This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a large workspace enabled by its mobility. Our key insight is that generalizable handover skills can be developed in simulators using high-quality synthetic data, without the need for real-world demonstrations. To achieve this, we propose a scalable pipeline for generating diverse synthetic full-body human motion data, an automated method for creating safe and imitation-friendly demonstrations, and an efficient 4D imitation learning method for distilling large-scale demonstrations into closed-loop policies with base-arm coordination. Experimental evaluations in both simulators and the real world show significant improvements (at least +15% success rate) over baseline methods in all cases. Experiments also validate that large-scale and diverse synthetic data greatly enhances robot learning, highlighting our scalable framework.

Blockchained federated learning (BFL) combines the concepts of federated learning and blockchain technology to enhance privacy, security, and transparency in collaborative machine learning models. However, implementing BFL frameworks poses challenges in terms of scalability and cost-effectiveness. Reputation-aware BFL poses even more challenges, as blockchain validators are tasked with processing federated learning transactions along with the transactions that evaluate FL tasks and aggregate reputations. This leads to faster blockchain congestion and performance degradation. To improve BFL efficiency while increasing scalability and reducing on-chain reputation management costs, this paper proposes AutoDFL, a scalable and automated reputation-aware decentralized federated learning framework. AutoDFL leverages zk-Rollups as a Layer-2 scaling solution to boost the performance while maintaining the same level of security as the underlying Layer-1 blockchain. Moreover, AutoDFL introduces an automated and fair reputation model designed to incentivize federated learning actors. We develop a proof of concept for our framework for an accurate evaluation. Tested with various custom workloads, AutoDFL reaches an average throughput of over 3000 TPS with a gas reduction of up to 20X.

Real-world data often contains intrinsic ambiguity that the common single-hard-label annotation paradigm ignores. Standard training using ambiguous data with these hard labels may produce overly confident models and thus leading to poor generalization. In this paper, we propose a novel framework called Quantized Label Learning (QLL) to alleviate this issue. First, we formulate QLL as learning from (very) ambiguous data with hard labels: ideally, each ambiguous instance should be associated with a ground-truth soft-label distribution describing its corresponding probabilistic weight in each class, however, this is usually not accessible; in practice, we can only observe a quantized label, i.e., a hard label sampled (quantized) from the corresponding ground-truth soft-label distribution, of each instance, which can be seen as a biased approximation of the ground-truth soft-label. Second, we propose a Class-wise Positive-Unlabeled (CPU) risk estimator that allows us to train accurate classifiers from only ambiguous data with quantized labels. Third, to simulate ambiguous datasets with quantized labels in the real world, we design a mixing-based ambiguous data generation procedure for empirical evaluation. Experiments demonstrate that our CPU method can significantly improve model generalization performance and outperform the baselines.

Neural networks are widely regarded as black-box models, creating significant challenges in understanding their inner workings, especially in natural language processing (NLP) applications. To address this opacity, model explanation techniques like Local Interpretable Model-Agnostic Explanations (LIME) have emerged as essential tools for providing insights into the behavior of these complex systems. This study leverages LIME to interpret a multi-layer perceptron (MLP) neural network trained on a text classification task. By analyzing the contribution of individual features to model predictions, the LIME approach enhances interpretability and supports informed decision-making. Despite its effectiveness in offering localized explanations, LIME has limitations in capturing global patterns and feature interactions. This research highlights the strengths and shortcomings of LIME and proposes directions for future work to achieve more comprehensive interpretability in neural NLP models.

The integration of Large Language Models (LLMs) and Vision-Language Models (VLMs) opens new avenues for addressing complex challenges in multimodal content analysis, particularly in biased news detection. This study introduces VLBias, a framework that leverages state-of-the-art LLMs and VLMs to detect linguistic and visual biases in news content. We present a multimodal dataset comprising textual content and corresponding images from diverse news sources. We propose a hybrid annotation framework that combines LLM-based annotations with human review to ensure high-quality labeling while reducing costs and enhancing scalability. Our evaluation compares the performance of state-of-the-art SLMs and LLMs for both modalities (text and images) and the results reveal that while SLMs are computationally efficient, LLMs demonstrate superior accuracy in identifying subtle framing and text-visual inconsistencies. Furthermore, empirical analysis shows that incorporating visual cues alongside textual data improves bias detection accuracy by 3 to 5%. This study provides a comprehensive exploration of LLMs, SLMs, and VLMs as tools for detecting multimodal biases in news content and highlights their respective strengths, limitations, and potential for future applications

We highlight two significant issues leading to the passivity of current merchant non-player characters (NPCs): pricing and communication. While immersive interactions have been a focus, negotiations between merchant NPCs and players on item prices have not received sufficient attention. First, we define passive pricing as the limited ability of merchants to modify predefined item prices. Second, passive communication means that merchants can only interact with players in a scripted manner. To tackle these issues and create an active merchant NPC, we propose a merchant framework based on large language models (LLMs), called MART, which consists of an appraiser module and a negotiator module. We conducted two experiments to guide game developers in selecting appropriate implementations by comparing different training methods and LLM sizes. Our findings indicate that finetuning methods, such as supervised finetuning (SFT) and knowledge distillation (KD), are effective in using smaller LLMs to implement active merchant NPCs. Additionally, we found three irregular cases arising from the responses of LLMs. We expect our findings to guide developers in using LLMs for developing active merchant NPCs.

