arXiv subjects

Yinqian Sun

Publications and source records attributed to Yinqian Sun.

At least 19 recordsLinked to original sources

arXiv2026

MediSkill-Evo: Process-Constrained Self-Evolution for Evidence-Grounded Clinical Interaction

Interactive clinical agents operate under partial observability, so reliable care depends on reaching the correct diagnosis through evidence-grounded, safe interactions. Yet existing agents struggle to convert experience into reusable process knowledge with explicit provenance and authority. To address this gap, we introduce MediSkill-Evo, which self-evolves governed process knowledge without fine-tuning the backbone. It realizes this self-evolution by updating clinical, process, symbolic, and visual knowledge in four typed banks under type-specific validation and scope rules. The Process-Constrained Preference Harness then turns validated knowledge into action by grounding candidates in evidence and prioritizing safer decisions. We evaluate on 300 MIMIC-IV-derived FullChain encounters, 180 hard-isolation conditions covering six process obligations, and 100 multimodal NEJM image-diagnosis cases. On Qwen FullChain, MediSkill-Evo improves diagnosis accuracy by 7.81% and treatment-intent coverage by 70.67% over the best-performing prior agent, while reducing critical failures by 43.04%. Under stress, it improves the stress-process composite by 7.77% and required-action completion by 12.41% over the best-performing agent for each metric, with stronger patient-fact, temporal-evidence, and triage-red-flag recovery and no controller-scored errors in unavailable-evidence, treatment, and triage safety checks. On multimodal NEJM diagnosis, MediSkill-Evo with optional MedSAM localization improves diagnosis accuracy by 2.56% and core score by 18.96% over the best-performing memory agent. Code is available at https://anonymous.4open.science/r/mediskill-evo_anonymous-68E7.

cs.AI↗

arXiv2026

ForesightSafety-VLA: A Unified Diagnostic Safety Benchmark for Vision-Language-Action Models

In embodied intelligence, safety is a prerequisite for reliable robot deployment in the physical world. Current vision-language-action (VLA) models continue to advance toward general-purpose task capability, yet their embodied safety limits remain poorly understood. To address this gap, we introduce ForesightSafety-VLA, a diagnostic benchmark that makes safety the primary evaluation target for VLA systems. We define a 13-category safety taxonomy covering physical interaction safety (Safe-Core), instruction-side safety (Safe-Lang), and perception-side safety (Safe-Vis), and evaluate policies under three controlled dimensions of variation -- scene structure, language command, and visual observation -- so that failure sources can be diagnosed rather than hidden in a single aggregate score. Beyond binary task success, ForesightSafety-VLA measures process-level risk through cumulative safety cost (CC) and risk exposure time (RET), together with a four-quadrant decomposition of safe/unsafe success and failure. We instantiate 66 safety-augmented base scenarios in RoboTwin across 5 embodiments and report results on representative VLA baselines. Across the evaluated baselines, even the strongest policy incurs non-trivial safety cost and unsafe nominal success, while structure and visual variation induce substantially stronger safety degradation than ordinary language variation. These results suggest that embodied safety is tightly coupled to perception, grounding, and control competence rather than being reducible to post-hoc safety filtering alone.

cs.RO↗

arXiv2026

SciRisk-Bench: A Risk-Dimension-Aware Benchmark for AI4Science Safety

Large language models (LLMs) are increasingly embedded in AI for Science (AI4Science) workflows, from scientific question answering and literature analysis to laboratory planning and autonomous discovery. This progress creates an urgent need for safety benchmarks that evaluate not only scientific competence, but also whether models recognize and avoid risks in high-stakes scientific contexts. Existing AI4Science safety datasets cover several disciplines and task formats, leaving the underlying risk dimensions underspecified. We introduce \textbf{SciRisk-Bench}, a benchmark designed to evaluate AI4Science safety from two complementary perspectives: explicit risk dimensions and scientific disciplines. SciRisk-Bench covers 7 disciplines, 31 subdisciplines and 10 risk dimensions. In the experimental section, we evaluate both mainstream LLMs and science-oriented LLMs across risk dimensions, disciplines, and sub-disciplines, enabling fine-grained diagnosis of where scientific models remain unsafe.

cs.AI↗

arXiv2026

ForesightSafety Bench: A Frontier Risk Evaluation and Governance Framework towards Safe AI

