Deterministic Execution of ROS 2 Applications via Lingua Franca

The Robot Operating System 2 (ROS 2) is a widely used middleware for robotic systems, characterized by a publish-subscribe (pub-sub) communication mechanism in which computation is structured as callbacks dispatched by ROS 2 executors. Despite its popularity, the pub-sub pattern in ROS 2 is inherently nondeterministic: the order in which these callbacks run is nondeterministic even within a single executor, and distributed deployments add further nondeterminism from the interleaving of messages across nodes and from network latency. Such nondeterminism often leads to concurrency issues and makes it virtually impossible to analyze for safeness and provide guarantees. We present a framework that is able to convert an unmodified ROS 2 application and run it under Lingua Franca (LF), a coordination language for deterministic execution using logical time, so that the same input always produces the same deterministic execution order. We first describe which ROS 2 features can be executed deterministically under logical time. Such features enable the possibility to establish an automatic conversion framework to extract information from a ROS 2 application and directly convert it into an LF program. The rich features of LF, such as logical-time delays, federated execution across processes, and fault handling, can then be applied to make the ROS 2 application be executed in a deterministic and timing-predictable manner without changing the ROS 2 code. We evaluate the framework on a synthetic example and on the Autoware reference system. We show that the order in which callbacks are executed differs in default ROS 2, while also having end-to-end latencies that vary across executions. In contrast, our LF-controlled ROS 2 system produces a deterministic execution order and consistent end-to-end latencies.

How Does Reasoning Flow? Tracing Attention-Induced Information Flow for Targeted RL in LLMs

Token-level credit assignment remains a key obstacle for reinforcement learning (RL) in large language models (LLMs), where RL recipes typically treat all tokens equally, failing to distinguish decisive reasoning steps from routine formatting or fluent filler. Recent attempts leverage model-internal signals to assign finer-grained credit, but these are often point-wise heuristics that ignore the global structure of information propagation. We propose FlowTracer, an RL framework that traces answer-targeted reasoning flow on an attention-induced directed acyclic graph in which nodes correspond to tokens and edge capacities come from aggregated attention weights and derives token credit from this global structure. The edge capacities are reweighted to retain only the influence that can reach the answer region, while enforcing local flow conservation so intermediate tokens neither lose nor gain effective mass due to path length or irrelevant branches. On this graph, FlowTracer extracts an information-flow backbone connecting the question to the answer and scores tokens by flow throughput, revealing high-impact hubs and aggregation checkpoints that mediate long-range dependencies. These derived importances are used to shape token-level rewards, enabling learning signals to focus precisely on the tokens that route information toward (or away from) correct answers and delivering consistent performance gains across a range of reasoning tasks.

Content-Induced Spatial-Spectral Aggregation Network for Change Detection in Remote Sensing Images

The integration of spatial and spectral information is beneficial to the improvement of change detection performance. However, existing methods cannot efficiently suppress the influences of spatial and spectral differences in unchanged areas. To address these issues, in this paper we propose a content-guided spatial-spectral integration network (CSI-Net) for the fusion of global spatial details and spectral difference information. Specifically, the proposed CSI-Net is composed of a spatial reasoning (SR) module, a spectral difference (SD) module, and a content-guided integration (CGI) module. In the SR module, the spatial information is learned by cascaded graph convolution blocks for global modeling. The SD module is responsible for the extraction of spectral features, by calculating the means and variances of features to reduce the impact of spectral differences in unchanged regions. In addition, in order to integrate the spatial-spectral features efficiently, we design a CGI module to further take advantage of their complementary information. In this module, high-level content information is introduced as a guide for a proper interaction. Due to the efficient spatial-spectral fusion, the proposed CSI-Net can learn the changed features better while achieving a suppression of spectral differences. Experimental results on LEVIR-CD, WHU-CD, and CLCD datasets demonstrate that the proposed CSI-Net produces better performance compared to state-of-the-art methods, and is applicable to different scenarios

