arXiv subjects

Binkai Ou

Publications and source records attributed to Binkai Ou.

7 recordsLinked to original sources

arXiv2026

MC-PDD: Masked Corpus-Level Pretraining Data Detection for Black-Box Large Language Models

Pretraining is fundamental to the development of Large Language Models (LLMs), yet the opacity of pretraining data complicates model analysis and raises ethical, legal, and fairness concerns. Detecting whether specific datasets were used during pretraining is, therefore, critical. Existing state-of-the-art methods typically rely on access to model probability distributions, making them unsuitable for closed-source LLMs that provide only input-output interfaces. To address this limitation, we introduce Masked Corpus-level Pretraining Data Detection (MC-PDD), a novel method inspired by the masked language modeling paradigm. MC-PDD masks highly specific tokens in each text and prompts the LLM to predict the missing content. It then assesses whether the difference in prediction hit rates between a candidate corpus and a reference non-member corpus is statistically significant. Based on this comparison, MC-PDD determines whether the candidate texts were likely included in the model's pretraining data. Experimental results demonstrate clear and consistent differences in prediction hit rates between pretrained and unseen data across three datasets, for both open-source and closed-source LLMs. Despite operating under a stricter black-box setting, MC-PDD achieves performance comparable to existing detection methods. Our approach enables practical applications such as model auditing and data copyright verification using only standard API access. Upon acceptance, we will publicly release the code and datasets.

cs.CL↗

arXiv2026

TCM-DiffRAG: Personalized Syndrome Differentiation Reasoning Method for Traditional Chinese Medicine based on Knowledge Graph and Chain of Thought

Background: Retrieval augmented generation (RAG) technology can empower large language models (LLMs) to generate more accurate, professional, and timely responses without fine tuning. However, due to the complex reasoning processes and substantial individual differences involved in traditional Chinese medicine (TCM) clinical diagnosis and treatment, traditional RAG methods often exhibit poor performance in this domain. Objective: To address the limitations of conventional RAG approaches in TCM applications, this study aims to develop an improved RAG framework tailored to the characteristics of TCM reasoning. Methods: We developed TCM-DiffRAG, an innovative RAG framework that integrates knowledge graphs (KG) with chains of thought (CoT). TCM-DiffRAG was evaluated on three distinctive TCM test datasets. Results: The experimental results demonstrated that TCM-DiffRAG achieved significant performance improvements over native LLMs. For example, the qwen-plus model achieved scores of 0.927, 0.361, and 0.038, which were significantly enhanced to 0.952, 0.788, and 0.356 with TCM-DiffRAG. The improvements were even more pronounced for non-Chinese LLMs. Additionally, TCM-DiffRAG outperformed directly supervised fine-tuned (SFT) LLMs and other benchmark RAG methods. Conclusions: TCM-DiffRAG shows that integrating structured TCM knowledge graphs with Chain of Thought based reasoning substantially improves performance in individualized diagnostic tasks. The joint use of universal and personalized knowledge graphs enables effective alignment between general knowledge and clinical reasoning. These results highlight the potential of reasoning-aware RAG frameworks for advancing LLM applications in traditional Chinese medicine.

cs.CL↗

arXiv2026

Spiking Neural-Invariant Kalman Fusion for Accurate Localization Using Low-Cost IMUs

Low-cost inertial measurement units (IMUs) are widely utilized in mobile robot localization due to their affordability and ease of integration. However, their complex, nonlinear, and time-varying noise characteristics often lead to significant degradation in localization accuracy when applied directly for dead reckoning. To overcome this limitation, we propose a novel brain-inspired state estimation framework that combines a spiking neural network (SNN) with an invariant extended Kalman filter (InEKF). The SNN is designed to extract motion-related features from long sequences of IMU data affected by substantial random noise and is trained via a surrogate gradient descent algorithm to enable dynamic adaptation of the covariance noise parameter within the InEKF. By fusing the SNN output with raw IMU measurements, the proposed method enhances the robustness and accuracy of pose estimation. Extensive experiments conducted on the KITTI dataset and real-world data collected using a mobile robot equipped with a low-cost IMU demonstrate that the proposed approach outperforms state-of-the-art methods in localization accuracy and exhibits strong robustness to sensor noise, highlighting its potential for real-world mobile robot applications.

cs.RO↗

arXiv2026

CoFreeVLA: Short-Horizon Collision-Free Dual-Arm Manipulation via Vision-Language-Action Model and Risk Estimation

