Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates vision-based localization with large language model (LLM)-based navigation. The localization system utilizes a ResNet-50 convolutional neural network fine-tuned through a two-stage process to identify the user's position using smartphone camera input. To complement localization, the navigation module employs an LLM, guided by a carefully crafted system prompt, to interpret preprocessed floor plan images and generate step-by-step directions. Experimental evaluation was conducted in a realistic office corridor with repetitive features and limited visibility to test localization robustness. The model achieved high confidence and an accuracy of 96% across all tested waypoints, even under constrained viewing conditions and short-duration queries. Navigation tests using ChatGPT on real building floor maps yielded an average instruction accuracy of 75%, with observed limitations in zero-shot reasoning and inference time. This research demonstrates the potential for scalable, infrastructure-free indoor navigation using off-the-shelf cameras and publicly available floor plans, particularly in resource-constrained settings like hospitals, airports, and educational institutions.

In this paper, we propose AimBot, a lightweight visual augmentation technique that provides explicit spatial cues to improve visuomotor policy learning in robotic manipulation. AimBot overlays shooting lines and scope reticles onto multi-view RGB images, offering auxiliary visual guidance that encodes the end-effector's state. The overlays are computed from depth images, camera extrinsics, and the current end-effector pose, explicitly conveying spatial relationships between the gripper and objects in the scene. AimBot incurs minimal computational overhead (less than 1 ms) and requires no changes to model architectures, as it simply replaces original RGB images with augmented counterparts. Despite its simplicity, our results show that AimBot consistently improves the performance of various visuomotor policies in both simulation and real-world settings, highlighting the benefits of spatially grounded visual feedback.

Language-guided long-horizon mobile manipulation has long been a grand challenge in embodied semantic reasoning, generalizable manipulation, and adaptive locomotion. Three fundamental limitations hinder progress: First, although large language models have improved spatial reasoning and task planning through semantic priors, existing implementations remain confined to tabletop scenarios, failing to address the constrained perception and limited actuation ranges of mobile platforms. Second, current manipulation strategies exhibit insufficient generalization when confronted with the diverse object configurations encountered in open-world environments. Third, while crucial for practical deployment, the dual requirement of maintaining high platform maneuverability alongside precise end-effector control in unstructured settings remains understudied. In this work, we present ODYSSEY, a unified mobile manipulation framework for agile quadruped robots equipped with manipulators, which seamlessly integrates high-level task planning with low-level whole-body control. To address the challenge of egocentric perception in language-conditioned tasks, we introduce a hierarchical planner powered by a vision-language model, enabling long-horizon instruction decomposition and precise action execution. At the control level, our novel whole-body policy achieves robust coordination across challenging terrains. We further present the first benchmark for long-horizon mobile manipulation, evaluating diverse indoor and outdoor scenarios. Through successful sim-to-real transfer, we demonstrate the system's generalization and robustness in real-world deployments, underscoring the practicality of legged manipulators in unstructured environments. Our work advances the feasibility of generalized robotic assistants capable of complex, dynamic tasks. Our project page: https://kaijwang.github.io/odyssey.github.io/

Evaluating the safety alignment of LLM responses in high-risk mental health dialogues is particularly difficult due to missing gold-standard answers and the ethically sensitive nature of these interactions. To address this challenge, we propose PsyCrisis-Bench, a reference-free evaluation benchmark based on real-world Chinese mental health dialogues. It evaluates whether the model responses align with the safety principles defined by experts. Specifically designed for settings without standard references, our method adopts a prompt-based LLM-as-Judge approach that conducts in-context evaluation using expert-defined reasoning chains grounded in psychological intervention principles. We employ binary point-wise scoring across multiple safety dimensions to enhance the explainability and traceability of the evaluation. Additionally, we present a manually curated, high-quality Chinese-language dataset covering self-harm, suicidal ideation, and existential distress, derived from real-world online discourse. Experiments on 3600 judgments show that our method achieves the highest agreement with expert assessments and produces more interpretable evaluation rationales compared to existing approaches. Our dataset and evaluation tool are publicly available to facilitate further research.

We present LL3M, a multi-agent system that leverages pretrained large language models (LLMs) to generate 3D assets by writing interpretable Python code in Blender. We break away from the typical generative approach that learns from a collection of 3D data. Instead, we reformulate shape generation as a code-writing task, enabling greater modularity, editability, and integration with artist workflows. Given a text prompt, LL3M coordinates a team of specialized LLM agents to plan, retrieve, write, debug, and refine Blender scripts that generate and edit geometry and appearance. The generated code works as a high-level, interpretable, human-readable, well-documented representation of scenes and objects, making full use of sophisticated Blender constructs (e.g. B-meshes, geometry modifiers, shader nodes) for diverse, unconstrained shapes, materials, and scenes. This code presents many avenues for further agent and human editing and experimentation via code tweaks or procedural parameters. This medium naturally enables a co-creative loop in our system: agents can automatically self-critique using code and visuals, while iterative user instructions provide an intuitive way to refine assets. A shared code context across agents enables awareness of previous attempts, and a retrieval-augmented generation knowledge base built from Blender API documentation, BlenderRAG, equips agents with examples, types, and functions empowering advanced modeling operations and code correctness. We demonstrate the effectiveness of LL3M across diverse shape categories, style and material edits, and user-driven refinements. Our experiments showcase the power of code as a generative and interpretable medium for 3D asset creation. Our project page is at https://threedle.github.io/ll3m.