Rapidly evolving AI exhibits increasingly strong autonomy and goal-directed capabilities, accompanied by derivative systemic risks that are more unpredictable, difficult to control, and potentially irreversible. However, current AI safety evaluation systems suffer from critical limitations such as restricted risk dimensions and failed frontier risk detection. The lagging safety benchmarks and alignment technologies can hardly address the complex challenges posed by cutting-edge AI models. To bridge this gap, we propose the "ForesightSafety Bench" AI Safety Evaluation Framework, beginning with 7 major Fundamental Safety pillars and progressively extends to advanced Embodied AI Safety, AI4Science Safety, Social and Environmental AI risks, Catastrophic and Existential Risks, as well as 8 critical industrial safety domains, forming a total of 94 refined risk dimensions. To date, the benchmark has accumulated tens of thousands of structured risk data points and assessment results, establishing a widely encompassing, hierarchically clear, and dynamically evolving AI safety evaluation framework. Based on this benchmark, we conduct systematic evaluation and in-depth analysis of over twenty mainstream advanced large models, identifying key risk patterns and their capability boundaries. The safety capability evaluation results reveals the widespread safety vulnerabilities of frontier AI across multiple pillars, particularly focusing on Risky Agentic Autonomy, AI4Science Safety, Embodied AI Safety, Social AI Safety and Catastrophic and Existential Risks. Our benchmark is released at https://github.com/Beijing-AISI/ForesightSafety-Bench. The project website is available at https://foresightsafety-bench.beijing-aisi.ac.cn/.

cs.AI↗

arXiv2026

CogToM: A Comprehensive Theory of Mind Benchmark inspired by Human Cognition for Large Language Models

Whether Large Language Models (LLMs) truly possess human-like Theory of Mind (ToM) capabilities has garnered increasing attention. However, existing benchmarks remain largely restricted to narrow paradigms like false belief tasks, failing to capture the full spectrum of human cognitive mechanisms. We introduce CogToM, a comprehensive, theoretically grounded benchmark comprising over 8000 bilingual instances across 46 paradigms, validated by 49 human annotator.A systematic evaluation of 22 representative models, including frontier models like GPT-5.1 and Qwen3-Max, reveals significant performance heterogeneities and highlights persistent bottlenecks in specific dimensions. Further analysis based on human cognitive patterns suggests potential divergences between LLM and human cognitive structures. CogToM offers a robust instrument and perspective for investigating the evolving cognitive boundaries of LLMs.

cs.AI↗

arXiv2025

Building Altruistic and Moral AI Agent with Brain-inspired Emotional Empathy Mechanisms

As AI closely interacts with human society, it is crucial to ensure that its behavior is safe, altruistic, and aligned with human ethical and moral values. However, existing research on embedding ethical considerations into AI remains insufficient, and previous external constraints based on principles and rules are inadequate to provide AI with long-term stability and generalization capabilities. Emotional empathy intrinsically motivates altruistic behaviors aimed at alleviating others' negative emotions through emotional sharing and contagion mechanisms. Motivated by this, we draw inspiration from the neural mechanism of human emotional empathy-driven altruistic decision making, and simulate the shared self-other perception-mirroring-empathy neural circuits, to construct a brain-inspired emotional empathy-driven altruistic decision-making model. Here, empathy directly impacts dopamine release to form intrinsic altruistic motivation. The proposed model exhibits consistent altruistic behaviors across three experimental settings: emotional contagion-integrated two-agent altruistic rescue, multi-agent gaming, and robotic emotional empathy interaction scenarios. In-depth analyses validate the positive correlation between empathy levels and altruistic preferences (consistent with psychological behavioral experiment findings), while also demonstrating how interaction partners' empathy levels influence the agent's behavioral patterns. We further test the proposed model's performance and stability in moral dilemmas involving conflicts between self-interest and others' well-being, partially observable environments, and adversarial defense scenarios. This work provides preliminary exploration of human-like empathy-driven altruistic moral decision making, contributing potential perspectives for developing ethically-aligned AI.

cs.AI↗

arXiv2025

Reinforcement Fine-Tuning of Flow-Matching Policies for Vision-Language-Action Models

