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Jilin Mei

Publications and source records attributed to Jilin Mei.

At least 19 recordsLinked to original sources

Attributing Emergence in Million-Agent Systems

Large language models (LLMs) can simulate human-like reasoning and decision-making in individual agents. LLM-powered multi-agent systems (MAS) combine such agents to simulate population-scale social phenomena such as polarization, information cascades, and market panics. Such studies require attributing macro emergence to individual agents, but existing axiomatic methods scale combinatorially in $N$ and have been confined to $N \lesssim 10^3$, while the phenomena they explain occur at $N \geq 10^6$. We address this gap by adapting Aumann--Shapley path-integral attribution to LLM-powered MAS at million-agent scale; the resulting method satisfies all four axioms, runs three to five orders of magnitude faster than sampled Shapley on the same hardware, and extends feasible axiomatic attribution by over three orders of magnitude (a $1670\times$ jump). We use this method to test the scale gap empirically: across 14 days of public Bluesky data ($1{,}671{,}587$ active users, five topics), we compute the attribution at both full scale and the visibility-biased $N = 10^2$ convenience sample used by small-scale studies, and the two disagree structurally. At full scale the long tail and middle tier jointly carry the majority; the biased small panel shifts about twice that share onto the upper follower tiers ($48\%$ versus $24\%$). We then prove that the disagreement cannot in general be reduced by post-hoc rescaling: an Attribution Scaling Bias theorem shows that a reconciling global rescaling factor exists exactly when the macro indicator is linear over agents, and our nonlinear indicators give residuals of $0.10$--$0.98$. For such nonlinear indicators, full-scale attribution is therefore a requirement rather than a methodological choice.

cs.AI

What Do EEG Foundation Models Capture from Human Brain Signals?

Clinical electroencephalogram (EEG) analysis rests on a hand-crafted feature catalog refined over decades, \emph{e.g.,} band power, connectivity, complexity, and more. Modern EEG foundation models bypass this catalog, learn directly from raw signals via self-supervised pretraining, and match or outperform feature-engineered baselines on most clinical benchmarks. Whether the two representations align is an open question, which we decompose into three sub-questions: \emph{what does the model learn}, \emph{what does the model use}, and \emph{how much can be explained}. We answer them with layer-wise ridge probing, LEACE-style cross-covariance subspace erasure, and a transparent classifier benchmarked against a random-feature baseline. The audit covers three foundation models (CSBrain, CBraMod, LaBraM), five clinical tasks (MDD, Stress, ISRUC-Sleep, TUSL, Siena), and a 6-family 63-feature lexicon. Of the $945$ (model, task, feature) units, $648$ ($68.6\%$) are representation-causal and $199$ ($21.1\%$) are encoded-only. Across tasks, $50$ features qualify as universal candidates with strong support (all three architectures RC) in two or more tasks. Frequency-domain features dominate, but the other five families each contribute substantial causal mass. Confirmed features recover, on average, $79.3\%$ of the foundation model's advantage over the random baseline, with a clean task gradient (MDD $\approx 0.99$ down to Stress $\approx 0.56$): tasks near ceiling are almost fully recovered by the lexicon, while harder tasks leave a non-trivial residual that pinpoints a concrete target for future concept discovery.

cs.AI

Ground4D: Spatially-Grounded Feedforward 4D Reconstruction for Unstructured Off-Road Scenes

Feedforward Gaussian Splatting has recently emerged as an efficient paradigm for 4D reconstruction in autonomous driving. However, in unstructured off-road scenes, its performance degrades due to high-frequency geometry, ego-motion jitter, and increased non-rigid dynamics. These factors introduce conflicting Gaussian observations across timestamps, leading to either over-smoothed renderings or structural artifacts. To address this issue, we propose Ground4D, a spatially-grounded 4D feedforward framework for pose-free off-road reconstruction. The key idea is to resolve temporal conflicts through spatially localized conditioning. Specifically, we introduce voxel-grounded temporal Gaussian aggregation, which partitions the canonical Gaussian space into spatial voxels and performs query-conditioned temporal attention within each voxel. Intra-voxel softmax normalization ensures that temporal selectivity and spatial occupancy become mutually reinforcing rather than conflicting. We furthermore introduce surface normal cues as auxiliary geometric guidance to regularize the geometry of Gaussian primitives. Extensive experiments on ORAD-3D and RELLIS-3D demonstrate that Ground4D consistently outperforms existing feedforward methods in reconstruction quality and generalizes zero-shot to unseen off-road domains. Project page and code:https://github.com/wsnbws/Ground4D.