Accurate and consistent evaluation is crucial for decision-making across numerous fields, yet it remains a challenging task due to inherent subjectivity, variability, and scale. Large Language Models (LLMs) have achieved remarkable success across diverse domains, leading to the emergence of "LLM-as-a-Judge," where LLMs are employed as evaluators for complex tasks. With their ability to process diverse data types and provide scalable, cost-effective, and consistent assessments, LLMs present a compelling alternative to traditional expert-driven evaluations. However, ensuring the reliability of LLM-as-a-Judge systems remains a significant challenge that requires careful design and standardization. This paper provides a comprehensive survey of LLM-as-a-Judge, addressing the core question: How can reliable LLM-as-a-Judge systems be built? We explore strategies to enhance reliability, including improving consistency, mitigating biases, and adapting to diverse assessment scenarios. Additionally, we propose methodologies for evaluating the reliability of LLM-as-a-Judge systems, supported by a novel benchmark designed for this purpose. To advance the development and real-world deployment of LLM-as-a-Judge systems, we also discussed practical applications, challenges, and future directions. This survey serves as a foundational reference for researchers and practitioners in this rapidly evolving field.

Deterministic uncertainty quantification (UQ) in deep learning aims to estimate uncertainty with a single pass through a network by leveraging outputs from the network's feature extractor. Existing methods require that the feature extractor be both sensitive and smooth, ensuring meaningful input changes produce meaningful changes in feature vectors. Smoothness enables generalization, while sensitivity prevents feature collapse, where distinct inputs are mapped to identical feature vectors. To meet these requirements, current deterministic methods often retrain networks with spectral normalization. Instead of modifying training, we propose using measures of neural collapse to identify an existing intermediate layer that is both sensitive and smooth. We then fit a probabilistic model to the feature vector of this intermediate layer, which we call a probabilistic skip connection (PSC). Through empirical analysis, we explore the impact of spectral normalization on neural collapse and demonstrate that PSCs can effectively disentangle aleatoric and epistemic uncertainty. Additionally, we show that PSCs achieve uncertainty quantification and out-of-distribution (OOD) detection performance that matches or exceeds existing single-pass methods requiring training modifications. By retrofitting existing models, PSCs enable high-quality UQ and OOD capabilities without retraining.

Language Models (LMs) have been shown to exhibit a strong preference towards entities associated with Western culture when operating in non-Western languages. In this paper, we aim to uncover the origins of entity-related cultural biases in LMs by analyzing several contributing factors, including the representation of entities in pre-training data and the impact of variations in linguistic phenomena across languages. We introduce CAMeL-2, a parallel Arabic-English benchmark of 58,086 entities associated with Arab and Western cultures and 367 masked natural contexts for entities. Our evaluations using CAMeL-2 reveal reduced performance gaps between cultures by LMs when tested in English compared to Arabic. We find that LMs struggle in Arabic with entities that appear at high frequencies in pre-training, where entities can hold multiple word senses. This also extends to entities that exhibit high lexical overlap with languages that are not Arabic but use the Arabic script. Further, we show how frequency-based tokenization leads to this issue in LMs, which gets worse with larger Arabic vocabularies. We will make CAMeL-2 available at: https://github.com/tareknaous/camel2

Advanced Persistent Threats (APTs) represent a significant challenge in cybersecurity due to their sophisticated and stealthy nature. Traditional Intrusion Detection Systems (IDS) often fall short in detecting these multi-stage attacks. Recently, Graph Neural Networks (GNNs) have been employed to enhance IDS capabilities by analyzing the complex relationships within networked data. However, existing GNN-based solutions are hampered by high false positive rates and substantial resource consumption. In this paper, we present a novel IDS designed to detect APTs using a Spatio-Temporal Graph Neural Network Autoencoder. Our approach leverages spatial information to understand the interactions between entities within a graph and temporal information to capture the evolution of the graph over time. This dual perspective is crucial for identifying the sequential stages of APTs. Furthermore, to address privacy and scalability concerns, we deploy our architecture in a federated learning environment. This setup ensures that local data remains on-premise while encrypted model-weights are shared and aggregated using homomorphic encryption, maintaining data privacy and security. Our evaluation shows that this system effectively detects APTs with lower false positive rates and optimized resource usage compared to existing methods, highlighting the potential of spatio-temporal analysis and federated learning in enhancing cybersecurity defenses.