With the widespread deployment of large language models (LLMs) in human-computer interaction, dark patterns have extended from traditional visual interfaces to conversational AI systems. While existing research has confirmed the prevalence of dark patterns in LLMs, current evaluation benchmarks face critical challenges including limited classification coverage, overlooked risks specific to reasoning models, and inadequate consideration of cross-linguistic differences. To address these limitations, we propose DarkBench+, an extended benchmark for evaluating dark patterns in LLMs. We construct an expanded taxonomy containing 10 major categories and 24 subcategories, introduce an annotation workflow combining manual and automated methods, and design 2,088 bilingual test samples in Chinese and English. This benchmark is the first to develop specialized evaluation dimensions for reasoning models and systematically evaluates dark pattern behaviors across nearly 40 mainstream LLMs. Experimental results demonstrate significant manipulation risks in reasoning models' transparency displays, while cross-linguistic evaluation analyzes AI manipulation behavior differences across different linguistic environments, promoting more ethical and responsible LLM development.

Non-line-of-sight (NLOS) detection is crucial in applications such as autonomous driving and surveillance. This paper proposes a bistatic multiple-input multiple-output (MIMO) radar-based joint estimation algorithm to localize diffraction corners and estimate NLOS targets. By leveraging the direction of departure (DoD) and direction of arrival (DoA) of diffraction signal, the algorithm first estimates corner position. Furthermore, target motion state is estimated based on the estimated corner and Doppler information. Electromagnetic simulations confirm the accuracy and robustness of the proposed method under various noise conditions.

Automatic parameter tuning methods for planning algorithms, which integrate pipeline approaches with learning-based techniques, are regarded as promising due to their stability and capability to handle highly constrained environments. While existing parameter tuning methods have demonstrated considerable success, further performance improvements require a more structured approach. In this paper, we propose a hierarchical architecture for reinforcement learning-based parameter tuning. The architecture introduces a hierarchical structure with low-frequency parameter tuning, mid-frequency planning, and high-frequency control, enabling concurrent enhancement of both upper-layer parameter tuning and lower-layer control through iterative training. Experimental evaluations in both simulated and real-world environments show that our method surpasses existing parameter tuning approaches. Furthermore, our approach achieves first place in the Benchmark for Autonomous Robot Navigation (BARN) Challenge.

Nowadays, laparoscopic surgery procedures face a trade-off between expensive, complex robotic systems and manual instruments with limited functionality. Fully robotic solutions offer precision but lack portability and intuitive control, while manual tools rely solely on the surgeon’s dexterity, limiting maneuverability and depth perception in confined spaces. To bridge this, we propose a Human-Guided Robotic-Assistance Handheld Continuum Medical Robot System (HRHC). This system simulates intuitive manual operation with robotic precision, extending the surgeon’s capabilities while maintaining portability. Additionally, a stereo vision system enhances real-time depth perception, improving spatial awareness in minimally invasive procedures.

As a novel 3D scene representation, semantic occupancy has gained much attention in autonomous driving. However, existing occupancy prediction methods mainly focus on designing better occupancy representations, such as tri-perspective view or neural radiance fields, while ignoring the advantages of using long-temporal information. In this paper, we propose a radar-camera multi-modal temporal enhanced occupancy prediction network, dubbed TEOcc. Our method is inspired by the success of utilizing temporal information in 3D object detection. Specifically, we introduce a temporal enhancement branch to learn temporal occupancy prediction. In this branch, we randomly discard the t−k input frame of the multi-view camera and predict its 3D occupancy by long-term and short-term temporal decoders separately with the information from other adjacent frames and multi-modal inputs. Besides, to reduce computational costs and incorporate multi-modal inputs, we specially designed 3D convolutional layers for long-term and short-term temporal decoders. Furthermore, since the lightweight occupancy prediction head is a dense classification head, we propose to use a shared occupancy prediction head for the temporal enhancement and main branches. It is worth noting that the temporal enhancement branch is only performed during training and is discarded during inference. Experiment results demonstrate that TEOcc achieves state-of-the-art occupancy prediction on nuScenes benchmarks. In addition, the proposed temporal enhancement branch is a plug-and-play module that can be easily integrated into existing occupancy prediction methods to improve the performance of occupancy prediction. The source code and models will be released at https://github.com/VDIGPKU/TEOcc.