cs.CV

Towards All-Day Perception for Off-Road Driving: A Large-Scale Multispectral Dataset and Comprehensive Benchmark

Off-road nighttime autonomous driving suffers from unreliable visible-light perception, making infrared modality crucial for accurate freespace detection. However, progress remains limited due to the scarcity of annotated infrared off-road datasets and the inter-frame inconsistencies inherent to current single-frame methods. To address these gaps, we present the IRON dataset, which, to our knowledge, is the first large-scale infrared dataset for off-road temporal freespace detection under all-day conditions, with strong support for nighttime perception. The dataset comprises 24,314 densely annotated infrared images with synchronized RGB images in diverse scenes and different light conditions. Building upon this dataset, we propose IRONet, a novel flow-free framework for temporal freespace detection that addresses inter-frame inconsistencies by aggregating historical context via a memory-attention mechanism and a carefully designed mask decoder. On our IRON dataset, IRONet achieves state-of-the-art performance, reaching 82.93%(+1.19%) IoU and 90.66%(+0.71%) F1 score at real-time inference. Remarkably, IRONet also exhibits robust generalization to RGB modalities on ORFD and Rellis datasets. Overall, our work establishes a foundation for reliable all-day off-road autonomous driving and future research in infrared temporal perception. The code and IRON dataset are available at https://github.com/wsnbws/IRON.

cs.CV

Interpreting Emergent Extreme Events in Multi-Agent Systems

Large language model-powered multi-agent systems have emerged as powerful tools for simulating complex human-like systems. The interactions within these systems often lead to extreme events whose origins remain obscured by the black box of emergence. Interpreting these events is critical for system safety. This paper proposes the first framework for explaining emergent extreme events in multi-agent systems, aiming to answer three fundamental questions: When does the event originate? Who drives it? And what behaviors contribute to it? Specifically, we adapt the Shapley value to faithfully attribute the occurrence of extreme events to each action taken by agents at different time steps, i.e., assigning an attribution score to the action to measure its influence on the event. We then aggregate the attribution scores along the dimensions of time, agent, and behavior to quantify the risk contribution of each dimension. Finally, we design a set of metrics based on these contribution scores to characterize the features of extreme events. Experiments across diverse multi-agent system scenarios (economic, financial, and social) demonstrate the effectiveness of our framework and provide general insights into the emergence of extreme phenomena.

cs.MA

AgentDoG: A Diagnostic Guardrail Framework for AI Agent Safety and Security

The rise of AI agents introduces complex safety and security challenges arising from autonomous tool use and environmental interactions. Current guardrail models lack agentic risk awareness and transparency in risk diagnosis. To introduce an agentic guardrail that covers complex and numerous risky behaviors, we first propose a unified three-dimensional taxonomy that orthogonally categorizes agentic risks by their source (where), failure mode (how), and consequence (what). Guided by this structured and hierarchical taxonomy, we introduce a new fine-grained agentic safety benchmark (ATBench) and a Diagnostic Guardrail framework for agent safety and security (AgentDoG). AgentDoG provides fine-grained and contextual monitoring across agent trajectories. More Crucially, AgentDoG can diagnose the root causes of unsafe actions and seemingly safe but unreasonable actions, offering provenance and transparency beyond binary labels to facilitate effective agent alignment. AgentDoG variants are available in three sizes (4B, 7B, and 8B parameters) across Qwen and Llama model families. Extensive experimental results demonstrate that AgentDoG achieves state-of-the-art performance in agentic safety moderation in diverse and complex interactive scenarios. All models and datasets are openly released.

