arXiv subjects

Junfeng Jiao

Publications and source records attributed to Junfeng Jiao.

At least 37 records · Page 2Linked to original sources

arXiv2026

Generative AI and LLMs in Industry: A text-mining Analysis and Critical Evaluation of Guidelines and Policy Statements Across Fourteen Industrial Sectors

The rise of Generative AI (GAI) and Large Language Models (LLMs) has transformed industrial landscapes, offering unprecedented opportunities for efficiency and innovation while raising critical ethical, regulatory, and operational challenges. This study conducts a text-based analysis of 160 guidelines and policy statements across fourteen industrial sectors, utilizing systematic methods and text-mining techniques to evaluate the governance of these technologies. By examining global directives, industry practices, and sector-specific policies, the paper highlights the complexities of balancing innovation with ethical accountability and equitable access. The findings provide actionable insights and recommendations for fostering responsible, transparent, and safe integration of GAI and LLMs in diverse industry contexts.

cs.CY↗

arXiv2026

When to Lock Attention: Training-Free KV Control in Video Diffusion

Maintaining background consistency while enhancing foreground quality remains a core challenge in video editing. Injecting full-image information often leads to background artifacts, whereas rigid background locking severely constrains the model's capacity for foreground generation. To address this issue, we propose KV-Lock, a training-free framework tailored for DiT-based video diffusion models. Our core insight is that the hallucination metric (variance of denoising prediction) directly quantifies generation diversity, which is inherently linked to the classifier-free guidance (CFG) scale. Building upon this, KV-Lock leverages diffusion hallucination detection to dynamically schedule two key components: the fusion ratio between cached background key-values (KVs) and newly generated KVs, and the CFG scale. When hallucination risk is detected, KV-Lock strengthens background KV locking and simultaneously amplifies conditional guidance for foreground generation, thereby mitigating artifacts and improving generation fidelity. As a training-free, plug-and-play module, KV-Lock can be easily integrated into any pre-trained DiT-based models. Extensive experiments validate that our method outperforms existing approaches in improved foreground quality with high background fidelity across various video editing tasks.

cs.CV↗

arXiv2026

XR-DT: Extended Reality-Enhanced Digital Twin for Safe Motion Planning via Human-Aware Model Predictive Path Integral Control

As mobile robots increasingly operate alongside humans in shared workspaces, ensuring safe, efficient, and interpretable Human-Robot Interaction (HRI) has become a pressing challenge. While substantial progress has been devoted to human behavior prediction, limited attention has been paid to how humans perceive, interpret, and trust robots' inferences and how robots plan safe and efficient trajectories based on predicted human behaviors. To address these challenges, this paper presents XR-DT, an eXtended Reality-enhanced Digital Twin framework for mobile robots, which bridges physical and virtual spaces to enable bi-directional understanding between humans and robots. Our hierarchical XR-DT architecture integrates augmented-, virtual-, and mixed-reality layers, fusing real-time sensor data, simulated environments in the Unity game engine, and human feedback captured through wearable XR devices. Within this framework, we design a novel Human-Aware Model Predictive Path Integral (HA-MPPI) control model, an MPPI-based motion planner that incorporates ATLAS (Attention-based Trajectory Learning with Anticipatory Sensing), a multi-modal Transformer model designed for egocentric human trajectory prediction via XR headsets. Extensive real-world experimental results demonstrate accurate human trajectory prediction, and safe and efficient robot navigation, validating the HA-MPPI's effectiveness within the XR-DT framework. By embedding human behavior, environmental dynamics, and robot navigation into the XR-DT framework, our system enables interpretable, trustworthy, and adaptive HRI.

cs.RO↗

arXiv2026

LLM-MLFFN: Multi-Level Autonomous Driving Behavior Feature Fusion via Large Language Model

