Open-vocabulary mobile manipulation (OVMM) that involves the handling of novel and unseen objects across different workspaces remains a significant challenge for real-world robotic applications. In this paper, we propose a novel Language-conditioned Open-V ocabulary Mobile Manipulation framework, named LOVMM, incorporating the large language model (LLM) and vision-language model (VLM) to tackle various mobile manipulation tasks in household environments. "toss the food boxes on the office room desk to the trash bin in the corner", and "pack the bottles from the bed to the box in the guestroom"). Extensive experiments simulated in complex household environments show strong zero-shot generalization and multi-task learning abilities of LOVMM. Moreover, our approach can also generalize to multiple tabletop manipulation tasks and achieve better success rates compared to other state-of-the-art methods. 1 Introduction As one of the key capabilities for robotic home assistance, open-vocabulary mobile manipulation (OVMM), which leverages vision cameras to navigate in the environment and execute human-like actions to manipulate unseen objects, has attracted wide attention. It is crucial for addressing real-world challenges such as object sorting and rearrangement [ Zeng et al., 2022 ], [ Gan et al., 2022 ], household cleanup [ Y anet al., 2021 ], [ Wu et al., 2023 ], and human assistance [ Y enamandraet al., 2023 ], [ Stone et al., 2023 ] . Traditionally, robotic manipulation relies on vision-based methods that use explicit, object-centric representations, including poses, categories, and instance segmentations for perception [ Pan et al., 2023 ], [ Geng et al., 2023a ], [ Xie et al., 2020] . Recently, end-to-end models that learn from expert demonstrations have emerged as promising alternatives [ Zeng et al., 2021 ], [ Seita et al., 2021 ], [ Geng et al., 2023b ] . By leveraging visual observations without any explicit object information, these models are able to extract more generalizable representations across different tasks and zero-shot adapt to unseen scenarios. Y et, such methods are limited by the insufficient information provided by the single-modal data, or they may require goal images as instructions to adapt to new situations.

Analyzing large, complex output datasets from Discrete Event Simulations (DES) of warehouse operations to identify bottlenecks and inefficiencies is a critical yet challenging task, often demanding significant manual effort or specialized analytical tools. Our framework integrates Knowledge Graphs (KGs) and Large Language Model (LLM)-based agents to analyze complex Discrete Event Simulation (DES) output data from warehouse operations. It transforms raw DES data into a semantically rich KG, capturing relationships between simulation events and entities. An LLM-based agent uses iterative reasoning, generating interdependent sub-questions. For each sub-question, it creates Cypher queries for KG interaction, extracts information, and self-reflects to correct errors. This adaptive, iterative, and self-correcting process identifies operational issues mimicking human analysis. Our DES approach for warehouse bottleneck identification, tested with equipment breakdowns and process irregularities, outperforms baseline methods. For operational questions, it achieves near-perfect pass rates in pinpointing inefficiencies. For complex investigative questions, we demonstrate its superior diagnostic ability to uncover subtle, interconnected issues. This work bridges simulation modeling and AI (KG+LLM), offering a more intuitive method for actionable insights, reducing time-to-insight, and enabling automated warehouse inefficiency evaluation and diagnosis.

Prompting foundation models (FMs) like large language models (LLMs) have enabled new AI-powered software features (e.g., text summarization) that previously were only possible by fine-tuning FMs. Now, developers are embedding prompts in software, known as prompt programs. The process of prompt programming requires the developer to make many changes to their prompt. Yet, the questions developers ask to update their prompt is unknown, despite the answers to these questions affecting how developers plan their changes. With the growing number of research and commercial prompt programming tools, it is unclear whether prompt programmers' needs are being adequately addressed. We address these challenges by developing a taxonomy of 25 tasks prompt programmers do and 51 questions they ask, measuring the importance of each task and question. We interview 16 prompt programmers, observe 8 developers make prompt changes, and survey 50 developers. We then compare the taxonomy with 48 research and commercial tools. We find that prompt programming is not well-supported: all tasks are done manually, and 16 of the 51 questions -- including a majority of the most important ones -- remain unanswered. Based on this, we outline important opportunities for prompt programming tools.

