FocusNav: Spatial Selective Attention with Waypoint Guidance for Humanoid Local Navigation

Robust local navigation in unstructured and dynamic environments remains a significant challenge for humanoid robots, requiring a delicate balance between long-range navigation targets and immediate motion stability. In this paper, we propose FocusNav, a spatial selective attention framework that adaptively modulates the robot's perceptual field based on navigational intent and real-time stability. FocusNav features a Waypoint-Guided Spatial Cross-Attention (WGSCA) mechanism that anchors environmental feature aggregation to a sequence of predicted collision-free waypoints, ensuring task-relevant perception along the planned trajectory. To enhance robustness in complex terrains, the Stability-Aware Selective Gating (SASG) module autonomously truncates distal information when detecting instability, compelling the policy to prioritize immediate foothold safety. Extensive experiments on the Unitree G1 humanoid robot demonstrate that FocusNav significantly improves navigation success rates in challenging scenarios, outperforming baselines in both collision avoidance and motion stability, achieving robust navigation in dynamic and complex environments.

SL-CBM: Enhancing Concept Bottleneck Models with Semantic Locality for Better Interpretability

Explainable AI (XAI) is crucial for building transparent and trustworthy machine learning systems, especially in high-stakes domains. Concept Bottleneck Models (CBMs) have emerged as a promising ante-hoc approach that provides interpretable, concept-level explanations by explicitly modeling human-understandable concepts. However, existing CBMs often suffer from poor locality faithfulness, failing to spatially align concepts with meaningful image regions, which limits their interpretability and reliability. In this work, we propose SL-CBM (CBM with Semantic Locality), a novel extension that enforces locality faithfulness by generating spatially coherent saliency maps at both concept and class levels. SL-CBM integrates a 1x1 convolutional layer with a cross-attention mechanism to enhance alignment between concepts, image regions, and final predictions. Unlike prior methods, SL-CBM produces faithful saliency maps inherently tied to the model's internal reasoning, facilitating more effective debugging and intervention. Extensive experiments on image datasets demonstrate that SL-CBM substantially improves locality faithfulness, explanation quality, and intervention efficacy while maintaining competitive classification accuracy. Our ablation studies highlight the importance of contrastive and entropy-based regularization for balancing accuracy, sparsity, and faithfulness. Overall, SL-CBM bridges the gap between concept-based reasoning and spatial explainability, setting a new standard for interpretable and trustworthy concept-based models.

Song Aesthetics Evaluation with Multi-Stem Attention and Hierarchical Uncertainty Modeling

Music generative artificial intelligence (AI) is rapidly expanding music content, necessitating automated song aesthetics evaluation. However, existing studies largely focus on speech, audio or singing quality, leaving song aesthetics underexplored. Moreover, conventional approaches often predict a precise Mean Opinion Score (MOS) value directly, which struggles to capture the nuances of human perception in song aesthetics evaluation. This paper proposes a song-oriented aesthetics evaluation framework, featuring two novel modules: 1) Multi-Stem Attention Fusion (MSAF) builds bidirectional cross-attention between mixture-vocal and mixture-accompaniment pairs, fusing them to capture complex musical features; 2) Hierarchical Granularity-Aware Interval Aggregation (HiGIA) learns multi-granularity score probability distributions, aggregates them into a score interval, and applies a regression within the interval to produce the final score. We evaluated on two datasets of full-length songs: SongEval dataset (AI-generated) and an internal aesthetics dataset (human-created), and compared with two state-of-the-art (SOTA) models. Results show that the proposed method achieves stronger performance for multi-dimensional song aesthetics evaluation.

Don't Start Over: A Cost-Effective Framework for Migrating Personalized Prompts Between LLMs

Personalization in Large Language Models (LLMs) often relies on user-specific soft prompts. However, these prompts become obsolete when the foundation model is upgraded, necessitating costly, full-scale retraining. To overcome this limitation, we propose the Prompt-level User Migration Adapter (PUMA), a lightweight framework to efficiently migrate personalized prompts across incompatible models. PUMA utilizes a parameter-efficient adapter to bridge the semantic gap, combined with a group-based user selection strategy to significantly reduce training costs. Experiments on three large-scale datasets show our method matches or even surpasses the performance of retraining from scratch, reducing computational cost by up to 98%. The framework demonstrates strong generalization across diverse model architectures and robustness in advanced scenarios like chained and aggregated migrations, offering a practical path for the sustainable evolution of personalized AI by decoupling user assets from the underlying models.

PERM: Psychology-grounded Empathetic Reward Modeling for Large Language Models

Large Language Models (LLMs) are increasingly deployed in human-centric applications, yet they often fail to provide substantive emotional support. While Reinforcement Learning (RL) has been utilized to enhance empathy of LLMs, existing reward models typically evaluate empathy from a single perspective, overlooking the inherently bidirectional interaction nature of empathy between the supporter and seeker as defined by Empathy Cycle theory. To address this limitation, we propose Psychology-grounded Empathetic Reward Modeling (PERM). PERM operationalizes empathy evaluation through a bidirectional decomposition: 1) Supporter perspective, assessing internal resonation and communicative expression; 2) Seeker perspective, evaluating emotional reception. Additionally, it incorporates a bystander perspective to monitor overall interaction quality. Extensive experiments on a widely-used emotional intelligence benchmark and an industrial daily conversation dataset demonstrate that PERM outperforms state-of-the-art baselines by over 10\%. Furthermore, a blinded user study reveals a 70\% preference for our approach, highlighting its efficacy in generating more empathetic responses. Our code, dataset, and models are available at https://github.com/ZhengWwwq/PERM.