cs.AI

The Why Behind the Action: Unveiling Internal Drivers via Agentic Attribution

Large Language Model (LLM)-based agents are widely used in real-world applications such as customer service, web navigation, and software engineering. As these systems become more autonomous and are deployed at scale, understanding why an agent takes a particular action becomes increasingly important for accountability and governance. However, existing research predominantly focuses on \textit{failure attribution} to localize explicit errors in unsuccessful trajectories, which is insufficient for explaining \textbf{the reason behind agent behaviors}. To bridge this gap, we propose a novel framework for \textbf{general agentic attribution}, designed to identify the internal factors driving agent actions regardless of the task outcome. Our framework operates hierarchically to manage the complexity of agent interactions. Specifically, at the \textit{component level}, we employ temporal likelihood dynamics to identify critical interaction steps; then at the \textit{sentence level}, we refine this localization using perturbation-based analysis to isolate the specific textual evidence. We validate our framework across a diverse suite of agentic scenarios, including standard tool use and subtle reliability risks like memory-induced bias. Experimental results demonstrate that the proposed framework reliably pinpoints pivotal historical events and sentences behind the agent behavior, offering a critical step toward safer and more accountable agentic systems. Codes are available at https://github.com/AI45Lab/AgentDoG.

cs.AI

Beyond Endpoints: Path-Centric Reasoning for Vectorized Off-Road Network Extraction

Deep learning has advanced vectorized road extraction in urban settings, yet off-road environments remain underexplored and challenging. A significant domain gap causes advanced models to fail in wild terrains due to two key issues: lack of large-scale vectorized datasets and structural weakness in prevailing methods. Models such as SAM-Road employ a node-centric paradigm that reasons at sparse endpoints, making them fragile to occlusions and ambiguous junctions in off-road scenes, leading to topological errors. This work addresses these limitations in two complementary ways. First, we release WildRoad, a global off-road road network dataset constructed efficiently with a dedicated interactive annotation tool tailored for road-network labeling. Second, we introduce MaGRoad (Mask-aware Geodesic Road network extractor), a path-centric framework that aggregates multi-scale visual evidence along candidate paths to infer connectivity robustly. Extensive experiments show that MaGRoad achieves state-of-the-art performance on our challenging WildRoad benchmark while generalizing well to urban datasets. An efficient vertex extraction strategy also yields roughly 2.5X faster inference, improving practical applicability. Together, the dataset and path-centric paradigm provide a stronger foundation for mapping roads in the wild. We release both the dataset and code at this repository. We release both the dataset and code at https://github.com/xiaofei-guan/MaGRoad.

cs.CV

TradeTrap: Are LLM-based Trading Agents Truly Reliable and Faithful?

LLM-based trading agents are increasingly deployed in real-world financial markets to perform autonomous analysis and execution. However, their reliability and robustness under adversarial or faulty conditions remain largely unexamined, despite operating in high-risk, irreversible financial environments. We propose TradeTrap, a unified evaluation framework for systematically stress-testing both adaptive and procedural autonomous trading agents. TradeTrap targets four core components of autonomous trading agents: market intelligence, strategy formulation, portfolio and ledger handling, and trade execution, and evaluates their robustness under controlled system-level perturbations. All evaluations are conducted in a closed-loop historical backtesting setting on real US equity market data with identical initial conditions, enabling fair and reproducible comparisons across agents and attacks. Extensive experiments show that small perturbations at a single component can propagate through the agent decision loop and induce extreme concentration, runaway exposure, and large portfolio drawdowns across both agent types, demonstrating that current autonomous trading agents can be systematically misled at the system level. Our code is available at https://github.com/Yanlewen/TradeTrap.

cs.AI

Advancing Off-Road Autonomous Driving: The Large-Scale ORAD-3D Dataset and Comprehensive Benchmarks

A major bottleneck in off-road autonomous driving research lies in the scarcity of large-scale, high-quality datasets and benchmarks. To bridge this gap, we present ORAD-3D, which, to the best of our knowledge, is the largest dataset specifically curated for off-road autonomous driving. ORAD-3D covers a wide spectrum of terrains, including woodlands, farmlands, grasslands, riversides, gravel roads, cement roads, and rural areas, while capturing diverse environmental variations across weather conditions (sunny, rainy, foggy, and snowy) and illumination levels (bright daylight, daytime, twilight, and nighttime). Building upon this dataset, we establish a comprehensive suite of benchmark evaluations spanning five fundamental tasks: 2D free-space detection, 3D occupancy prediction, rough GPS-guided path planning, vision-language model-driven autonomous driving, and world model for off-road environments. Together, the dataset and benchmarks provide a unified and robust resource for advancing perception and planning in challenging off-road scenarios. The dataset and code will be made publicly available at https://github.com/chaytonmin/ORAD-3D.