Large language models (LLMs) are increasingly trained on tabular data, which, unlike unstructured text, often contains personally identifiable information (PII) in a highly structured and explicit format. As a result, privacy risks arise, since sensitive records can be inadvertently retained by the model and exposed through data extraction or membership inference attacks (MIAs). While existing MIA methods primarily target textual content, their efficacy and threat implications may differ when applied to structured data, due to its limited content, diverse data types, unique value distributions, and column-level semantics. In this paper, we present Tab-MIA, a benchmark dataset for evaluating MIAs on tabular data in LLMs and demonstrate how it can be used. Tab-MIA comprises five data collections, each represented in six different encoding formats. Using our Tab-MIA benchmark, we conduct the first evaluation of state-of-the-art MIA methods on LLMs finetuned with tabular data across multiple encoding formats. In the evaluation, we analyze the memorization behavior of pretrained LLMs on structured data derived from Wikipedia tables. Our findings show that LLMs memorize tabular data in ways that vary across encoding formats, making them susceptible to extraction via MIAs. Even when fine-tuned for as few as three epochs, models exhibit high vulnerability, with AUROC scores approaching 90% in most cases. Tab-MIA enables systematic evaluation of these risks and provides a foundation for developing privacy-preserving methods for tabular data in LLMs.

Building on prior research on Generative AI (GenAI) and related tools for programming education, we developed SCRIPT, a chatbot based on ChatGPT -4o-mini, to support novice learners. SCRIPT allows for open-ended interactions and structured guidance through predefined prompts. We evaluated the tool via an experiment with 136 students from an introductory programming course at a large German university and analyzed how students interacted with SCRIPT while solving programming tasks with a focus on their feedback preferences. The results reveal that students' feedback requests seem to follow a specific sequence. Moreover, the chatbot responses aligned well with students' requested feedback types (in 75%), and it adhered to the system prompt constraints. These insights inform the design of GenAI-based learning support systems and highlight challenges in balancing guidance and flexibility in AI-assisted tools.

Recent studies have explored pretrained (foundation) models for vision-based robotic navigation, aiming to achieve generalizable navigation and positive transfer across diverse environments while enhancing zero-shot performance in unseen settings. In this work, we introduce PIG-Nav (Pretrained Image-Goal Navigation), a new approach that further investigates pretraining strategies for vision-based navigation models and contributes in two key areas. Model-wise, we identify two critical design choices that consistently improve the performance of pretrained navigation models: (1) integrating an early-fusion network structure to combine visual observations and goal images via appropriately pretrained Vision Transformer (ViT) image encoder, and (2) introducing suitable auxiliary tasks to enhance global navigation representation learning, thus further improving navigation performance. Dataset-wise, we propose a novel data preprocessing pipeline for efficiently labeling large-scale game video datasets for navigation model training. We demonstrate that augmenting existing open navigation datasets with diverse gameplay videos improves model performance. Our model achieves an average improvement of 22.6% in zero-shot settings and a 37.5% improvement in fine-tuning settings over existing visual navigation foundation models in two complex simulated environments and one real-world environment. These results advance the state-of-the-art in pretrained image-goal navigation models. Notably, our model maintains competitive performance while requiring significantly less fine-tuning data, highlighting its potential for real-world deployment with minimal labeled supervision.

