arXiv subjects

Xuelong Li

Publications and source records attributed to Xuelong Li.

At least 235 records · Page 13Linked to original sources

arXiv2025

AI Flow: Perspectives, Scenarios, and Approaches

Pioneered by the foundational information theory by Claude Shannon and the visionary framework of machine intelligence by Alan Turing, the convergent evolution of information and communication technologies (IT/CT) has created an unbroken wave of connectivity and computation. This synergy has sparked a technological revolution, now reaching its peak with large artificial intelligence (AI) models that are reshaping industries and redefining human-machine collaboration. However, the realization of ubiquitous intelligence faces considerable challenges due to substantial resource consumption in large models and high communication bandwidth demands. To address these challenges, AI Flow has been introduced as a multidisciplinary framework that integrates cutting-edge IT and CT advancements, with a particular emphasis on the following three key points. First, device-edge-cloud framework serves as the foundation, which integrates end devices, edge servers, and cloud clusters to optimize scalability and efficiency for low-latency model inference. Second, we introduce the concept of familial models, which refers to a series of different-sized models with aligned hidden features, enabling effective collaboration and the flexibility to adapt to varying resource constraints and dynamic scenarios. Third, connectivity- and interaction-based intelligence emergence is a novel paradigm of AI Flow. By leveraging communication networks to enhance connectivity, the collaboration among AI models across heterogeneous nodes achieves emergent intelligence that surpasses the capability of any single model. The innovations of AI Flow provide enhanced intelligence, timely responsiveness, and ubiquitous accessibility to AI services, paving the way for the tighter fusion of AI techniques and communication systems.

cs.AI↗

arXiv2025

Infinite Video Understanding

The rapid advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have ushered in remarkable progress in video understanding. However, a fundamental challenge persists: effectively processing and comprehending video content that extends beyond minutes or hours. While recent efforts like Video-XL-2 have demonstrated novel architectural solutions for extreme efficiency, and advancements in positional encoding such as HoPE and VideoRoPE++ aim to improve spatio-temporal understanding over extensive contexts, current state-of-the-art models still encounter significant computational and memory constraints when faced with the sheer volume of visual tokens from lengthy sequences. Furthermore, maintaining temporal coherence, tracking complex events, and preserving fine-grained details over extended periods remain formidable hurdles, despite progress in agentic reasoning systems like Deep Video Discovery. This position paper posits that a logical, albeit ambitious, next frontier for multimedia research is Infinite Video Understanding -- the capability for models to continuously process, understand, and reason about video data of arbitrary, potentially never-ending duration. We argue that framing Infinite Video Understanding as a blue-sky research objective provides a vital north star for the multimedia, and the wider AI, research communities, driving innovation in areas such as streaming architectures, persistent memory mechanisms, hierarchical and adaptive representations, event-centric reasoning, and novel evaluation paradigms. Drawing inspiration from recent work on long/ultra-long video understanding and several closely related fields, we outline the core challenges and key research directions towards achieving this transformative capability.

cs.CV↗

arXiv2025

BoSS: Beyond-Semantic Speech

Human communication involves more than explicit semantics, with implicit signals and contextual cues playing a critical role in shaping meaning. However, modern speech technologies, such as Automatic Speech Recognition (ASR) and Text-to-Speech (TTS) often fail to capture these beyond-semantic dimensions. To better characterize and benchmark the progression of speech intelligence, we introduce Spoken Interaction System Capability Levels (L1-L5), a hierarchical framework illustrated the evolution of spoken dialogue systems from basic command recognition to human-like social interaction. To support these advanced capabilities, we propose Beyond-Semantic Speech (BoSS), which refers to the set of information in speech communication that encompasses but transcends explicit semantics. It conveys emotions, contexts, and modifies or extends meanings through multidimensional features such as affective cues, contextual dynamics, and implicit semantics, thereby enhancing the understanding of communicative intentions and scenarios. We present a formalized framework for BoSS, leveraging cognitive relevance theories and machine learning models to analyze temporal and contextual speech dynamics. We evaluate BoSS-related attributes across five different dimensions, reveals that current spoken language models (SLMs) are hard to fully interpret beyond-semantic signals. These findings highlight the need for advancing BoSS research to enable richer, more context-aware human-machine communication.

cs.SD↗

arXiv2025

METER: Multi-modal Evidence-based Thinking and Explainable Reasoning -- Algorithm and Benchmark