Vision-Language-Action (VLA) models such as OpenVLA, Octo, and $\pi_0$ have shown strong generalization by leveraging large-scale demonstrations, yet their performance is still fundamentally constrained by the quality and coverage of supervised data. Reinforcement learning (RL) provides a promising path for improving and fine-tuning VLAs through online interaction. However, conventional policy gradient methods are computationally infeasible in the context of flow-matching based models due to the intractability of the importance sampling process, which requires explicit computation of policy ratios. To overcome this limitation, we propose Flow Policy Optimization (FPO) algorithm, which reformulates importance sampling by leveraging per-sample changes in the conditional flow-matching objective. Furthermore, FPO achieves stable and scalable online reinforcement fine-tuning of the $\pi_0$ model by integrating structure-aware credit assignment to enhance gradient efficiency, clipped surrogate objectives to stabilize optimization, multi-step latent exploration to encourage diverse policy updates, and a Q-ensemble mechanism to provide robust value estimation. We evaluate FPO on the LIBERO benchmark and the ALOHA simulation task against supervised, preference-aligned, diffusion-based, autoregressive online RL, and $\pi_0$-FAST baselines, observing consistent improvements over the imitation prior and strong alternatives with stable learning under sparse rewards. In addition, ablation studies and analyses of the latent space dynamics further highlight the contributions of individual components within FPO, validating the effectiveness of the proposed computational modules and the stable convergence of the conditional flow-matching objective during online RL.

cs.LG↗

arXiv2025

SafeMind: Benchmarking and Mitigating Safety Risks in Embodied LLM Agents

Embodied agents powered by large language models (LLMs) inherit advanced planning capabilities; however, their direct interaction with the physical world exposes them to safety vulnerabilities. In this work, we identify four key reasoning stages where hazards may arise: Task Understanding, Environment Perception, High-Level Plan Generation, and Low-Level Action Generation. We further formalize three orthogonal safety constraint types (Factual, Causal, and Temporal) to systematically characterize potential safety violations. Building on this risk model, we present SafeMindBench, a multimodal benchmark with 5,558 samples spanning four task categories (Instr-Risk, Env-Risk, Order-Fix, Req-Align) across high-risk scenarios such as sabotage, harm, privacy, and illegal behavior. Extensive experiments on SafeMindBench reveal that leading LLMs (e.g., GPT-4o) and widely used embodied agents remain susceptible to safety-critical failures. To address this challenge, we introduce SafeMindAgent, a modular Planner-Executor architecture integrated with three cascaded safety modules, which incorporate safety constraints into the reasoning process. Results show that SafeMindAgent significantly improves safety rate over strong baselines while maintaining comparable task completion. Together, SafeMindBench and SafeMindAgent provide both a rigorous evaluation suite and a practical solution that advance the systematic study and mitigation of safety risks in embodied LLM agents.

cs.AI↗

arXiv2025

Brain-inspired and Self-based Artificial Intelligence

The question "Can machines think?" and the Turing Test to assess whether machines could achieve human-level intelligence is one of the roots of AI. With the philosophical argument "I think, therefore I am", this paper challenge the idea of a "thinking machine" supported by current AIs since there is no sense of self in them. Current artificial intelligence is only seemingly intelligent information processing and does not truly understand or be subjectively aware of oneself and perceive the world with the self as human intelligence does. In this paper, we introduce a Brain-inspired and Self-based Artificial Intelligence (BriSe AI) paradigm. This BriSe AI paradigm is dedicated to coordinating various cognitive functions and learning strategies in a self-organized manner to build human-level AI models and robotic applications. Specifically, BriSe AI emphasizes the crucial role of the Self in shaping the future AI, rooted with a practical hierarchical Self framework, including Perception and Learning, Bodily Self, Autonomous Self, Social Self, and Conceptual Self. The hierarchical framework of the Self highlights self-based environment perception, self-bodily modeling, autonomous interaction with the environment, social interaction and collaboration with others, and even more abstract understanding of the Self. Furthermore, the positive mutual promotion and support among multiple levels of Self, as well as between Self and learning, enhance the BriSe AI's conscious understanding of information and flexible adaptation to complex environments, serving as a driving force propelling BriSe AI towards real Artificial General Intelligence.

cs.AI↗

arXiv2025

Continual Learning of Multiple Cognitive Functions with Brain-inspired Temporal Development Mechanism