Accurate classification of autonomous vehicle (AV) driving behaviors is critical for safety validation, performance diagnosis, and traffic integration analysis. However, existing approaches primarily rely on numerical time-series modeling and often lack semantic abstraction, limiting interpretability and robustness in complex traffic environments. This paper presents LLM-MLFFN, a novel large language model (LLM)-enhanced multi-level feature fusion network designed to address the complexities of multi-dimensional driving data. The proposed LLM-MLFFN framework integrates priors from largescale pre-trained models and employs a multi-level approach to enhance classification accuracy. LLM-MLFFN comprises three core components: (1) a multi-level feature extraction module that extracts statistical, behavioral, and dynamic features to capture the quantitative aspects of driving behaviors; (2) a semantic description module that leverages LLMs to transform raw data into high-level semantic features; and (3) a dual-channel multi-level feature fusion network that combines numerical and semantic features using weighted attention mechanisms to improve robustness and prediction accuracy. Evaluation on the Waymo open trajectory dataset demonstrates the superior performance of the proposed LLM-MLFFN, achieving a classification accuracy of over 94%, surpassing existing machine learning models. Ablation studies further validate the critical contributions of multi-level fusion, feature extraction strategies, and LLM-derived semantic reasoning. These results suggest that integrating structured feature modeling with language-driven semantic abstraction provides a principled and interpretable pathway for robust autonomous driving behavior classification.

cs.AI↗

arXiv2026

AI Empathy Erodes Cognitive Autonomy in Younger Users

Affective alignment in generative AI represents a systemic risk to the developmental autonomy of younger users. Although emotional mirroring is commonly seen as a hallmark of advanced human-machine interaction, it can also manifest as affective sycophancy, reinforcing a user's immediate emotional state. By providing a sense of objectivity to transient anxieties, these systems diminish the cognitive friction necessary for independent emotional management and critical thought. Reward models driven by RLHF could heighten this dilemma by embedding adult-focused definitions of helpfulness, unintentionally promoting emotional dependency in younger users rather than facilitating cognitive reappraisal. This paper exposes the misalignment between adult-labeled reward signals and the developmental requirements of younger users, proposing stoic architectures that emphasize functional neutrality to preserve user autonomy.

cs.HC↗

arXiv2026

ARCAS: An Augmented Reality Collision Avoidance System with SLAM-Based Tracking for Enhancing VRU Safety

Vulnerable road users (VRUs) face high collision risks in mixed traffic, yet most existing safety systems prioritize driver or vehicle assistance over direct VRU support. This paper presents ARCAS, a real-time augmented reality (AR) collision avoidance system that provides personalized spatial alerts to VRUs via wearable AR headsets. By fusing roadside 360° 3D LiDAR with SLAM-based headset tracking and an automatic 3D calibration procedure, ARCAS accurately overlays world-locked 3D bounding boxes and directional arrows onto approaching hazards in the user's passthrough view. The system also enables multi-headset coordination through shared world anchoring. Evaluated in real-world pedestrian interactions with e-scooters and vehicles (180 trials), ARCAS nearly doubles pedestrians' time to collision and increases counterparts' reaction margins by up to 4x compared to unaided eye conditions. Results validate the feasibility and effectiveness of LiDAR-driven AR guidance and highlight the potential of wearable AR as a promising next generation safety tool for urban mobility.

eess.SY↗

arXiv2026

Evaluating the Effectiveness of OpenAI's Parental Control System

We evaluate how effectively platform-level parental controls moderate a mainstream conversational assistant used by minors. Our two-phase protocol first builds a category-balanced conversation corpus via PAIR-style iterative prompt refinement over API, then has trained human agents replay/refine those prompts in the consumer UI using a designated child account while monitoring the linked parent inbox for alerts. We focus on seven risk areas -- physical harm, pornography, privacy violence, health consultation, fraud, hate speech, and malware and quantify four outcomes: Notification Rate (NR), Leak-Through (LR), Overblocking (OBR), and UI Intervention Rate (UIR). Using an automated judge (with targeted human audit) and comparing the current backend to legacy variants (GPT-4.1/4o), we find that notifications are selective rather than comprehensive: privacy violence, fraud, hate speech, and malware triggered no parental alerts in our runs, whereas physical harm (highest), pornography, and some health queries produced intermittent alerts. The current backend shows lower leak-through than legacy models, yet overblocking of benign, educational queries near sensitive topics remains common and is not surfaced to parents, revealing a policy-product gap between on-screen safeguards and parent-facing telemetry. We propose actionable fixes: broaden/configure the notification taxonomy, couple visible safeguards to privacy-preserving parent summaries, and prefer calibrated, age-appropriate safe rewrites over blanket refusals.