RenderFlow: Single-Step Neural Rendering via Flow Matching

Conventional physically based rendering (PBR) pipelines generate photorealistic images through computationally intensive light transport simulations. Although recent deep learning approaches leverage diffusion model priors with geometry buffers (G-buffers) to produce visually compelling results without explicit scene geometry or light simulation, they remain constrained by two major limitations. First, the iterative nature of the diffusion process introduces substantial latency. Second, the inherent stochasticity of these generative models compromises physical accuracy and temporal consistency. In response to these challenges, we propose a novel, end-to-end, deterministic, single-step neural rendering framework, RenderFlow, built upon a flow matching paradigm. To further strengthen both rendering quality and generalization, we propose an efficient and effective module for sparse keyframe guidance. Our method significantly accelerates the rendering process and, by optionally incorporating sparsely rendered keyframes as guidance, enhances both the physical plausibility and overall visual quality of the output. The resulting pipeline achieves near real-time performance with photorealistic rendering quality, effectively bridging the gap between the efficiency of modern generative models and the precision of traditional physically based rendering. Furthermore, we demonstrate the versatility of our framework by introducing a lightweight, adapter-based module that efficiently repurposes the pretrained forward model for the inverse rendering task of intrinsic decomposition.

GIFT: Games as Informal Training for Generalizable LLMs

While Large Language Models (LLMs) have achieved remarkable success in formal learning tasks such as mathematics and code generation, they still struggle with the "practical wisdom" and generalizable intelligence, such as strategic creativity and social reasoning, that characterize human cognition. This gap arises from a lack of informal learning, which thrives on interactive feedback rather than goal-oriented instruction. In this paper, we propose treating Games as a primary environment for LLM informal learning, leveraging their intrinsic reward signals and abstracted complexity to cultivate diverse competencies. To address the performance degradation observed in multi-task learning, we introduce a Nested Training Framework. Unlike naive task mixing optimizing an implicit "OR" objective, our framework employs sequential task composition to enforce an explicit "AND" objective, compelling the model to master multiple abilities simultaneously to achieve maximal rewards. Using GRPO-based reinforcement learning across Matrix Games, TicTacToe, and Who's the Spy games, we demonstrate that integrating game-based informal learning not only prevents task interference but also significantly bolsters the model's generalization across broad ability-oriented benchmarks. The framework and implementation are publicly available.

Guardians of the Hair: Rescuing Soft Boundaries in Depth, Stereo, and Novel Views

Soft boundaries, like thin hairs, are commonly observed in natural and computer-generated imagery, but they remain challenging for 3D vision due to the ambiguous mixing of foreground and background cues. This paper introduces Guardians of the Hair (HairGuard), a framework designed to recover fine-grained soft boundary details in 3D vision tasks. Specifically, we first propose a novel data curation pipeline that leverages image matting datasets for training and design a depth fixer network to automatically identify soft boundary regions. With a gated residual module, the depth fixer refines depth precisely around soft boundaries while maintaining global depth quality, allowing plug-and-play integration with state-of-the-art depth models. For view synthesis, we perform depth-based forward warping to retain high-fidelity textures, followed by a generative scene painter that fills disoccluded regions and eliminates redundant background artifacts within soft boundaries. Finally, a color fuser adaptively combines warped and inpainted results to produce novel views with consistent geometry and fine-grained details. Extensive experiments demonstrate that HairGuard achieves state-of-the-art performance across monocular depth estimation, stereo image/video conversion, and novel view synthesis, with significant improvements in soft boundary regions.

nncase: An End-to-End Compiler for Efficient LLM Deployment on Heterogeneous Storage Architectures

The efficient deployment of large language models (LLMs) is hindered by memory architecture heterogeneity, where traditional compilers suffer from fragmented workflows and high adaptation costs. We present nncase, an open-source, end-to-end compilation framework designed to unify optimization across diverse targets. Central to nncase is an e-graph-based term rewriting engine that mitigates the phase ordering problem, enabling global exploration of computation and data movement strategies. The framework integrates three key modules: Auto Vectorize for adapting to heterogeneous computing units, Auto Distribution for searching parallel strategies with cost-aware communication optimization, and Auto Schedule for maximizing on-chip cache locality. Furthermore, a buffer-aware Codegen phase ensures efficient kernel instantiation. Evaluations show that nncase outperforms mainstream frameworks like MLC LLM and Intel IPEX on Qwen3 series models and achieves performance comparable to the hand-optimized llama.cpp on CPUs, demonstrating the viability of automated compilation for high-performance LLM deployment. The source code is available at https://github.com/kendryte/nncase.

Plug-and-Play Parameter-Efficient Tuning of Embeddings for Federated Recommendation

With the rise of cloud-edge collaboration, recommendation services are increasingly trained in distributed environments. Federated Recommendation (FR) enables such multi-end collaborative training while preserving privacy by sharing model parameters instead of raw data. However, the large number of parameters, primarily due to the massive item embeddings, significantly hampers communication efficiency. While existing studies mainly focus on improving the efficiency of FR models, they largely overlook the issue of embedding parameter overhead. To address this gap, we propose a FR training framework with Parameter-Efficient Fine-Tuning (PEFT) based embedding designed to reduce the volume of embedding parameters that need to be transmitted. Our approach offers a lightweight, plugin-style solution that can be seamlessly integrated into existing FR methods. In addition to incorporating common PEFT techniques such as LoRA and Hash-based encoding, we explore the use of Residual Quantized Variational Autoencoders (RQ-VAE) as a novel PEFT strategy within our framework. Extensive experiments across various FR model backbones and datasets demonstrate that our framework significantly reduces communication overhead while improving accuracy. The source code is available at https://github.com/young1010/FedPEFT.