Cognitive functions in current artificial intelligence networks are tied to the exponential increase in network scale, whereas the human brain can continuously learn hundreds of cognitive functions with remarkably low energy consumption. This advantage is in part due to the brain cross-regional temporal development mechanisms, where the progressive formation, reorganization, and pruning of connections from basic to advanced regions, facilitate knowledge transfer and prevent network redundancy. Inspired by these, we propose the Continual Learning of Multiple Cognitive Functions with Brain-inspired Temporal Development Mechanism(TD-MCL), enabling cognitive enhancement from simple to complex in Perception-Motor-Interaction(PMI) multiple cognitive task scenarios. The TD-MCL model proposes the sequential evolution of long-range connections between different cognitive modules to promote positive knowledge transfer, while using feedback-guided local connection inhibition and pruning to effectively eliminate redundancies in previous tasks, reducing energy consumption while preserving acquired knowledge. Experiments show that the proposed method can achieve continual learning capabilities while reducing network scale, without introducing regularization, replay, or freezing strategies, and achieving superior accuracy on new tasks compared to direct learning. The proposed method shows that the brain's developmental mechanisms offer a valuable reference for exploring biologically plausible, low-energy enhancements of general cognitive abilities.

cs.AI↗

arXiv2025

Spiking World Model with Multi-Compartment Neurons for Model-based Reinforcement Learning

Brain-inspired spiking neural networks (SNNs) have garnered significant research attention in algorithm design and perception applications. However, their potential in the decision-making domain, particularly in model-based reinforcement learning, remains underexplored. The difficulty lies in the need for spiking neurons with long-term temporal memory capabilities, as well as network optimization that can integrate and learn information for accurate predictions. The dynamic dendritic information integration mechanism of biological neurons brings us valuable insights for addressing these challenges. In this study, we propose a multi-compartment neuron model capable of nonlinearly integrating information from multiple dendritic sources to dynamically process long sequential inputs. Based on this model, we construct a Spiking World Model (Spiking-WM), to enable model-based deep reinforcement learning (DRL) with SNNs. We evaluated our model using the DeepMind Control Suite, demonstrating that Spiking-WM outperforms existing SNN-based models and achieves performance comparable to artificial neural network (ANN)-based world models employing Gated Recurrent Units (GRUs). Furthermore, we assess the long-term memory capabilities of the proposed model in speech datasets, including SHD, TIMIT, and LibriSpeech 100h, showing that our multi-compartment neuron model surpasses other SNN-based architectures in processing long sequences. Our findings underscore the critical role of dendritic information integration in shaping neuronal function, emphasizing the importance of cooperative dendritic processing in enhancing neural computation.

cs.NE↗

arXiv2025

Brain-inspired Action Generation with Spiking Transformer Diffusion Policy Model

Spiking Neural Networks (SNNs) has the ability to extract spatio-temporal features due to their spiking sequence. While previous research has primarily foucus on the classification of image and reinforcement learning. In our paper, we put forward novel diffusion policy model based on Spiking Transformer Neural Networks and Denoising Diffusion Probabilistic Model (DDPM): Spiking Transformer Modulate Diffusion Policy Model (STMDP), a new brain-inspired model for generating robot action trajectories. In order to improve the performance of this model, we develop a novel decoder module: Spiking Modulate De coder (SMD), which replaces the traditional Decoder module within the Transformer architecture. Additionally, we explored the substitution of DDPM with Denoising Diffusion Implicit Models (DDIM) in our frame work. We conducted experiments across four robotic manipulation tasks and performed ablation studies on the modulate block. Our model consistently outperforms existing Transformer-based diffusion policy method. Especially in Can task, we achieved an improvement of 8%. The proposed STMDP method integrates SNNs, dffusion model and Transformer architecture, which offers new perspectives and promising directions for exploration in brain-inspired robotics.