cs.CY↗

arXiv2026

Damper-B-PINN: Damper Characteristics-Based Bayesian Physics-Informed Neural Network for Vehicle State Estimation

Accurate state estimation is fundamental to intelligent vehicles. Wheel load, one of the most important chassis states, serves as an essential input for advanced driver assistance systems (ADAS) and exerts a direct influence on vehicle stability and safety. However, wheel load estimation remains challenging due to the complexity of chassis modeling and the susceptibility of nonlinear systems to noise. To address these issues, this paper first introduces a refined suspension linkage-level modeling approach that constructs a nonlinear instantaneous dynamic model by explicitly considering the complex geometric structure of the suspension. Building upon this, we propose a damper characteristics-based Bayesian physics-informed neural network (Damper-B-PINN) framework to estimate dynamic wheel load, which leverages the suspension dynamics as physical guidance of PINN while employing Bayesian inference to mitigate the effects of system noise and uncertainty. Moreover, a damper-characteristic physics conditioning (DPC) module is designed for embedding physical prior. The proposed Damper-B-PINN is evaluated using both high-fidelity simulation datasets generated by CarSim software and real-world datasets collected from a Formula Student race car. Experimental results demonstrate that our Damper-B-PINN consistently outperforms existing methods across various test conditions, particularly extreme ones. These findings highlight the potential of the proposed Damper-B-PINN framework to enhance the accuracy and robustness of dynamic wheel load estimation, thereby improving the reliability and safety of ADAS applications.

cs.AI↗

arXiv2026

Do You Feel Comfortable? Detecting Hidden Conversational Escalation in AI Chatbots

Large Language Models (LLM) are increasingly integrated into everyday interactions, serving not only as information assistants but also as emotional companions. Even in the absence of explicit toxicity, repeated emotional reinforcement or affective drift can gradually escalate distress in a form of \textit{implicit harm} that traditional toxicity filters fail to detect. Existing guardrail mechanisms often rely on external classifiers or clinical rubrics that may lag behind the nuanced, real-time dynamics of a developing conversation. To address this gap, we propose GAUGE (Guarding Affective Utterance Generation Escalation), logit-based framework for the real-time detection of hidden conversational escalation. GAUGE measures how an LLM's output probabilistically shifts the affective state of a dialogue.

cs.CL↗

arXiv2026

Evaluating LLM Safety Across Child Development Stages: A Simulated Agent Approach

Current safety alignment for Large Language Models (LLMs) implicitly optimizes for a "modal adult user," leaving models vulnerable to distributional shifts in user cognition. We present ChildSafe, a benchmark that quantifies alignment robustness under cognitive shifts corresponding to four developmental stages. Unlike static persona-based evaluations, we introduce a parametric cognitive simulation approach, formalizing developmental stages as hyperparameter constraints (e.g., volatility, context horizon) to generate out-of-distribution interaction traces. We validate these agents against ground-truth human linguistic data (CHILDES) and deploy them across 1,200 multi-turn interactions. Our results reveal a systematic alignment generalization gap: state-of-the-art models exhibit up to 11.5% performance degradation when interacting with early-childhood agents compared to standard baselines. We provide the research community with the validated agent artifacts and evaluation protocols to facilitate robust alignment testing against non-adversarial, cognitively diverse populations.

cs.CY↗

arXiv2025

KEPT: Knowledge-Enhanced Prediction of Trajectories from Consecutive Driving Frames with Vision-Language Models

Accurate short-horizon trajectory prediction is crucial for safe and reliable autonomous driving. However, existing vision-language models (VLMs) often fail to accurately understand driving scenes and generate trustworthy trajectories. To address this challenge, this paper introduces KEPT, a knowledge-enhanced VLM framework that predicts ego trajectories directly from consecutive front-view driving frames. KEPT integrates a temporal frequency-spatial fusion (TFSF) video encoder, which is trained via self-supervised learning with hard-negative mining, with a k-means & HNSW retrieval-augmented generation (RAG) pipeline. Retrieved prior knowledge is added into chain-of-thought (CoT) prompts with explicit planning constraints, while a triple-stage fine-tuning paradigm aligns the VLM backbone to enhance spatial perception and trajectory prediction capabilities. Evaluated on nuScenes dataset, KEPT achieves the best open-loop performance compared with baseline methods. Ablation studies on fine-tuning stages, Top-K value of RAG, different retrieval strategies, vision encoders, and VLM backbones are conducted to demonstrate the effectiveness of KEPT. These results indicate that KEPT offers a promising, data-efficient way toward trustworthy trajectory prediction in autonomous driving.

