, yielding a substantial average improvement of 75\% in multi-turn conversation, while preserving robust performance on single-turn benchmarks. Our work presents a practical path toward more robust and collaborative conversational AI that can better navigate the nuances of human interaction.

Towards Robust and Secure Embodied AI: A Survey on Vulnerabilities and Attacks

Embodied AI systems, including robots and autonomous vehicles, are increasingly integrated into real-world applications, where they encounter a range of vulnerabilities stemming from both environmental and system-level factors. These vulnerabilities manifest through sensor spoofing, adversarial attacks, and failures in task and motion planning, posing significant challenges to robustness and safety. Despite the growing body of research, existing reviews rarely focus specifically on the unique safety and security challenges of embodied AI systems. Most prior work either addresses general AI vulnerabilities or focuses on isolated aspects, lacking a dedicated and unified framework tailored to embodied AI. This survey fills this critical gap by: (1) categorizing vulnerabilities specific to embodied AI into exogenous (e.g., physical attacks, cybersecurity threats) and endogenous (e.g., sensor failures, software flaws) origins; (2) systematically analyzing adversarial attack paradigms unique to embodied AI, with a focus on their impact on perception, decision-making, and embodied interaction; (3) investigating attack vectors targeting large vision-language models (LVLMs) and large language models (LLMs) within embodied systems, such as jailbreak attacks and instruction misinterpretation; (4) evaluating robustness challenges in algorithms for embodied perception, decision-making, and task planning; and (5) proposing targeted strategies to enhance the safety and reliability of embodied AI systems. By integrating these dimensions, we provide a comprehensive framework for understanding the interplay between vulnerabilities and safety in embodied AI.

Neural Honeytrace: A Robust Plug-and-Play Watermarking Framework against Model Extraction Attacks

Developing high-performance deep learning models is resource-intensive, leading model owners to utilize Machine Learning as a Service (MLaaS) platforms instead of publicly releasing their models. However, malicious users may exploit query interfaces to execute model extraction attacks, reconstructing the target model's functionality locally. While prior research has investigated triggerable watermarking techniques for asserting ownership, existing methods face significant challenges: (1) most approaches require additional training, resulting in high overhead and limited flexibility, and (2) they often fail to account for advanced attackers, leaving them vulnerable to adaptive attacks. In this paper, we propose Neural Honeytrace, a robust plug-and-play watermarking framework against model extraction attacks. We first formulate a watermark transmission model from an information-theoretic perspective, providing an interpretable account of the principles and limitations of existing triggerable watermarking. Guided by the model, we further introduce: (1) a similarity-based training-free watermarking method for plug-and-play and flexible watermarking, and (2) a distribution-based multi-step watermark information transmission strategy for robust watermarking. Comprehensive experiments on four datasets demonstrate that Neural Honeytrace outperforms previous methods in efficiency and resisting adaptive attacks. Neural Honeytrace reduces the average number of samples required for a worst-case t-Test-based copyright claim from $12,000$ to $200$ with zero training cost.

A Survey on Federated Learning in Human Sensing

Human Sensing, a field that leverages technology to monitor human activities, psycho-physiological states, and interactions with the environment, enhances our understanding of human behavior and drives the development of advanced services that improve overall quality of life. However, its reliance on detailed and often privacy-sensitive data as the basis for its machine learning (ML) models raises significant legal and ethical concerns. The recently proposed ML approach of Federated Learning (FL) promises to alleviate many of these concerns, as it is able to create accurate ML models without sending raw user data to a central server. While FL has demonstrated its usefulness across a variety of areas, such as text prediction and cyber security, its benefits in Human Sensing are under-explored, given the particular challenges in this domain. This survey conducts a comprehensive analysis of the current state-of-the-art studies on FL in Human Sensing, and proposes a taxonomy and an eight-dimensional assessment for FL approaches. Through the eight-dimensional assessment, we then evaluate whether the surveyed studies consider a specific FL-in-Human-Sensing challenge or not. Finally, based on the overall analysis, we discuss open challenges and highlight five research aspects related to FL in Human Sensing that require urgent research attention. Our work provides a comprehensive corpus of FL studies and aims to assist FL practitioners in developing and evaluating solutions that effectively address the real-world complexities of Human Sensing.

WHISMA: A Speech-LLM to Perform Zero-shot Spoken Language Understanding

Speech large language models (speech-LLMs) integrate speech and text-based foundation models to provide a unified framework for handling a wide range of downstream tasks. In this paper, we introduce WHISMA, a speech-LLM tailored for spoken language understanding (SLU) that demonstrates robust performance in various zero-shot settings. WHISMA combines the speech encoder from Whisper with the Llama-3 LLM, and is fine-tuned in a parameter-efficient manner on a comprehensive collection of SLU-related datasets. Our experiments show that WHISMA significantly improves the zero-shot slot filling performance on the SLURP benchmark, achieving a relative gain of 26.6% compared to the current state-of-the-art model. Furthermore, to evaluate WHISMA's generalisation capabilities to unseen domains, we develop a new task-agnostic benchmark named SLU-GLUE. The evaluation results indicate that WHISMA outperforms an existing speech-LLM (Qwen-Audio) with a relative gain of 33.0%.

Prompting Whisper for QA-driven Zero-shot End-to-end Spoken Language Understanding

Zero-shot spoken language understanding (SLU) enables systems to comprehend user utterances in new domains without prior exposure to training data. Recent studies often rely on large language models (LLMs), leading to excessive footprints and complexity. This paper proposes the use of Whisper, a standalone speech processing model, for zero-shot end-to-end (E2E) SLU. To handle unseen semantic labels, SLU tasks are integrated into a question-answering (QA) framework, which prompts the Whisper decoder for semantics deduction. The system is efficiently trained with prefix-tuning, optimising a minimal set of parameters rather than the entire Whisper model. We show that the proposed system achieves a 40.7% absolute gain for slot filling (SLU-F1) on SLURP compared to a recently introduced zero-shot benchmark. Furthermore, it performs comparably to a Whisper-GPT-2 modular system under both in-corpus and cross-corpus evaluation settings, but with a relative 34.8% reduction in model parameters.