People increasingly rely on Large Language Models (LLMs) for moral advice, which may influence humans' decisions. Yet, little is known about how closely LLMs align with human moral judgments. To address this, we introduce the Moral Dilemma Dataset, a benchmark of 1,618 real-world moral dilemmas paired with a distribution of human moral judgments consisting of a binary evaluation and a free-text rationale. We treat this problem as a pluralistic distributional alignment task, comparing the distributions of LLM and human judgments across dilemmas. We find that models reproduce human judgments only under high consensus; alignment deteriorates sharply when human disagreement increases. In parallel, using a 60-value taxonomy built from 3,783 value expressions extracted from rationales, we show that LLMs rely on a narrower set of moral values than humans. These findings reveal a pluralistic moral gap: a mismatch in both the distribution and diversity of values expressed. To close this gap, we introduce Dynamic Moral Profiling (DMP), a Dirichlet-based sampling method that conditions model outputs on human-derived value profiles. DMP improves alignment by 64.3% and enhances value diversity, offering a step toward more pluralistic and human-aligned moral guidance from LLMs.

Modern scientific discovery faces growing challenges in integrating vast and heterogeneous knowledge critical to breakthroughs in biomedicine and drug development. Traditional hypothesis-driven research, though effective, is constrained by human cognitive limits, the complexity of biological systems, and the high cost of trial-and-error experimentation. Deep learning models, especially graph neural networks (GNNs), have accelerated prediction generation, but the sheer volume of outputs makes manual selection for validation unscalable. Large language models (LLMs) offer promise in filtering and hypothesis generation, yet suffer from hallucinations and lack grounding in structured knowledge, limiting their reliability. To address these issues, we propose HypoChainer, a collaborative visualization framework that integrates human expertise, LLM-driven reasoning, and knowledge graphs (KGs) to enhance hypothesis generation and validation. HypoChainer operates in three stages: First, exploration and contextualization -- experts use retrieval-augmented LLMs (RAGs) and dimensionality reduction to navigate large-scale GNN predictions, assisted by interactive explanations. Second, hypothesis chain formation -- experts iteratively examine KG relationships around predictions and semantically linked entities, refining hypotheses with LLM and KG suggestions. Third, validation prioritization -- refined hypotheses are filtered based on KG-supported evidence to identify high-priority candidates for experimentation, with visual analytics further strengthening weak links in reasoning. We demonstrate HypoChainer's effectiveness through case studies in two domains and expert interviews, highlighting its potential to support interpretable, scalable, and knowledge-grounded scientific discovery.

Effective content moderation is essential for video platforms to safeguard user experience and uphold community standards. While traditional video classification models effectively handle well-defined moderation tasks, they struggle with complicated scenarios such as implicit harmful content and contextual ambiguity. Multimodal large language models (MLLMs) offer a promising solution to these limitations with their superior cross-modal reasoning and contextual understanding. However, two key challenges hinder their industrial adoption. First, the high computational cost of MLLMs makes full-scale deployment impractical. Second, adapting generative models for discriminative classification remains an open research problem. In this paper, we first introduce an efficient method to transform a generative MLLM into a multimodal classifier using minimal discriminative training data. To enable industry-scale deployment, we then propose a router-ranking cascade system that integrates MLLMs with a lightweight router model. Offline experiments demonstrate that our MLLM-based approach improves F1 score by 66.50% over traditional classifiers while requiring only 2% of the fine-tuning data. Online evaluations show that our system increases automatic content moderation volume by 41%, while the cascading deployment reduces computational cost to only 1.5% of direct full-scale deployment.

Designing high-quality presentation slides can be challenging for non-experts due to the complexity involved in navigating various design choices. Numerous automated tools can suggest layouts and color schemes, yet often lack the ability to refine their own output, which is a key aspect in real-world workflows. We propose DesignLab, which separates the design process into two roles, the design reviewer, who identifies design-related issues, and the design contributor who corrects them. This decomposition enables an iterative loop where the reviewer continuously detects issues and the contributor corrects them, allowing a draft to be further polished with each iteration, reaching qualities that were unattainable. We fine-tune large language models for these roles and simulate intermediate drafts by introducing controlled perturbations, enabling the design reviewer learn design errors and the contributor learn how to fix them. Our experiments show that DesignLab outperforms existing design-generation methods, including a commercial tool, by embracing the iterative nature of designing which can result in polished, professional slides.