There has been much recent interest in evaluating large language models for uncertainty calibration to facilitate model control and modulate user trust. Inference time uncertainty, which may provide a real-time signal to the model or external control modules, is particularly important for applying these concepts to improve LLM-user experience in practice. While many of the existing papers consider model calibration, comparatively little work has sought to evaluate how closely model uncertainty aligns to human uncertainty. In this work, we evaluate a collection of inference-time uncertainty measures, using both established metrics and novel variations, to determine how closely they align with both human group-level uncertainty and traditional notions of model calibration. We find that numerous measures show evidence of strong alignment to human uncertainty, even despite the lack of alignment to human answer preference. For those successful metrics, we find moderate to strong evidence of model calibration in terms of both correctness correlation and distributional analysis.

Speculative decoding is a standard method for accelerating the inference speed of large language models. However, scaling it for production environments poses several engineering challenges, including efficiently implementing different operations (e.g., tree attention and multi-round speculative decoding) on GPU. In this paper, we detail the training and inference optimization techniques that we have implemented to enable EAGLE-based speculative decoding at a production scale for Llama models. With these changes, we achieve a new state-of-the-art inference latency for Llama models. For example, Llama4 Maverick decodes at a speed of about 4 ms per token (with a batch size of one) on 8 NVIDIA H100 GPUs, which is 10% faster than the previously best known method. Furthermore, for EAGLE-based speculative decoding, our optimizations enable us to achieve a speed-up for large batch sizes between 1.4x and 2.0x at production scale.

Python has become the dominant language for general-purpose programming, yet it lacks robust tools for formal verification. In contrast, programmers working in languages such as C benefit from mature model checkers, for example CBMC, which enable exhaustive symbolic reasoning and fault localisation. The inherent complexity of Python, coupled with the verbosity and low-level nature of existing transpilers (e.g., Cython), have historically limited the applicability of formal verification to Python programs. In this paper, we propose PyVeritas, a novel framework that leverages Large Language Models (LLMs) for high-level transpilation from Python to C, followed by bounded model checking and MaxSAT-based fault localisation in the generated C code. PyVeritas enables verification and bug localisation for Python code using existing model checking tools for C. Our empirical evaluation on two Python benchmarks demonstrates that LLM-based transpilation can achieve a high degree of accuracy, up to 80--90% for some LLMs, enabling effective development environment that supports assertion-based verification and interpretable fault diagnosis for small yet non-trivial Python programs.

This paper introduces a novel Large Language Models (LLMs)-assisted agent that automatically converts natural-language descriptions of power system optimization scenarios into compact, solver-ready formulations and generates corresponding solutions. In contrast to approaches that rely solely on LLM to produce solutions directly, the proposed method focuses on discovering a mathematically compatible formulation that can be efficiently solved by off-the-shelf optimization solvers. Directly using LLMs to produce solutions often leads to infeasible or suboptimal results, as these models lack the numerical precision and constraint-handling capabilities of established optimization solvers. The pipeline integrates a domain-aware prompt and schema with an LLM, enforces feasibility through systematic validation and iterative repair, and returns both solver-ready models and user-facing results. Using the unit commitment problem as a representative case study, the agent produces optimal or near-optimal schedules along with the associated objective costs. Results demonstrate that coupling the solver with task-specific validation significantly enhances solution reliability. This work shows that combining AI with established optimization frameworks bridges high-level problem descriptions and executable mathematical models, enabling more efficient decision-making in energy systems

Recent progress in large language models (LLMs) has leveraged their in-context learning (ICL) abilities to enable quick adaptation to unseen biomedical NLP tasks. By incorporating only a few input-output examples into prompts, LLMs can rapidly perform these new tasks. While the impact of these demonstrations on LLM performance has been extensively studied, most existing approaches prioritize representativeness over diversity when selecting examples from large corpora. To address this gap, we propose Dual-Div, a diversity-enhanced data-efficient framework for demonstration selection in biomedical ICL. Dual-Div employs a two-stage retrieval and ranking process: First, it identifies a limited set of candidate examples from a corpus by optimizing both representativeness and diversity (with optional annotation for unlabeled data). Second, it ranks these candidates against test queries to select the most relevant and non-redundant demonstrations. Evaluated on three biomedical NLP tasks (named entity recognition (NER), relation extraction (RE), and text classification (TC)) using LLaMA 3.1 and Qwen 2.5 for inference, along with three retrievers (BGE-Large, BMRetriever, MedCPT), Dual-Div consistently outperforms baselines--achieving up to 5% higher macro-F1 scores--while demonstrating robustness to prompt permutations and class imbalance. Our findings establish that diversity in initial retrieval is more critical than ranking-stage optimization, and limiting demonstrations to 3-5 examples maximizes performance efficiency.