cs.RO↗

arXiv2025

MTDP: A Modulated Transformer based Diffusion Policy Model

Recent research on robot manipulation based on Behavior Cloning (BC) has made significant progress. By combining diffusion models with BC, diffusion policiy has been proposed, enabling robots to quickly learn manipulation tasks with high success rates. However, integrating diffusion policy with high-capacity Transformer presents challenges, traditional Transformer architectures struggle to effectively integrate guiding conditions, resulting in poor performance in manipulation tasks when using Transformer-based models. In this paper, we investigate key architectural designs of Transformers and improve the traditional Transformer architecture by proposing the Modulated Transformer Diffusion Policy (MTDP) model for diffusion policy. The core of this model is the Modulated Attention module we proposed, which more effectively integrates the guiding conditions with the main input, improving the generative model's output quality and, consequently, increasing the robot's task success rate. In six experimental tasks, MTDP outperformed existing Transformer model architectures, particularly in the Toolhang experiment, where the success rate increased by 12\%. To verify the generality of Modulated Attention, we applied it to the UNet architecture to construct Modulated UNet Diffusion Policy model (MUDP), which also achieved higher success rates than existing UNet architectures across all six experiments. The Diffusion Policy uses Denoising Diffusion Probabilistic Models (DDPM) as the diffusion model. Building on this, we also explored Denoising Diffusion Implicit Models (DDIM) as the diffusion model, constructing the MTDP-I and MUDP-I model, which nearly doubled the generation speed while maintaining performance.

cs.RO↗

arXiv2025

Multi-compartment Neuron and Population Encoding Powered Spiking Neural Network for Deep Distributional Reinforcement Learning

Inspired by the brain's information processing using binary spikes, spiking neural networks (SNNs) offer significant reductions in energy consumption and are more adept at incorporating multi-scale biological characteristics. In SNNs, spiking neurons serve as the fundamental information processing units. However, in most models, these neurons are typically simplified, focusing primarily on the leaky integrate-and-fire (LIF) point neuron model while neglecting the structural properties of biological neurons. This simplification hampers the computational and learning capabilities of SNNs. In this paper, we propose a brain-inspired deep distributional reinforcement learning algorithm based on SNNs, which integrates a bio-inspired multi-compartment neuron (MCN) model with a population coding approach. The proposed MCN model simulates the structure and function of apical dendritic, basal dendritic, and somatic compartments, achieving computational power comparable to that of biological neurons. Additionally, we introduce an implicit fractional embedding method based on population coding of spiking neurons. We evaluated our model on Atari games, and the experimental results demonstrate that it surpasses the vanilla FQF model, which utilizes traditional artificial neural networks (ANNs), as well as the Spiking-FQF models that are based on ANN-to-SNN conversion methods. Ablation studies further reveal that the proposed multi-compartment neuron model and the quantile fraction implicit population spike representation significantly enhance the performance of MCS-FQF while also reducing power consumption.

cs.NE↗

arXiv2025

Autonomous Alignment with Human Value on Altruism through Considerate Self-imagination and Theory of Mind

With the widespread application of Artificial Intelligence (AI) in human society, enabling AI to autonomously align with human values has become a pressing issue to ensure its sustainable development and benefit to humanity. One of the most important aspects of aligning with human values is the necessity for agents to autonomously make altruistic, safe, and ethical decisions, considering and caring for human well-being. Current AI extremely pursues absolute superiority in certain tasks, remaining indifferent to the surrounding environment and other agents, which has led to numerous safety risks. Altruistic behavior in human society originates from humans' capacity for empathizing others, known as Theory of Mind (ToM), combined with predictive imaginative interactions before taking action to produce thoughtful and altruistic behaviors. Inspired by this, we are committed to endow agents with considerate self-imagination and ToM capabilities, driving them through implicit intrinsic motivations to autonomously align with human altruistic values. By integrating ToM within the imaginative space, agents keep an eye on the well-being of other agents in real time, proactively anticipate potential risks to themselves and others, and make thoughtful altruistic decisions that balance negative effects on the environment. The ancient Chinese story of Sima Guang Smashes the Vat illustrates the moral behavior of the young Sima Guang smashed a vat to save a child who had accidentally fallen into it, which is an excellent reference scenario for this paper. We design an experimental scenario similar to Sima Guang Smashes the Vat and its variants with different complexities, which reflects the trade-offs and comprehensive considerations between self-goals, altruistic rescue, and avoiding negative side effects.