With the rapid advancement of generative AI, synthetic content across images, videos, and audio has become increasingly realistic, amplifying the risk of misinformation. Existing detection approaches predominantly focus on binary classification while lacking detailed and interpretable explanations of forgeries, which limits their applicability in safety-critical scenarios. Moreover, current methods often treat each modality separately, without a unified benchmark for cross-modal forgery detection and interpretation. To address these challenges, we introduce METER, a unified, multi-modal benchmark for interpretable forgery detection spanning images, videos, audio, and audio-visual content. Our dataset comprises four tracks, each requiring not only real-vs-fake classification but also evidence-chain-based explanations, including spatio-temporal localization, textual rationales, and forgery type tracing. Compared to prior benchmarks, METER offers broader modality coverage and richer interpretability metrics such as spatial/temporal IoU, multi-class tracing, and evidence consistency. We further propose a human-aligned, three-stage Chain-of-Thought (CoT) training strategy combining SFT, DPO, and a novel GRPO stage that integrates a human-aligned evaluator with CoT reasoning. We hope METER will serve as a standardized foundation for advancing generalizable and interpretable forgery detection in the era of generative media.

cs.LG↗

arXiv2025

StreakNet-Arch: An Anti-scattering Network-based Architecture for Underwater Carrier LiDAR-Radar Imaging

In this paper, we introduce StreakNet-Arch, a real-time, end-to-end binary-classification framework based on our self-developed Underwater Carrier LiDAR-Radar (UCLR) that embeds Self-Attention and our novel Double Branch Cross Attention (DBC-Attention) to enhance scatter suppression. Under controlled water tank validation conditions, StreakNet-Arch with Self-Attention or DBC-Attention outperforms traditional bandpass filtering and achieves higher $F_1$ scores than learning-based MP networks and CNNs at comparable model size and complexity. Real-time benchmarks on an NVIDIA RTX 3060 show a constant Average Imaging Time (54 to 84 ms) regardless of frame count, versus a linear increase (58 to 1,257 ms) for conventional methods. To facilitate further research, we contribute a publicly available streak-tube camera image dataset contains 2,695,168 real-world underwater 3D point cloud data. More importantly, we validate our UCLR system in a South China Sea trial, reaching an error of 46mm for 3D target at 1,000 m depth and 20 m range. Source code and data are available at https://github.com/BestAnHongjun/StreakNet .

cs.CV↗

arXiv2025

Bidirectional Prototype-Reward co-Evolution for Test-Time Adaptation of Vision-Language Models

Test-time adaptation (TTA) is crucial in maintaining performance of Vision Language Models (VLMs) when facing distribution shifts, particularly when the source data or target labels are inaccessible. Existing TTA methods predominantly leverage the output probability distribution of CLIP for feature evaluation, resulting in biases under domain shifts, which cause misclassified features due to text priors or incorrect textual associations. To address these issues, we propose \underline{B}idirectional Prototype-Reward co-Evolution (BPRE), a novel VLMs framework with TTA that integrates feature quality assessment with prototype evolution via a synergistic feedback loop. First, the Multi-dimensional Quality-aware Reward Module (MQRM) is designed to evaluate feature quality and guide prototype refinement precisely. The continuous refinement of prototype quality via Prototype-Reward Interactive Evolution (PRIE) enhances the computation more robust. Through this bidirectional interaction, the precision of rewards and prototype evolution mutually reinforce each other, forming a self-evolving feedback cycle. Extensive experiments conducted on 15 diverse recognition datasets demonstrate that our model consistently achieves superior performance compared to other SOTA methods, and advances VLM generalization capabilities through emphasizing comprehensive feature evaluation.

cs.CV↗

arXiv2025

Hume: Introducing System-2 Thinking in Visual-Language-Action Model

Humans practice slow thinking before performing actual actions when handling complex tasks in the physical world. This thinking paradigm, recently, has achieved remarkable advancement in boosting Large Language Models (LLMs) to solve complex tasks in digital domains. However, the potential of slow thinking remains largely unexplored for robotic foundation models interacting with the physical world. In this work, we propose Hume: a dual-system Vision-Language-Action (VLA) model with value-guided System-2 thinking and cascaded action denoising, exploring human-like thinking capabilities of Vision-Language-Action models for dexterous robot control. System 2 of Hume implements value-Guided thinking by extending a Vision-Language-Action Model backbone with a novel value-query head to estimate the state-action value of predicted actions. The value-guided thinking is conducted by repeat sampling multiple action candidates and selecting one according to state-action value. System 1 of Hume is a lightweight reactive visuomotor policy that takes System 2 selected action and performs cascaded action denoising for dexterous robot control. At deployment time, System 2 performs value-guided thinking at a low frequency while System 1 asynchronously receives the System 2 selected action candidate and predicts fluid actions in real time. We show that Hume outperforms the existing state-of-the-art Vision-Language-Action models across multiple simulation benchmark and real-robot deployments.