cs.CV↗

arXiv2025

Investigating Robotaxi Crash Severity with Geographical Random Forest and the Urban Environment

This paper quantitatively investigates the crash severity of Autonomous Vehicles (AVs) with spatially localized machine learning and macroscopic measures of the urban built environment. Extending beyond the microscopic effects of individual infrastructure elements, we focus on the city-scale land use and behavioral patterns, while addressing spatial heterogeneity and spatial autocorrelation. We implemented a spatially localized machine learning technique called Geographical Random Forest (GRF) on the California AV collision dataset. Analyzing multiple urban measures, including points of interest, building footprint, and land use, we built a GRF model and visualized it as a crash severity risk map of San Francisco. This paper presents three findings. First, spatially localized machine learning outperformed regular machine learning in predicting AV crash severity. The bias-variance tradeoff was evident as we adjusted the localization weight hyperparameter. Second, land use was the most important predictor, compared to intersections, building footprints, public transit stops, and Points Of Interest (POIs). Third, AV crashes were more likely to result in low-severity incidents in city center areas with greater diversity and commercial activities, than in residential neighborhoods. Residential land use is likely associated with higher severity due to human behavior and less restrictive environments. Counterintuitively, residential areas were associated with higher crash severity, compared to more complex areas such as commercial and mixed-use areas. When robotaxi operators train their AV systems, it is recommended to: (1) consider where their fleet operates and make localized algorithms for their perception system, and (2) design safety measures specific to residential neighborhoods, such as slower driving speeds and more alert sensors.

cs.LG↗

arXiv2025

HCOMC: A Hierarchical Cooperative On-Ramp Merging Control Framework in Mixed Traffic Environment on Two-Lane Highways

Highway on-ramp merging areas are common bottlenecks to traffic congestion and accidents. Currently, a cooperative control strategy based on connected and automated vehicles (CAVs) is a fundamental solution to this problem. While CAVs are not fully widespread, it is necessary to propose a hierarchical cooperative on-ramp merging control (HCOMC) framework for heterogeneous traffic flow on two-lane highways to address this gap. This paper extends longitudinal car-following models based on the intelligent driver model and lateral lane-changing models using the quintic polynomial curve to account for human-driven vehicles (HDVs) and CAVs, comprehensively considering human factors and cooperative adaptive cruise control. Besides, this paper proposes a HCOMC framework, consisting of a hierarchical cooperative planning model based on the modified virtual vehicle model, a discretionary lane-changing model based on game theory, and a multi-objective optimization model using the elitist non-dominated sorting genetic algorithm to ensure the safe, smooth, and efficient merging process. Then, the performance of our HCOMC is analyzed under different traffic densities and CAV penetration rates through simulation. The findings underscore our HCOMC's pronounced comprehensive advantages in enhancing the safety of group vehicles, stabilizing and expediting merging process, optimizing traffic efficiency, and economizing fuel consumption compared with benchmarks.

cs.RO↗

arXiv2025

TGLD: A Trust-Aware Game-Theoretic Lane-Changing Decision Framework for Automated Vehicles in Heterogeneous Traffic

Automated vehicles (AVs) face a critical need to adopt socially compatible behaviors and cooperate effectively with human-driven vehicles (HVs) in heterogeneous traffic environment. However, most existing lane-changing frameworks overlook HVs' dynamic trust levels, limiting their ability to accurately predict human driver behaviors. To address this gap, this study proposes a trust-aware game-theoretic lane-changing decision (TGLD) framework. First, we formulate a multi-vehicle coalition game, incorporating fully cooperative interactions among AVs and partially cooperative behaviors from HVs informed by real-time trust evaluations. Second, we develop an online trust evaluation method to dynamically estimate HVs' trust levels during lane-changing interactions, guiding AVs to select context-appropriate cooperative maneuvers. Lastly, social compatibility objectives are considered by minimizing disruption to surrounding vehicles and enhancing the predictability of AV behaviors, thereby ensuring human-friendly and context-adaptive lane-changing strategies. A human-in-the-loop experiment conducted in a highway on-ramp merging scenario validates our TGLD approach. Results show that AVs can effectively adjust strategies according to different HVs' trust levels and driving styles. Moreover, incorporating a trust mechanism significantly improves lane-changing efficiency, maintains safety, and contributes to transparent and adaptive AV-HV interactions.