Geometric Coastline Localization using Vision-Language Models

Coastline detection in remote sensing imagery is commonly formulated as a pixel-wise segmentation problem, where the final coastline is extracted from a predicted mask through post-processing. This formulation relegates coastline geometry, the primary representation used in coastal change analysis, to a secondary artifact rather than the learning objective. In practice, coastlines are defined by geomorphic proxies such as vegetation lines, dune toes, or cliff edges, rather than an instantaneous land-water boundary often used in pixel-based segmentation approaches. In this work, we revisit coastline extraction from a representation perspective and formulate the task as geometric boundary localization. We use the New Zealand Coastal Change Dataset (NZCCD) and high-resolution aerial imagery from Land Information New Zealand (LINZ) to develop CoastlineVLM-7B, a vision-language model (VLM) built on the GeoChat-7B/LLaVA-1.5 architecture that jointly performs coastline presence detection, proxy-type classification, and coastline grounding. The model directly predicts a coastline as a polyline rather than a dense segmentation mask. We evaluate CoastlineVLM-7B against segmentation baselines under strict one-pixel boundary supervision. Results show that geometry-based metrics are more suitable for assessing coastline localization quality than pixel-overlap metrics such as Intersection over Union (IoU). CoastlineVLM-7B improves global geometric alignment with reference coastlines, reducing Hausdorff distance from 37.74 m to 31.84 m and Earth Mover's Distance from 21.12 m to 17.32 m. These results indicate that output representation is a critical design choice in coastline extraction, and that geometry-oriented learning, combined with the semantic reasoning capabilities of vision-language models, aligns well with how coastlines are defined and evaluated in operational coastal monitoring.

Benchmarking Knowledge Editing using Logical Rules

Large Language Models (LLMs) are increasingly deployed in real-world applications that require access to up-to-date knowledge. However, retraining LLMs is computationally expensive. Therefore, knowledge editing techniques are crucial for maintaining current information and correcting erroneous assertions within pre-trained models. Current benchmarks for knowledge editing primarily focus on recalling edited facts, often neglecting their logical consequences. To address this limitation, we introduce a new benchmark designed to evaluate how knowledge editing methods handle the logical consequences of a single fact edit. Our benchmark extracts relevant logical rules from a knowledge graph for a given edit. Then, it generates multi-hop questions based on these rules to assess the impact on logical consequences. Our findings indicate that while existing knowledge editing approaches can accurately insert direct assertions into LLMs, they frequently fail to inject entailed knowledge. Specifically, experiments with popular methods like ROME and FT reveal a substantial performance gap, up to 24%, between evaluations on directly edited knowledge and on entailed knowledge. This highlights the critical need for semantics-aware evaluation frameworks in knowledge editing.

Unveiling Privacy Risks in Multi-modal Large Language Models: Task-specific Vulnerabilities and Mitigation Challenges

Privacy risks in text-only Large Language Models (LLMs) are well studied, particularly their tendency to memorize and leak sensitive information. However, Multi-modal Large Language Models (MLLMs), which process both text and images, introduce unique privacy challenges that remain underexplored. Compared to text-only models, MLLMs can extract and expose sensitive information embedded in images, posing new privacy risks. We reveal that some MLLMs are susceptible to privacy breaches, leaking sensitive data embedded in images or stored in memory. Specifically, in this paper, we (1) introduce MM-Privacy, a comprehensive dataset designed to assess privacy risks across various multi-modal tasks and scenarios, where we define Disclosure Risks and Retention Risks. (2) systematically evaluate different MLLMs using MM-Privacy and demonstrate how models leak sensitive data across various tasks, and (3) provide additional insights into the role of task inconsistency in privacy risks, emphasizing the urgent need for mitigation strategies. Our findings highlight privacy concerns in MLLMs, underscoring the necessity of safeguards to prevent data exposure. Our dataset and code can be found here.

Alignment Defends LLMs from Property Inference Attacks

Large language models (LLMs) are increasingly fine-tuned on domain-specific datasets that may contain sensitive, dataset-level properties. Recent work has shown that such dataset-level information can be effectively extracted through property inference attacks, posing a confidentiality risk. Existing defenses against these attacks primarily operate by modifying the training data distribution and hence require access to the original data and retraining the model, limiting their applicability to settings where data is unavailable or models are already deployed. In this work, we propose alignment-based defenses for mitigating property inference attacks in LLMs. Our approach reshapes the model's output distribution towards a target property ratio via post-training alignment, without modifying the training data. In particular, we adapt two widely used RLHF frameworks--Direct Preference Optimization (DPO) and Group Relative Policy Optimization (GRPO)--as our defenses by constructing preference pairs and defining a specific reward function respectively. Through comprehensive experiments, we show that our alignment based defenses effectively mitigate property inference attacks while maintaining a strong utility confidentiality tradeoff.