Vision Language Action (VLA) models enable instruction-following manipulation, yet their deployment on coordinated dual-arm platforms remains severely constrained by under-modeled self-collisions between manipulators and grasped objects. To address this critical safety gap, we propose CoFreeVLA, a novel framework that augments end-to-end VLA policies with a lightweight, short-horizon self-collision risk estimator. The estimator predicts collision likelihoods directly from proprioceptive states, visual embeddings, and candidate action sequences. Deeply integrated into the closed-loop control system, this estimator proactively gates risky commands, autonomously synthesizes recovery trajectories to safe states via risk-guided adjustments, and biases policy refinement for safer rollouts. To ensure robust calibration, the estimator utilizes a two-stage training pipeline, pre-training with model-based synthetic collision labels, followed by post-training on real-robot rollouts. Across five bimanual tasks, six VLA backbones, and 30 trials per variant, the task-averaged collision rate decreases from 0.54 to 0.23, while the task-averaged success rate increases from 0.45 to 0.61. Compared to representative baselines, CoFreeVLA substantially reduces self-collision frequencies and improves overall task success rates, providing a crucial step toward the safe deployment of foundational models in multi-arm continuous control.

cs.RO↗

arXiv2026

A brain-inspired information fusion method for enhancing robot GPS outages navigation

Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system (GPS) outages. To address this challenge and improve positioning continuity in GPS-denied environments, this paper proposes a brain-inspired GPS/INS fusion network (BGFN) based on spiking neural networks (SNNs). The BGFN architecture integrates a spiking Transformer with a spiking encoder to simultaneously extract spatial features from inertial measurement unit (IMU) signals and capture their temporal dynamics. By modeling the relationship between vehicle attitude, specific force, angular rate, and GPS-derived position increments, the network leverages both current and historical IMU data to estimate vehicle motion. The effectiveness of the proposed method is evaluated through real-world field tests and experiments on public datasets. Compared to conventional deep learning approaches, the results demonstrate that BGFN achieves higher accuracy and enhanced reliability in navigation performance, particularly under prolonged GPS outages.

cs.RO↗

arXiv2025

MagicTryOn: Harnessing Diffusion Transformer for Garment-Preserving Video Virtual Try-on

Video Virtual Try-On (VVT) aims to synthesize garments that appear natural across consecutive video frames, capturing both their dynamics and interactions with human motion. Despite recent progress, existing VVT methods still suffer from inadequate garment fidelity and limited spatiotemporal consistency. The reasons are: (1) under-exploitation of garment information, with limited garment cues being injected, resulting in weaker fine-detail fidelity; and (2) a lack of spatiotemporal modeling, which hampers cross-frame identity consistency and causes temporal jitter and appearance drift. In this paper, we present MagicTryOn, a diffusion-transformer based framework for garment-preserving video virtual try-on. To preserve fine-grained garment details, we propose a fine-grained garment-preservation strategy that disentangles garment cues and injects these decomposed priors into the denoising process. To improve temporal garment consistency and suppress jitter, we introduce a garment-aware spatiotemporal rotary positional embedding (RoPE) that extends RoPE within full self-attention, using spatiotemporal relative positions to modulate garment tokens. We further impose a mask-aware loss during training to enhance fidelity within garment regions. Moreover, we adopt distribution-matching distillation to compress the sampling trajectory to four steps, enabling real-time inference without degrading garment fidelity. Extensive quantitative and qualitative experiments demonstrate that MagicTryOn outperforms existing methods, delivering superior garment-detail fidelity and temporal stability in unconstrained settings.

cs.CV↗

arXiv2025

Fine-Grained Instruction-Guided Graph Reasoning for Vision-and-Language Navigation

Vision and Language Navigation (VLN) requires an embodied agent to traverse complex environments by following natural language instructions, demanding accurate alignment between visual observations and linguistic guidance. To address these challenges, we propose a fine grained instruction guided graph reasoning framework (FIGR) that enhances both spatial representation and instruction understanding during navigation. Specifically, an observation graph interaction mechanism is introduced to disentangle angular and visual cues while strengthening directed edge representations through geometric embedding, enabling more reliable spatial reasoning within the navigation graph. The key detail guidance module is implemented as Adaptive Open Vocabulary Guidance (AOVG), where a contextual role parser dynamically identifies location, object, spatial relation, and other contextual cues. This design avoids exact string matching and supports previously unseen entities and compositional expressions. For multilingual instructions, a Multilingual Semantic Adapter (MSA) maps language-specific representations into a shared navigation-semantic space. By jointly integrating structured graph reasoning with instruction critical semantic cues, the proposed approach significantly improves the agent ability to follow complex navigation instructions. On the validation-unseen splits, FIGR achieves 67 SPL on R2R and 64.8 sDTW on RxR, exceeding SPENav by 1 percentage point in SPL and PRET by 2.4 points in sDTW, respectively.

cs.CV↗