arXiv subjects

Yuanyuan Jia

Publications and source records attributed to Yuanyuan Jia.

9 recordsLinked to original sources

arXiv2026

S$^2$Prune: Spatially Structured Visual Token Pruning for Multimodal Large Language Models

Visual token pruning reduces the inference overhead of multimodal large language models (MLLMs) by retaining only a subset of visual tokens. Existing methods usually select tokens based on importance or redundancy. However, we observe that these criteria produce stable spatial biases across inputs and do not always outperform simple Uniform Grid sampling, highlighting the value of broad spatial coverage. Motivated by this, we propose S$^2$Prune, a training-free pruning method that preserves spatial coverage while adapting token density to local image structure. We first divide the image into regions and assign at least one token to each region to preserve coverage. The remaining token budget is then distributed according to Laplacian variation, giving more tokens to regions with richer structure. We then use Early Representation Change (ERC), computed from the first decoder block, to select representative tokens within each region. We evaluate S$^2$Prune across diverse settings and two MLLM architectures. On Qwen2.5-VL-7B-Instruct, it achieves the highest average accuracy among the evaluated training-free pruning methods. With only 32 of the original 576 visual tokens, it still retains 79.3% of the full-model performance. Code is available at https://github.com/yuanyuanjia71-spec/S2Prune.

cs.CV↗

arXiv2026

When Multi-Robot Systems Meet Agentic AI:Towards Embodied Collective Intelligence

Embodied AI is increasingly becoming agentic, shifting robots from perception--control pipelines towards closed-loop systems that can retrieve context, deliberate during execution, monitor feedback, and refine future behavior. In parallel, robotics research has also moved from single-robot autonomy towards multi-robot systems, driven by the need for wider sensing, distributed action, heterogeneous capabilities, and fault tolerance. As AI agents move from single-agent use towards multi-agent collaboration, robotics faces a parallel challenge: robot teams must move beyond sharing maps, task assignments, and datasets towards sharing the state produced by embodied agent loops. This article explores Embodied Collective Intelligence (ECI), a future multi-robot paradigm in which a robot team accumulates and uses world context, task progress, and skill experience as shared resources. Specifically, we first review how embodied AI is becoming agentic and how multi-robot cooperation has evolved. We then present Embodied Collective Intelligence through Co-Perception, Co-Action, and Co-Evolution. Finally, we use an illustrative navigation study to examine one concrete component of the concept: shared world-memory inheritance. The study shows that a newly added robot can benefit from merged team memory, but it is not intended as a full evaluation of the ECI framework. Taken together, the review and conceptual framework motivate Embodied Collective Intelligence as a direction for embodied multi-agent intelligence, while the case study grounds one measurable part of the concept.

cs.RO↗

arXiv2026

CoVSpec: Efficient Device-Edge Co-Inference for Vision-Language Models via Speculative Decoding

Vision-language models (VLMs) have demonstrated strong capabilities in multimodal perception and reasoning. However, deploying large VLMs on mobile devices remains challenging due to their substantial computational and memory demands. A practical alternative is device-edge co-inference, where a lightweight draft VLM on the mobile device collaborates with a larger target VLM on the edge server via speculative decoding. Nevertheless, directly extending speculative decoding to VLMs suffers from severe inefficiency due to excessive visual-token computation and high communication overhead. To address these challenges, we propose CoVSpec, an efficient collaborative speculative decoding framework for VLM inference. Specifically, we first develop a training-free visual token reduction framework that prunes redundant visual tokens on the mobile device by jointly considering query relevance, token activity, and low-rank dependency. Moreover, we design an adaptive drafting strategy that dynamically adjusts both the verification frequency and the draft length. In addition, we introduce a parallel branching mechanism with decoupled verification-correction to improve draft-side utilization during target-side verification and reduce correction-related transmission overhead. Experiments on multiple benchmarks show that CoVSpec achieves up to 2.21x higher throughput than target-only inference and reduces communication overhead by more than 96% compared with baselines, without compromising task accuracy.

cs.AI↗

arXiv2026

Secure Digital Semantic Communications: Fundamentals, Challenges, and Opportunities

Semantic communication (SemCom) has emerged as a promising paradigm for future wireless networks by prioritizing task-relevant meaning over raw data delivery, thereby reducing communication overhead and improving efficiency. However, shifting from bit-accurate transmission to task-oriented delivery introduces new security and privacy risks. These include semantic leakage, semantic manipulation, knowledge base vulnerabilities, model-related attacks, and threats to authenticity and availability. Most existing secure SemCom studies focus on analog SemCom, where semantic features are mapped to continuous channel inputs. In contrast, digital SemCom transmits semantic information through discrete bits or symbols within practical transceiver pipelines, offering stronger compatibility with realworld systems while exposing a distinct and underexplored attack surface. In particular, digital SemCom typically represents semantic information over a finite alphabet through explicit digital modulation, following two main routes: probabilistic modulation and deterministic modulation. These discrete mechanisms and practical transmission procedures introduce additional vulnerabilities affecting bit- or symbol-level semantic information, the modulation stage, and packet-based delivery and protocol operations. Motivated by these challenges and the lack of a systematic analysis of secure digital SemCom, this paper provides a structured review of the area. Specifically, we review SemCom fundamentals and clarify the architectural differences between analog and digital SemCom. We then summarize threats shared by both paradigms and organize the threat landscape specific to digital SemCom, followed by a discussion of potential defenses. Finally, we outline open research directions toward secure and deployable digital SemCom systems.

