--Vision-and-language navigation (VLN) is a long-standing challenge in autonomous robotics, aiming to empower agents with the ability to follow human instructions while navigating complex environments. Two key bottlenecks remain in this field: generalization to out-of-distribution environments and reliance on fixed discrete action spaces. To address these challenges, we propose Vision-Language Fly (VLFly), a framework tailored for Unmanned Aerial Vehicles (UAVs) to execute language-guided flight. Without the requirement for localization or active ranging sensors, VLFly outputs continuous velocity commands purely from egocentric observations captured by an onboard monocular camera. The VLFly integrates three modules: an instruction encoder based on a large language model (LLM) that reformulates high-level language into structured prompts, a goal retriever powered by a vision-language model (VLM) that matches these prompts to goal images via vision-language similarity, and a waypoint planner that generates executable trajectories for real-time UAV control. VLFly is evaluated across diverse simulation environments without additional fine-tuning and consistently outperforms all baselines. Moreover, real-world VLN tasks in indoor and outdoor environments under direct and indirect instructions demonstrate that VLFly achieves robust open-vocabulary goal understanding and generalized navigation capabilities, even in the presence of abstract language input. The capability of robots to execute complex tasks based on natural language instructions has long been a compelling objective in robotics and artificial intelligence (AI). Particularly within the field of autonomous navigation, this capability enables applications spanning home assistance [1], urban inspection [2], and environmental exploration [3]. Y uhang Zhang and Haosheng Y u are co-first authors.

The safety validation of Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS) increasingly demands efficient and reliable methods to quantify residual risk while adhering to international standards such as ISO 21448. Traditionally, Field Operational Testing (FOT) has been pivotal for macroscopic safety validation of automotive driving functions up to SAE automation level 2. However, state-of-the-art derivations for empirical safety demonstrations using FOT often result in impractical testing efforts, particularly at higher automation levels. Even at lower automation levels, this limitation - coupled with the substantial costs associated with FOT - motivates the exploration of approaches to enhance the efficiency of FOT-based macroscopic safety validation. Therefore, this publication systematically identifies and evaluates state-of-the-art Reduction Approaches (RAs) for FOT, including novel methods reported in the literature. Based on an analysis of ISO 21448, two models are derived: a generic model capturing the argumentation components of the standard, and a base model, exemplarily applied to Automatic Emergency Braking (AEB) systems, establishing a baseline for the real-world driving requirement for a Quantitative Safety Validation of Residual Risk (QSVRR). Subsequently, the RAs are assessed using four criteria: quantifiability, threats to validity, missing links, and black box compatibility, highlighting potential benefits, inherent limitations, and identifying key areas for further research. Our evaluation reveals that, while several approaches offer potential, none are free from missing links or other substantial shortcomings. Moreover, no identified alternative can fully replace FOT, reflecting its crucial role in the safety validation of ADAS and ADS.

Language models are essentially probability distributions over token sequences. Auto-regressive models generate sentences by iteratively computing and sampling from the distribution of the next token. This iterative sampling introduces stochasticity, leading to the assumption that language models make probabilistic decisions, similar to sampling from unknown distributions. Building on this assumption, prior research has used simulated Gibbs sampling, inspired by experiments designed to elicit human priors, to infer the priors of language models. In this paper, we revisit a critical question: Do language models possess Bayesian brains? Our findings show that under certain conditions, language models can exhibit near-deterministic decision-making, such as producing maximum likelihood estimations, even with a non-zero sampling temperature. This challenges the sampling assumption and undermines previous methods for eliciting human-like priors. Furthermore, we demonstrate that without proper scrutiny, a system with deterministic behavior undergoing simulated Gibbs sampling can converge to a "false prior." To address this, we propose a straightforward approach to distinguish between stochastic and deterministic decision patterns in Gibbs sampling, helping to prevent the inference of misleading language model priors. We experiment on a variety of large language models to identify their decision patterns under various circumstances. Our results provide key insights in understanding decision making of large language models.

Extended reality (XR) is rapidly advancing, and poised to revolutionize content creation and consumption. In XR, users integrate various sensory inputs to form a cohesive perception of the virtual environment. This survey reviews the state-of-the-art in XR streaming, focusing on multiple paradigms. To begin, we define XR and introduce various XR headsets along with their multimodal interaction methods to provide a foundational understanding. We then analyze XR traffic characteristics to highlight the unique data transmission requirements. We also explore factors that influence the quality of experience in XR systems, aiming to identify key elements for enhancing user satisfaction. Following this, we present visual attention-based optimization methods for XR streaming to improve efficiency and performance. Finally, we examine current applications and highlight challenges to provide insights into ongoing and future developments of XR.