cs.RO↗

arXiv2025

UniForm: A Unified Multi-Task Diffusion Transformer for Audio-Video Generation

With the rise of diffusion models, audio-video generation has been revolutionized. However, most existing methods rely on separate modules for each modality, with limited exploration of unified generative architectures. In addition, many are confined to a single task and small-scale datasets. To overcome these limitations, we introduce UniForm, a unified multi-task diffusion transformer that generates both audio and visual modalities in a shared latent space. By using a unified denoising network, UniForm captures the inherent correlations between sound and vision. Additionally, we propose task-specific noise schemes and task tokens, enabling the model to support multiple tasks with a single set of parameters, including video-to-audio, audio-to-video and text-to-audio-video generation. Furthermore, by leveraging large language models and a large-scale text-audio-video combined dataset, UniForm achieves greater generative diversity than prior approaches. Experiments show that UniForm achieves performance close to the state-of-the-art single-task models across three generation tasks, with generated content that is not only highly aligned with real-world data distributions but also enables more diverse and fine-grained generation.

cs.MM↗

arXiv2025

G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation

Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seamless integration of geometric precision and semantic understanding. We present G3Flow, a novel framework that constructs real-time semantic flow, a dynamic, object-centric 3D semantic representation by leveraging foundation models. Our approach uniquely combines 3D generative models for digital twin creation, vision foundation models for semantic feature extraction, and robust pose tracking for continuous semantic flow updates. This integration enables complete semantic understanding even under occlusions while eliminating manual annotation requirements. By incorporating semantic flow into diffusion policies, we demonstrate significant improvements in both terminal-constrained manipulation and cross-object generalization. Extensive experiments across five simulation tasks show that G3Flow consistently outperforms existing approaches, achieving up to 68.3% and 50.1% average success rates on terminal-constrained manipulation and cross-object generalization tasks respectively. Our results demonstrate the effectiveness of G3Flow in enhancing real-time dynamic semantic feature understanding for robotic manipulation policies.

cs.RO↗

arXiv2025

Cross from Left to Right Brain: Adaptive Text Dreamer for Vision-and-Language Navigation

Vision-and-Language Navigation (VLN) requires the agent to navigate by following natural instructions under partial observability, making it difficult to align perception with language. Recent methods mitigate this by imagining future scenes, yet they rely on vision-based synthesis, leading to high computational cost and redundant details. To this end, we propose to adaptively imagine key environmental semantics via \textit{language} form, enabling a more reliable and efficient strategy. Specifically, we introduce a novel Adaptive Text Dreamer (ATD), a dual-branch self-guided imagination policy built upon a large language model (LLM). ATD is designed with a human-like left-right brain architecture, where the left brain focuses on logical integration, and the right brain is responsible for imaginative prediction of future scenes. To achieve this, we fine-tune only the Q-former within both brains to efficiently activate domain-specific knowledge in the LLM, enabling dynamic updates of logical reasoning and imagination during navigation. Furthermore, we introduce a cross-interaction mechanism to regularize the imagined outputs and inject them into a navigation expert module, allowing ATD to jointly exploit both the reasoning capacity of the LLM and the expertise of the navigation model. We conduct extensive experiments on the R2R benchmark, where ATD achieves state-of-the-art performance with fewer parameters. The code is \href{https://github.com/zhangpingrui/Adaptive-Text-Dreamer}{here}.

cs.CV↗

arXiv2025

MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains

Humanoid robots have demonstrated robust locomotion capabilities using Reinforcement Learning (RL)-based approaches. Further, to obtain human-like behaviors, existing methods integrate human motion-tracking or motion prior in the RL framework. However, these methods are limited in flat terrains with proprioception only, restricting their abilities to traverse challenging terrains with human-like gaits. In this work, we propose a novel framework using a mixture of latent residual experts with multi-discriminators to train an RL policy, which is capable of traversing complex terrains in controllable lifelike gaits with exteroception. Our two-stage training pipeline first teaches the policy to traverse complex terrains using a depth camera, and then enables gait-commanded switching between human-like gait patterns. We also design gait rewards to adjust human-like behaviors like robot base height. Simulation and real-world experiments demonstrate that our framework exhibits exceptional performance in traversing complex terrains, and achieves seamless transitions between multiple human-like gait patterns.