cs.RO

UNIV: Unified Foundation Model for Infrared and Visible Modalities

Joint RGB-infrared perception is essential for achieving robustness under diverse weather and illumination conditions. Although foundation models excel within single modalities, they suffer from substantial cross-modal degradation, an issue we attribute to a pattern shortcut, i.e., a modal bias that prioritizes superficial sensor patterns over underlying semantics. To address this problem, we introduce UNIV, a Unified foundation model for Infrared and Visible modalities. At the core of UNIV lies Patch Cross-modal Contrastive Learning (PCCL), a self-supervised contrastive learning strategy that constructs a unified cross-modal feature space. PCCL employs a frozen pre-trained model to sample pseudo patch pairs based on semantic similarity, and aligns infrared-visible representations by attracting semantically related pairs while repelling unrelated ones. This process simultaneously enhances cross-modal alignment and inter-class semantic separability, guiding the model to focus on semantic structure rather than falling into pattern shortcuts. To further enable cross-modal learning, we introduce MVIP, the most comprehensive visible-infrared benchmark to date, containing 98,992 precisely aligned image pairs across diverse scenes. Extensive experiments demonstrate UNIV's superior performance on infrared tasks (+1.7 mIoU for semantic segmentation and +0.7 mAP for detection), while maintaining competitive accuracy on RGB tasks.

cs.CV

CORENet: Cross-Modal 4D Radar Denoising Network with LiDAR Supervision for Autonomous Driving

4D radar-based object detection has garnered great attention for its robustness in adverse weather conditions and capacity to deliver rich spatial information across diverse driving scenarios. Nevertheless, the sparse and noisy nature of 4D radar point clouds poses substantial challenges for effective perception. To address the limitation, we present CORENet, a novel cross-modal denoising framework that leverages LiDAR supervision to identify noise patterns and extract discriminative features from raw 4D radar data. Designed as a plug-and-play architecture, our solution enables seamless integration into voxel-based detection frameworks without modifying existing pipelines. Notably, the proposed method only utilizes LiDAR data for cross-modal supervision during training while maintaining full radar-only operation during inference. Extensive evaluation on the challenging Dual-Radar dataset, which is characterized by elevated noise level, demonstrates the effectiveness of our framework in enhancing detection robustness. Comprehensive experiments validate that CORENet achieves superior performance compared to existing mainstream approaches.

cs.CV

ROD: RGB-Only Fast and Efficient Off-road Freespace Detection

Off-road freespace detection is more challenging than on-road scenarios because of the blurred boundaries of traversable areas. Previous state-of-the-art (SOTA) methods employ multi-modal fusion of RGB images and LiDAR data. However, due to the significant increase in inference time when calculating surface normal maps from LiDAR data, multi-modal methods are not suitable for real-time applications, particularly in real-world scenarios where higher FPS is required compared to slow navigation. This paper presents a novel RGB-only approach for off-road freespace detection, named ROD, eliminating the reliance on LiDAR data and its computational demands. Specifically, we utilize a pre-trained Vision Transformer (ViT) to extract rich features from RGB images. Additionally, we design a lightweight yet efficient decoder, which together improve both precision and inference speed. ROD establishes a new SOTA on ORFD and RELLIS-3D datasets, as well as an inference speed of 50 FPS, significantly outperforming prior models.

cs.CV

From Flatland to Space: Teaching Vision-Language Models to Perceive and Reason in 3D

Recent advances in LVLMs have improved vision-language understanding, but they still struggle with spatial perception, limiting their ability to reason about complex 3D scenes. Unlike previous approaches that incorporate 3D representations into models to improve spatial understanding, we aim to unlock the potential of VLMs by leveraging spatially relevant image data. To this end, we introduce a novel 2D spatial data generation and annotation pipeline built upon scene data with 3D ground-truth. This pipeline enables the creation of a diverse set of spatial tasks, ranging from basic perception tasks to more complex reasoning tasks. Leveraging this pipeline, we construct SPAR-7M, a large-scale dataset generated from thousands of scenes across multiple public datasets. In addition, we introduce SPAR-Bench, a benchmark designed to offer a more comprehensive evaluation of spatial capabilities compared to existing spatial benchmarks, supporting both single-view and multi-view inputs. Training on both SPAR-7M and large-scale 2D datasets enables our models to achieve state-of-the-art performance on 2D spatial benchmarks. Further fine-tuning on 3D task-specific datasets yields competitive results, underscoring the effectiveness of our dataset in enhancing spatial reasoning.