KG-SoftMAP: Soft Knowledge-Graph Priors for Bayesian Network Structure Learning from Sparse Discrete Data

Learning Bayesian network (BN) structure from sparse discrete data is hard: when each instance records only a few variables, most variable pairs lack the joint observations needed for reliable scoring, and data-only methods recover little structure. Imperfect domain knowledge, expressible as a weighted directed knowledge graph (KG), is often available. We propose KG-SoftMAP, which encodes such a KG as a soft, confidence-weighted, data-overridable edge prior and maximizes a MAP objective combining the BDeu score with a logit-form prior; the KG may be expert-curated or LLM-extracted. On controlled synthetic benchmarks, the only setting with ground-truth DAGs, KG-SoftMAP recovers partial directed structure at $ρ=0.05$ (DF1 $0.14$ to $0.29$, versus near-zero baselines) and substantially more once $ρ\geq0.2$ (DF1 $0.46$ to $0.96$), when paired with an informative but imperfect KG; recovery degrades gracefully as KG quality drops. On real sparse educational data, which has no ground-truth DAG, we evaluate deployment-facing measures only: prediction, calibration, and KG-consistency. The learned BN is best read as a diagnostic model: on SAF it trails logistic regression by $0.03$ F1_FAIL while providing KG-consistent edges, calibrated joint probabilities, and inference from arbitrary observed concept subsets; when no meaningful KG exists, discriminative logistic regression is preferable.

Vision-Language Guided Hyperspectral Object Tracking via Semantics Fusion and Contextual Template Updating

Hyperspectral object tracking (HOT) leverages the rich spectral information provided by hyperspectral videos (HSVs), offering substantial potential for object tracking. However, efficiently extracting and exploiting spectral information from redundant spectral bands remains a fundamental challenge, which severely limits model generalization and tracking performance. Moreover, in dynamic scenes, targets often experience drastic appearance variations due to factors such as occlusion and illumination changes. These variations lead to large deformations between the current frame and the template. Such discrepancies pose major challenges for existing temporal modeling approaches. In this work, we propose VLHTrack, a novel hyperspectral vision-language (VL) joint tracking framework. Specifically, we incorporate language priors to address the fundamental challenge of spectral redundancy by designing a Language-Guided Band Selection Module (LBSM). By leveraging Large Language Model (LLM) descriptions, LBSM establishes a semantic-to-spectral mapping that mitigates redundancy and accentuates discriminative spectral features. A Multi-Modal Vision-Language Fusion Module is then employed to seamlessly integrate visual and linguistic embeddings, harnessing their complementary advantages to learn coherent cross-modal representations. To address target deformation in long-term sequences, we propose a dynamic update template feature strategy implemented via the Dynamic Template Update with Mamba (DTUM) module. By leveraging selective state space modeling, DTUM learns inter-frame dependencies to update template feature, ensuring efficient template feature evolution guided by temporal context. Experiments on HOT2023 and HOT2024 demonstrate that VLHTrack outperforms state-of-the-art (SOTA) methods.

Autonomous FPV Flight with Translational Optical Flow and Uncertainty Mask

Autonomous FPV quadrotor flight in complex environments using a monocular RGB camera as the sole exteroceptive sensor remains a fundamental challenge. Recent research has shown that using optical flow as the input of a neural network can achieve end-to-end autonomous flight in cluttered scenes. However, extracting the most relevant information from the flow estimation is the key bottleneck limiting agility and robustness. Existing methods struggle to disentangle obstacle-induced optical flow from the ego-motion background flow and suffer from low signal-to-noise ratios near the focus of expansion (FoE). To address these issues, we decompose the optical flow into translational and rotational components and utilize only the translational flow, which captures scene geometry and depth cues. In addition, we introduce an uncertainty mask derived from inconsistencies between forward and backward flow estimates. This mask highlights obstacle structures, including those within the FoE region. Both cues are fed to a control policy trained in a differentiable simulation framework, which enables efficient first-order optimization across perception and control. We validate our approach through extensive experiments in both simulated and real-world forest environments. The proposed system achieves robust flight at speeds of up to 13.91 m/s in simulation and 11.79 m/s in real-world tests, with a 93.3\% success rate over 30 real-world trials, nearly doubling the previously reported 6 m/s real-world speed of the monocular-RGB optical-flow UAV obstacle avoidance system.