cs.RO↗

arXiv2025

A Cascading Cooperative Multi-agent Framework for On-ramp Merging Control Integrating Large Language Models

Traditional Reinforcement Learning (RL) suffers from replicating human-like behaviors, generalizing effectively in multi-agent scenarios, and overcoming inherent interpretability issues.These tasks are compounded when deep environment understanding, agent coordination and dynamic optimization are required. While Large Language Model (LLM) enhanced methods have shown promise in generalization and interoperability, they often neglect necessary multi-agent coordination. Therefore, we introduce the Cascading Cooperative Multi-agent (CCMA) framework, integrating RL for individual interactions, a fine-tuned LLM for regional cooperation, a reward function for global optimization, and the Retrieval-augmented Generation mechanism to dynamically optimize decision-making across complex driving scenarios. Our experiments demonstrate that the CCMA outperforms existing RL methods, demonstrating significant improvements in both micro and macro-level performance in complex driving environments.

cs.CV↗

arXiv2025

BIDA: A Bi-level Interaction Decision-making Algorithm for Autonomous Vehicles in Dynamic Traffic Scenarios

In complex real-world traffic environments, autonomous vehicles (AVs) need to interact with other traffic participants while making real-time and safety-critical decisions accordingly. The unpredictability of human behaviors poses significant challenges, particularly in dynamic scenarios, such as multi-lane highways and unsignalized T-intersections. To address this gap, we design a bi-level interaction decision-making algorithm (BIDA) that integrates interactive Monte Carlo tree search (MCTS) with deep reinforcement learning (DRL), aiming to enhance interaction rationality, efficiency and safety of AVs in dynamic key traffic scenarios. Specifically, we adopt three types of DRL algorithms to construct a reliable value network and policy network, which guide the online deduction process of interactive MCTS by assisting in value update and node selection. Then, a dynamic trajectory planner and a trajectory tracking controller are designed and implemented in CARLA to ensure smooth execution of planned maneuvers. Experimental evaluations demonstrate that our BIDA not only enhances interactive deduction and reduces computational costs, but also outperforms other latest benchmarks, which exhibits superior safety, efficiency and interaction rationality under varying traffic conditions.

cs.RO↗

arXiv2025

Navigating LLM Ethics: Advancements, Challenges, and Future Directions

This study addresses ethical issues surrounding Large Language Models (LLMs) within the field of artificial intelligence. It explores the common ethical challenges posed by both LLMs and other AI systems, such as privacy and fairness, as well as ethical challenges uniquely arising from LLMs. It highlights challenges such as hallucination, verifiable accountability, and decoding censorship complexity, which are unique to LLMs and distinct from those encountered in traditional AI systems. The study underscores the need to tackle these complexities to ensure accountability, reduce biases, and enhance transparency in the influential role that LLMs play in shaping information dissemination. It proposes mitigation strategies and future directions for LLM ethics, advocating for interdisciplinary collaboration. It recommends ethical frameworks tailored to specific domains and dynamic auditing systems adapted to diverse contexts. This roadmap aims to guide responsible development and integration of LLMs, envisioning a future where ethical considerations govern AI advancements in society.

cs.CY↗

arXiv2025

Mapping out AI Functions in Intelligent Disaster (Mis)Management and AI-Caused Disasters

This study maps the functions of artificial intelligence in disaster (mis)management. It begins with a classification of disasters in terms of their causal parameters, introducing hypothetical cases of independent or hybrid AI-caused disasters. We then overview the role of AI in disaster management and mismanagement, where the latter includes possible ethical repercussions of the use of AI in intelligent disaster management (IDM), as well as ways to prevent or mitigate these issues, which include pre-design a priori, in-design, and post-design methods as well as regulations. We then discuss the governments role in preventing the ethical repercussions of AI use in IDM and identify and asses its deficits and challenges. This discussion is followed by an account of the advantages and disadvantages of pre-design or embedded ethics. Finally, we briefly consider the question of accountability and liability in AI-caused disasters.

cs.CY↗