cs.RO↗

arXiv2025

Decoupling the Image Perception and Multimodal Reasoning for Reasoning Segmentation with Digital Twin Representations

Reasoning Segmentation (RS) is a multimodal vision-text task that requires segmenting objects based on implicit text queries, demanding both precise visual perception and vision-text reasoning capabilities. Current RS approaches rely on fine-tuning vision-language models (VLMs) for both perception and reasoning, but their tokenization of images fundamentally disrupts continuous spatial relationships between objects. We introduce DTwinSeger, a novel RS approach that leverages Digital Twin (DT) representation as an intermediate layer to decouple perception from reasoning. Innovatively, DTwinSeger reformulates RS as a two-stage process, where the first transforms the image into a structured DT representation that preserves spatial relationships and semantic properties and then employs a Large Language Model (LLM) to perform explicit reasoning over this representation to identify target objects. We propose a supervised fine-tuning method specifically for LLM with DT representation, together with a corresponding fine-tuning dataset Seg-DT, to enhance the LLM's reasoning capabilities with DT representations. Experiments show that our method can achieve state-of-the-art performance on two image RS benchmarks and three image referring segmentation benchmarks. It yields that DT representation functions as an effective bridge between vision and text, enabling complex multimodal reasoning tasks to be accomplished solely with an LLM.

cs.CV↗

arXiv2025

WebUIBench: A Comprehensive Benchmark for Evaluating Multimodal Large Language Models in WebUI-to-Code

With the rapid advancement of Generative AI technology, Multimodal Large Language Models(MLLMs) have the potential to act as AI software engineers capable of executing complex web application development. Considering that the model requires a confluence of multidimensional sub-capabilities to address the challenges of various development phases, constructing a multi-view evaluation framework is crucial for accurately guiding the enhancement of development efficiency. However, existing benchmarks usually fail to provide an assessment of sub-capabilities and focus solely on webpage generation outcomes. In this work, we draw inspiration from the principles of software engineering and further propose WebUIBench, a benchmark systematically designed to evaluate MLLMs in four key areas: WebUI Perception, HTML Programming,WebUI-HTML Understanding, and WebUI-to-Code. WebUIBench comprises 21K high-quality question-answer pairs derived from over 0.7K real-world websites. The extensive evaluation of 29 mainstream MLLMs uncovers the skill characteristics and various weakness that models encountered during the development process.

cs.CL↗

arXiv2025

LLMs Caught in the Crossfire: Malware Requests and Jailbreak Challenges

The widespread adoption of Large Language Models (LLMs) has heightened concerns about their security, particularly their vulnerability to jailbreak attacks that leverage crafted prompts to generate malicious outputs. While prior research has been conducted on general security capabilities of LLMs, their specific susceptibility to jailbreak attacks in code generation remains largely unexplored. To fill this gap, we propose MalwareBench, a benchmark dataset containing 3,520 jailbreaking prompts for malicious code-generation, designed to evaluate LLM robustness against such threats. MalwareBench is based on 320 manually crafted malicious code generation requirements, covering 11 jailbreak methods and 29 code functionality categories. Experiments show that mainstream LLMs exhibit limited ability to reject malicious code-generation requirements, and the combination of multiple jailbreak methods further reduces the model's security capabilities: specifically, the average rejection rate for malicious content is 60.93%, dropping to 39.92% when combined with jailbreak attack algorithms. Our work highlights that the code security capabilities of LLMs still pose significant challenges.

cs.CR↗

arXiv2025

DualSpec: Text-to-spatial-audio Generation via Dual-Spectrogram Guided Diffusion Model