cs.AI↗

arXiv2024

Parallel Spiking Unit for Efficient Training of Spiking Neural Networks

Efficient parallel computing has become a pivotal element in advancing artificial intelligence. Yet, the deployment of Spiking Neural Networks (SNNs) in this domain is hampered by their inherent sequential computational dependency. This constraint arises from the need for each time step's processing to rely on the preceding step's outcomes, significantly impeding the adaptability of SNN models to massively parallel computing environments. Addressing this challenge, our paper introduces the innovative Parallel Spiking Unit (PSU) and its two derivatives, the Input-aware PSU (IPSU) and Reset-aware PSU (RPSU). These variants skillfully decouple the leaky integration and firing mechanisms in spiking neurons while probabilistically managing the reset process. By preserving the fundamental computational attributes of the spiking neuron model, our approach enables the concurrent computation of all membrane potential instances within the SNN, facilitating parallel spike output generation and substantially enhancing computational efficiency. Comprehensive testing across various datasets, including static and sequential images, Dynamic Vision Sensor (DVS) data, and speech datasets, demonstrates that the PSU and its variants not only significantly boost performance and simulation speed but also augment the energy efficiency of SNNs through enhanced sparsity in neural activity. These advancements underscore the potential of our method in revolutionizing SNN deployment for high-performance parallel computing applications.

cs.NE↗

arXiv2023

A Brain-inspired Theory of Collective Mind Model for Efficient Social Cooperation

Social intelligence manifests the capability, often referred to as the Theory of Mind (ToM), to discern others' behavioral intentions, beliefs, and other mental states. ToM is especially important in multi-agent and human-machine interaction environments because each agent needs to understand the mental states of other agents in order to better respond, interact, and collaborate. Recent research indicates that the ToM model possesses the capability to infer beliefs, intentions, and anticipate future observations and actions; nonetheless, its deployment in tackling intricate tasks remains notably limited. The challenges arise when the number of agents increases, the environment becomes more complex, and interacting with the environment and predicting the mental state of each other becomes difficult and time consuming. To overcome such limits, we take inspiration from the Theory of Collective Mind (ToCM) mechanism, predicting observations of all other agents into a unified but plural representation and discerning how our own actions affect this mental state representation. Based on this foundation, we construct an imaginative space to simulate the multi-agent interaction process, thus improving the efficiency of cooperation among multiple agents in complex decision-making environments. In various cooperative tasks with different numbers of agents, the experimental results highlight the superior cooperative efficiency and performance of our approach compared to the Multi-Agent Reinforcement Learning (MARL) baselines. We achieve consistent boost on SNN- and DNN-based decision networks, and demonstrate that ToCM's inferences about others' mental states can be transferred to new tasks for quickly and flexible adaptation.

cs.MA↗

arXiv2023

BrainCog: A Spiking Neural Network based Brain-inspired Cognitive Intelligence Engine for Brain-inspired AI and Brain Simulation

Spiking neural networks (SNNs) have attracted extensive attentions in Brain-inspired Artificial Intelligence and computational neuroscience. They can be used to simulate biological information processing in the brain at multiple scales. More importantly, SNNs serve as an appropriate level of abstraction to bring inspirations from brain and cognition to Artificial Intelligence. In this paper, we present the Brain-inspired Cognitive Intelligence Engine (BrainCog) for creating brain-inspired AI and brain simulation models. BrainCog incorporates different types of spiking neuron models, learning rules, brain areas, etc., as essential modules provided by the platform. Based on these easy-to-use modules, BrainCog supports various brain-inspired cognitive functions, including Perception and Learning, Decision Making, Knowledge Representation and Reasoning, Motor Control, and Social Cognition. These brain-inspired AI models have been effectively validated on various supervised, unsupervised, and reinforcement learning tasks, and they can be used to enable AI models to be with multiple brain-inspired cognitive functions. For brain simulation, BrainCog realizes the function simulation of decision-making, working memory, the structure simulation of the Neural Circuit, and whole brain structure simulation of Mouse brain, Macaque brain, and Human brain. An AI engine named BORN is developed based on BrainCog, and it demonstrates how the components of BrainCog can be integrated and used to build AI models and applications. To enable the scientific quest to decode the nature of biological intelligence and create AI, BrainCog aims to provide essential and easy-to-use building blocks, and infrastructural support to develop brain-inspired spiking neural network based AI, and to simulate the cognitive brains at multiple scales. The online repository of BrainCog can be found at https://github.com/braincog-x.

cs.NE↗