cs.CV

MASTER: Multimodal Segmentation with Text Prompts

RGB-Thermal fusion is a potential solution for various weather and light conditions in challenging scenarios. However, plenty of studies focus on designing complex modules to fuse different modalities. With the widespread application of large language models (LLMs), valuable information can be more effectively extracted from natural language. Therefore, we aim to leverage the advantages of large language models to design a structurally simple and highly adaptable multimodal fusion model architecture. We proposed MultimodAl Segmentation with TExt PRompts (MASTER) architecture, which integrates LLM into the fusion of RGB-Thermal multimodal data and allows complex query text to participate in the fusion process. Our model utilizes a dual-path structure to extract information from different modalities of images. Additionally, we employ LLM as the core module for multimodal fusion, enabling the model to generate learnable codebook tokens from RGB, thermal images, and textual information. A lightweight image decoder is used to obtain semantic segmentation results. The proposed MASTER performs exceptionally well in benchmark tests across various automated driving scenarios, yielding promising results.

cs.CV

WildOcc: A Benchmark for Off-Road 3D Semantic Occupancy Prediction

3D semantic occupancy prediction is an essential part of autonomous driving, focusing on capturing the geometric details of scenes. Off-road environments are rich in geometric information, therefore it is suitable for 3D semantic occupancy prediction tasks to reconstruct such scenes. However, most of researches concentrate on on-road environments, and few methods are designed for off-road 3D semantic occupancy prediction due to the lack of relevant datasets and benchmarks. In response to this gap, we introduce WildOcc, to our knowledge, the first benchmark to provide dense occupancy annotations for off-road 3D semantic occupancy prediction tasks. A ground truth generation pipeline is proposed in this paper, which employs a coarse-to-fine reconstruction to achieve a more realistic result. Moreover, we introduce a multi-modal 3D semantic occupancy prediction framework, which fuses spatio-temporal information from multi-frame images and point clouds at voxel level. In addition, a cross-modality distillation function is introduced, which transfers geometric knowledge from point clouds to image features.

cs.CV

Autonomous Driving in Unstructured Environments: How Far Have We Come?

Research on autonomous driving in unstructured outdoor environments is less advanced than in structured urban settings due to challenges like environmental diversities and scene complexity. These environments-such as rural areas and rugged terrains-pose unique obstacles that are not common in structured urban areas. Despite these difficulties, autonomous driving in unstructured outdoor environments is crucial for applications in agriculture, mining, and military operations. Our survey reviews over 250 papers for autonomous driving in unstructured outdoor environments, covering offline mapping, pose estimation, environmental perception, path planning, end-to-end autonomous driving, datasets, and relevant challenges. We also discuss emerging trends and future research directions. This review aims to consolidate knowledge and encourage further research for autonomous driving in unstructured environments. To support ongoing work, we maintain an active repository with up-to-date literature and open-source projects at: https://github.com/chaytonmin/Survey-Autonomous-Driving-in-Unstructured-Environments.

cs.RO

Proto-OOD: Enhancing OOD Object Detection with Prototype Feature Similarity

Neural networks that are trained on limited category samples often mispredict out-of-distribution (OOD) objects. We observe that features of the same category are more tightly clustered in feature space, while those of different categories are more dispersed. Based on this, we propose using prototype similarity for OOD detection. Drawing on widely used prototype features in few-shot learning, we introduce a novel OOD detection network structure (Proto-OOD). Proto-OOD enhances the representativeness of category prototypes using contrastive loss and detects OOD data by evaluating the similarity between input features and category prototypes. During training, Proto-OOD generates OOD samples for training the similarity module with a negative embedding generator. When Pascal VOC are used as the in-distribution dataset and MS-COCO as the OOD dataset, Proto-OOD significantly reduces the FPR (false positive rate). Moreover, considering the limitations of existing evaluation metrics, we propose a more reasonable evaluation protocol. The code will be released.

cs.CV