--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.

Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on specific scenarios or only describing certain aspects of the avoidance behavior, such as response times. This paper addresses these gaps by proposing a novel computational cognitive model of human collision avoidance behavior based on active inference. Active inference provides a unified approach to modeling human behavior: the minimization of free energy. Building on prior active inference work, our model incorporates established cognitive mechanisms such as evidence accumulation to simulate human responses in two distinct collision avoidance scenarios: front-to-rear lead vehicle braking and lateral incursion by an oncoming vehicle. We demonstrate that our model explains a wide range of previous empirical findings on human collision avoidance behavior. Specifically, the model closely reproduces both aggregate results from meta-analyses previously reported in the literature and detailed, scenario-specific effects observed in a recent driving simulator study, including response timing, maneuver selection, and execution. Our results highlight the potential of active inference as a unified framework for understanding and modeling human behavior in complex real-life driving tasks.

With increasing efficiency and reliability, autonomous systems are becoming valuable assistants to humans in various tasks. In the context of robot-assisted delivery, we investigate how robot performance and trust repair strategies impact human trust. In this task, while handling a secondary task, humans can choose to either send the robot to deliver autonomously or manually control it. The trust repair strategies examined include short and long explanations, apology and promise, and denial. Using data from human participants, we model human behavior using an Input-Output Hidden Markov Model (IOHMM) to capture the dynamics of trust and human action probabilities. Our findings indicate that humans are more likely to deploy the robot autonomously when their trust is high. Furthermore, state transition estimates show that long explanations are the most effective at repairing trust following a failure, while denial is most effective at preventing trust loss. We also demonstrate that the trust estimates generated by our model are isomorphic to self-reported trust values, making them interpretable. This model lays the groundwork for developing optimal policies that facilitate real-time adjustment of human trust in autonomous systems.

Dynamical systems modeling is a core pillar of scientific inquiry across natural and life sciences. Increasingly, dynamical system models are learned from data, rendering identifiability a paramount concept. For systems that are not identifiable from data, no guarantees can be given about their behavior under new conditions and inputs, or about possible control mechanisms to steer the system. It is known in the community that "linear ordinary differential equations (ODE) are almost surely identifiable from a single trajectory." However, this only holds for dense matrices. The sparse regime remains underexplored, despite its practical relevance with sparsity arising naturally in many biological, social, and physical systems. In this work, we address this gap by characterizing the identifiability of sparse linear ODEs. Contrary to the dense case, we show that sparse systems are unidentifiable with a positive probability in practically relevant sparsity regimes and provide lower bounds for this probability. We further study empirically how this theoretical unidentifiability manifests in state-of-the-art methods to estimate linear ODEs from data. Our results corroborate that sparse systems are also practically unidentifiable. Theoretical limitations are not resolved through inductive biases or optimization dynamics. Our findings call for rethinking what can be expected from data-driven dynamical system modeling and allows for quantitative assessments of how much to trust a learned linear ODE.

Information asymmetry is a pervasive feature of multi-agent systems, especially evident in economics and social sciences. In these settings, agents tailor their actions based on private information to maximize their rewards. These strategic behaviors often introduce complexities due to confounding variables. Simultaneously, knowledge transportability poses another significant challenge, arising from the difficulties of conducting experiments in target environments. It requires transferring knowledge from environments where empirical data is more readily available. Against these backdrops, this paper explores a fundamental question in online learning: Can we employ non-i.i.d. actions to learn about confounders even when requiring knowledge transfer? We present a sample-efficient algorithm designed to accurately identify system dynamics under information asymmetry and to navigate the challenges of knowledge transfer effectively in reinforcement learning, framed within an online strategic interaction model. Our method provably achieves learning of an $ε$-optimal policy with a tight sample complexity of $O(1/ε^2)$.

There is an increasing interest in analyzing the behavior of machine learning systems against adversarial attacks. However, most of the research in adversarial machine learning has focused on studying weaknesses against evasion or poisoning attacks to predictive models in classical setups, with the susceptibility of Bayesian predictive models to attacks remaining underexplored. This paper introduces a general methodology for designing optimal evasion attacks against such models. We investigate two adversarial objectives: perturbing specific point predictions and altering the entire posterior predictive distribution. For both scenarios, we propose novel gradient-based attacks and study their implementation and properties in various computational setups.