Text-to-audio (TTA), which generates audio signals from textual descriptions, has received huge attention in recent years. However, recent works focused on text to monaural audio only. As we know, spatial audio provides more immersive auditory experience than monaural audio, e.g. in virtual reality. To address this issue, we propose a text-to-spatial-audio (TTSA) generation framework named DualSpec. Specifically, it first trains variational autoencoders (VAEs) for extracting the latent acoustic representations from sound event audio. Then, given text that describes sound events and event directions, the proposed method uses the encoder of a pretrained large language model to transform the text into text features. Finally, it trains a diffusion model from the latent acoustic representations and text features for the spatial audio generation. In the inference stage, only the text description is needed to generate spatial audio. Particularly, to improve the synthesis quality and azimuth accuracy of the spatial sound events simultaneously, we propose to use two kinds of acoustic features. One is the Mel spectrograms which is good for improving the synthesis quality, and the other is the short-time Fourier transform spectrograms which is good at improving the azimuth accuracy. We provide a pipeline of constructing spatial audio dataset with text prompts, for the training of the VAEs and diffusion model. We also introduce new spatial-aware evaluation metrics to quantify the azimuth errors of the generated spatial audio recordings. Experimental results demonstrate that the proposed method can generate spatial audio with high directional and event consistency.

cs.SD↗

arXiv2025

Think Small, Act Big: Primitive Prompt Learning for Lifelong Robot Manipulation

Building a lifelong robot that can effectively leverage prior knowledge for continuous skill acquisition remains significantly challenging. Despite the success of experience replay and parameter-efficient methods in alleviating catastrophic forgetting problem, naively applying these methods causes a failure to leverage the shared primitives between skills. To tackle these issues, we propose Primitive Prompt Learning (PPL), to achieve lifelong robot manipulation via reusable and extensible primitives. Within our two stage learning scheme, we first learn a set of primitive prompts to represent shared primitives through multi-skills pre-training stage, where motion-aware prompts are learned to capture semantic and motion shared primitives across different skills. Secondly, when acquiring new skills in lifelong span, new prompts are appended and optimized with frozen pretrained prompts, boosting the learning via knowledge transfer from old skills to new ones. For evaluation, we construct a large-scale skill dataset and conduct extensive experiments in both simulation and real-world tasks, demonstrating PPL's superior performance over state-of-the-art methods.

cs.RO↗

arXiv2025

Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Prediction

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to acquire bimanual policies. However, transferring knowledge from single-arm datasets or pre-trained VLA models often fails to generalize effectively, primarily due to the scarcity of bimanual data and the fundamental differences between single-arm and bimanual manipulation. In this paper, we propose a novel bimanual foundation policy by fine-tuning the leading text-to-video models to predict robot trajectories and training a lightweight diffusion policy for action generation. Given the lack of embodied knowledge in text-to-video models, we introduce a two-stage paradigm that fine-tunes independent text-to-flow and flow-to-video models derived from a pre-trained text-to-video model. Specifically, optical flow serves as an intermediate variable, providing a concise representation of subtle movements between images. The text-to-flow model predicts optical flow to concretize the intent of language instructions, and the flow-to-video model leverages this flow for fine-grained video prediction. Our method mitigates the ambiguity of language in single-stage text-to-video prediction and significantly reduces the robot-data requirement by avoiding direct use of low-level actions. In experiments, we collect high-quality manipulation data for real dual-arm robot, and the results of simulation and real-world experiments demonstrate the effectiveness of our method.

cs.CV↗

arXiv2025

AutoBio: A Simulation and Benchmark for Robotic Automation in Digital Biology Laboratory

Vision-language-action (VLA) models have shown promise as generalist robotic policies by jointly leveraging visual, linguistic, and proprioceptive modalities to generate action trajectories. While recent benchmarks have advanced VLA research in domestic tasks, professional science-oriented domains remain underexplored. We introduce AutoBio, a simulation framework and benchmark designed to evaluate robotic automation in biology laboratory environments--an application domain that combines structured protocols with demanding precision and multimodal interaction. AutoBio extends existing simulation capabilities through a pipeline for digitizing real-world laboratory instruments, specialized physics plugins for mechanisms ubiquitous in laboratory workflows, and a rendering stack that support dynamic instrument interfaces and transparent materials through physically based rendering. Our benchmark comprises biologically grounded tasks spanning three difficulty levels, enabling standardized evaluation of language-guided robotic manipulation in experimental protocols. We provide infrastructure for demonstration generation and seamless integration with VLA models. Baseline evaluations with two SOTA VLA models reveal significant gaps in precision manipulation, visual reasoning, and instruction following in scientific workflows. By releasing AutoBio, we aim to catalyze research on generalist robotic systems for complex, high-precision, and multimodal professional environments. The simulator and benchmark are publicly available to facilitate reproducible research.

cs.RO↗