Visual servoing (VS) is a widely used technique in industries where there are hundreds of robots, but it requires accurate camera calibration including camera intrinsic and extrinsic parameters. However, it is labour-intensive to calibrate robots one-by-one in practical use. In this paper, we propose a neural uncalibrated VS policy (NUVS) that can adapt to calibration disturbances with an adaption mechanism and a control-oriented guidance. It bridges the disturbance adaption of classical VS methods and the large convergence of learning-based VS methods. NUVS estimates the calibration embedding from past observations and servos to the desired pose under the supervision of a PBVS that can access the ground truth in simulation. With this adaption mechanism, NUVS outperforms the classical IBUVS algorithm when facing large initial camera pose offsets under the calibration disturbance. Supplementary material in: https://sites.google.com/view/neural-uncalibrated-vs

State estimation is a central component of autonomous navigation. To date, many methods presented have a disruptive potential for application, such as visual-inertial odometry (VIO), wheel and leg odometry (for short, body odometry). However, most of them are prone to fail in some challenging conditions like high-dynamic street scenes and sustain aggressive movements. To this end, in this paper, we present a novel visual-inertial-velocity odometry (VIVO) framework which incorporates velocity measurement provided by the proprioceptive sensing into the MSCKF-based VIO in a tightly coupled fashion. Furthermore, considering that the imprecise extrinsic parameters can severely undermine the state estimation performance, we hence perform VIVO along with online calibration of the body odometry’s extrinsic parameters by adding them to the estimated state vector. The generic VIVO can be deployed for a broad spectrum of robot models ranging from wheeled robots to legged robots. Both simulation and real-world experiments are performed to extensively validate the robustness and accuracy of the proposed method in challenging scenarios using wheeled and legged robot models, respectively.

Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity in monocular setups often leads to cumulative errors over time. In this paper, we present BEV-ODOM, a novel MVO framework leveraging the Bird’s Eye View (BEV) Representation to address scale drift. Unlike existing approaches, BEV-ODOM integrates a depth-based perspective-view (PV) to BEV encoder, a correlation feature extraction neck, and a CNN-MLP-based decoder, enabling it to estimate motion across three degrees of freedom without the need for depth supervision or complex optimization techniques. Our framework reduces scale drift in long-term sequences and achieves accurate motion estimation across various datasets, including NCLT, Oxford, and KITTI. The results indicate that BEV-ODOM outperforms current MVO methods, demonstrating reduced scale drift and higher accuracy.

Vehicle-to-infrastructure cooperative 3D object detection (VIC3D) is a task that leverages both vehicle and roadside sensors to jointly perceive the surrounding environment. However, considering the high speed of vehicles, the real-time requirements, and the limitations of communication bandwidth, roadside devices transmit the results of perception rather than raw sensor data or feature maps in our real-world scenarios. And affected by various environmental factors, the transmission delay is dynamic. To meet the needs of practical applications, we present OTVIC, which is the first multi-modality and multi-view dataset with online transmission from real scenes for vehicle-to-infrastructure cooperative 3D object detection. The ego-vehicle receives the results of infrastructure perception in real-time, collected from a section of highway in Chengdu, China. Moreover, we propose LfFormer, which is a novel end-to-end multi-modality late fusion framework with transformer for VIC3D task as a baseline based on OTVIC. Experiments prove our fusion framework’s effectiveness and robustness. Our project is available at https://sites.google.com/view/otvic.

Due to hardware limitations, point clouds collected by Li-DAR devices are sparse, making it challenging to locate faraway objects accurately. In this paper, we propose an RGB-guided local point cloud completion network, which aims to improve off-the-shelf 3D object detectors by selectively densifying the collected point clouds. Rather than predicting per-pixel depth in 2D images and projecting them back to pseudo-3D point clouds, our proposed method directly predicts the existence of points in 3D space around input points. Towards this goal, we create a semi-dense labeled local points completion dataset and design a new loss for training the network in a semi-supervised manner. Extensive experiments show that the proposed method can produce reasonable and accurate dense 3D point clouds from sparse inputs, improving off-the-shelf 3D object detectors on the KITTI 3D detection benchmark. The source code of our method will be available at https://github.com/emdata-ailab/LPCC-Net.

This paper focuses on the collective cognition of robotic swarms. The robotic swarms perform tasks that are beyond the capability of a single robot by collective behavior that emerge from local interactions. However, due to the lack of the capability of a single robot, it is necessary for robotic swarms to collectively perceive the environment. In this paper, we develop controllers for a robotic swarm to accomplish a complex cognitive task, namely the collective foraging task with poison. In this task, robots have to both collectively distinguish two objects, namely foods and poisons, and cooperatively transport foods to the nest. We applied an evolutionary robotics approach with covariance matrix adaptation evolution strategy to develop controllers for robotic swarms. The results of computer simulations show that collective cognition behavior was successfully generated, which allows the robots to transport only foods. In addition, we also perform experiments to examine the scalability of the developed controllers.