cs.CR↗

arXiv2026

Enabling Training-Free Semantic Communication Systems with Generative Diffusion Models

Semantic communication (SemCom) has recently emerged as a promising paradigm for next-generation wireless systems. Empowered by advanced artificial intelligence (AI) technologies, SemCom has achieved significant improvements in transmission quality and efficiency. However, existing SemCom systems either rely on training over large datasets and specific channel conditions or suffer from performance degradation under channel noise when operating in a training-free manner. To address these issues, we explore the use of generative diffusion models (GDMs) as training-free SemCom systems. Specifically, we design a semantic encoding and decoding method based on the inversion and sampling process of the denoising diffusion implicit model (DDIM), which introduces a two-stage forward diffusion process, split between the transmitter and receiver to enhance robustness against channel noise. Moreover, we optimize sampling steps to compensate for the increased noise level caused by channel noise. We also conduct a brief analysis to provide insights about this design. Simulations on the Kodak dataset validate that the proposed system outperforms the existing baseline SemCom systems across various metrics.

cs.IT↗

arXiv2026

Rethinking Secure Semantic Communications in the Age of Generative and Agentic AI: Threats and Opportunities

Semantic communication (SemCom) improves communication efficiency by transmitting task-relevant information instead of raw bits and is expected to be a key technology for 6G networks. Recent advances in generative AI (GenAI) further enhance SemCom by enabling robust semantic encoding and decoding under limited channel conditions. However, these efficiency gains also introduce new security and privacy vulnerabilities. Due to the broadcast nature of wireless channels, eavesdroppers can also use powerful GenAI-based semantic decoders to recover private information from intercepted signals. Moreover, rapid advances in agentic AI enable eavesdroppers to perform long-term and adaptive inference through the integration of memory, external knowledge, and reasoning capabilities. This allows eavesdroppers to further infer user private behavior and intent beyond the transmitted content. Motivated by these emerging challenges, this paper comprehensively rethinks the security and privacy of SemCom systems in the age of generative and agentic AI. We first present a systematic taxonomy of eavesdropping threat models in SemCom systems. Then, we provide insights into how GenAI and agentic AI can enhance eavesdropping threats. Meanwhile, we also highlight potential opportunities for leveraging GenAI and agentic AI to design privacy-preserving SemCom systems.

eess.SP↗

arXiv2025

Haptic-Informed ACT with a Soft Gripper and Recovery-Informed Training for Pseudo Oocyte Manipulation

In this paper, we introduce Haptic-Informed ACT, an advanced robotic system for pseudo oocyte manipulation, integrating multimodal information and Action Chunking with Transformers (ACT). Traditional automation methods for oocyte transfer rely heavily on visual perception, often requiring human supervision due to biological variability and environmental disturbances. Haptic-Informed ACT enhances ACT by incorporating haptic feedback, enabling real-time grasp failure detection and adaptive correction. Additionally, we introduce a 3D-printed TPU soft gripper to facilitate delicate manipulations. Experimental results demonstrate that Haptic-Informed ACT improves the task success rate, robustness, and adaptability compared to conventional ACT, particularly in dynamic environments. These findings highlight the potential of multimodal learning in robotics for biomedical automation.

cs.RO↗

arXiv2023

MS-DCANet: A Novel Segmentation Network For Multi-Modality COVID-19 Medical Images

The Coronavirus Disease 2019 (COVID-19) pandemic has increased the public health burden and brought profound disaster to humans. For the particularity of the COVID-19 medical images with blurred boundaries, low contrast and different infection sites, some researchers have improved the accuracy by adding more complexity. Also, they overlook the complexity of lesions, which hinder their ability to capture the relationship between segmentation sites and the background, as well as the edge contours and global context. However, increasing the computational complexity, parameters and inference speed is unfavorable for model transfer from laboratory to clinic. A perfect segmentation network needs to balance the above three factors completely. To solve the above issues, this paper propose a symmetric automatic segmentation framework named MS-DCANet. We introduce Tokenized MLP block, a novel attention scheme that use a shift-window mechanism to conditionally fuse local and global features to get more continuous boundaries and spatial positioning capabilities. It has greater understanding of irregular lesions contours. MS-DCANet also uses several Dual Channel blocks and a Res-ASPP block to improve the ability to recognize small targets. On multi-modality COVID-19 tasks, MS-DCANet achieved state-of-the-art performance compared with other baselines. It can well trade off the accuracy and complexity. To prove the strong generalization ability of our proposed model, we apply it to other tasks (ISIC 2018 and BAA) and achieve satisfactory results.

eess.IV↗

arXiv2017

FHEDN: A based on context modeling Feature Hierarchy Encoder-Decoder Network for face detection

Because of affected by weather conditions, camera pose and range, etc. Objects are usually small, blur, occluded and diverse pose in the images gathered from outdoor surveillance cameras or access control system. It is challenging and important to detect faces precisely for face recognition system in the field of public security. In this paper, we design a based on context modeling structure named Feature Hierarchy Encoder-Decoder Network for face detection(FHEDN), which can detect small, blur and occluded face with hierarchy by hierarchy from the end to the beginning likes encoder-decoder in a single network. The proposed network is consist of multiple context modeling and prediction modules, which are in order to detect small, blur, occluded and diverse pose faces. In addition, we analyse the influence of distribution of training set, scale of default box and receipt field size to detection performance in implement stage. Demonstrated by experiments, Our network achieves promising performance on WIDER FACE and FDDB benchmarks.

cs.CV↗