Ruiqi Song

Ye Wu, Ruiqi Song, Baiyong Ding et al.

Unstructured scenes present unique challenges for autonomous driving, as irregular obstacles and sparse scene layouts undermine the effectiveness of traditional perception methods such as 3D object detection. 3D semantic occupancy prediction has emerged as a prominent focus due to its ability to provide dense spatial representations by assigning semantic labels to individual voxels in 3D space. However, directly applying 3D semantic occupancy prediction to unstructured scenes remains challenging because scene sparsity hinders effective cross-modal fusion and the more severe long-tail distribution in these scenarios further degrades prediction performance. To validate the effectiveness of our approach, we construct a dedicated dataset of unstructured scenes collected from open-pit mines. Based on this, we propose UnsOcc, a multi-modal 3D semantic occupancy prediction framework that improves robustness in unstructured environments. At its core, we introduce a rendering-based fusion module, RenderFusion, which enhances cross-modal feature alignment through bidirectional rendering supervision. Furthermore, we propose GSRefinement, a detail-aware auxiliary supervision method based on Gaussian Splatting that projects sparse 3D occupancy predictions into dense 2D semantic segmentation maps, enabling effective supervision for long-tail categories. Extensive experiments on both the open-pit mine dataset and the nuScenes dataset demonstrate that our method significantly outperforms existing state-of-the-art approaches.

Zhen Wang, Ruiqi Song, Chen Shen et al.

Despite rapid technological progress, effective human-machine cooperation remains a significant challenge. Humans tend to cooperate less with machines than with fellow humans, a phenomenon known as the machine penalty. Here, we show that artificial intelligence (AI) agents powered by large language models can overcome this penalty in social dilemma games with communication. In a pre-registered experiment with 1,152 participants, we deploy AI agents exhibiting three distinct personas: selfish, cooperative, and fair. However, only fair agents elicit human cooperation at rates comparable to human-human interactions. Analysis reveals that fair agents, similar to human participants, occasionally break pre-game cooperation promises, but nonetheless effectively establish cooperation as a social norm. These results challenge the conventional wisdom of machines as altruistic assistants or rational actors. Instead, our study highlights the importance of AI agents reflecting the nuanced complexity of human social behaviors -- imperfect yet driven by deeper social cognitive processes.

Wenzhao Zheng, Ruiqi Song, Xianda Guo et al.

Directly producing planning results from raw sensors has been a long-desired solution for autonomous driving and has attracted increasing attention recently. Most existing end-to-end autonomous driving methods factorize this problem into perception, motion prediction, and planning. However, we argue that the conventional progressive pipeline still cannot comprehensively model the entire traffic evolution process, e.g., the future interaction between the ego car and other traffic participants and the structural trajectory prior. In this paper, we explore a new paradigm for end-to-end autonomous driving, where the key is to predict how the ego car and the surroundings evolve given past scenes. We propose GenAD, a generative framework that casts autonomous driving into a generative modeling problem. We propose an instance-centric scene tokenizer that first transforms the surrounding scenes into map-aware instance tokens. We then employ a variational autoencoder to learn the future trajectory distribution in a structural latent space for trajectory prior modeling. We further adopt a temporal model to capture the agent and ego movements in the latent space to generate more effective future trajectories. GenAD finally simultaneously performs motion prediction and planning by sampling distributions in the learned structural latent space conditioned on the instance tokens and using the learned temporal model to generate futures. Extensive experiments on the widely used nuScenes benchmark show that the proposed GenAD achieves state-of-the-art performance on vision-centric end-to-end autonomous driving with high efficiency. Code: https://github.com/wzzheng/GenAD.

Yihao Wang, Ruiqi Song, Lingxiao Li et al.

Linguistic steganalysis (LS) tasks aim to detect whether a text contains secret information. Existing LS methods focus on the deep-learning model design and they achieve excellent results in ideal data. However, they overlook the unique user characteristics, leading to weak performance in social networks. And a few stegos here that further complicate detection. We propose the UP4LS, a framework with the User Profile for enhancing LS in realistic scenarios. Three kinds of user attributes like writing habits are explored to build the profile. For each attribute, the specific feature extraction module is designed. The extracted features are mapped to high-dimensional user features via the deep-learning model of the method to be improved. The content feature is extracted by the language model. Then user and content features are integrated. Existing methods can improve LS results by adding the UP4LS framework without changing their deep-learning models. Experiments show that UP4LS can significantly enhance the performance of LS-task baselines in realistic scenarios, with the overall Acc increased by 25%, F1 increased by 51%, and SOTA results. The improvement is especially pronounced in fewer stegos. Additionally, UP4LS also sets the stage for the related-task SOTA methods to efficient LS.

Siyue Ren, Zhiyao Cui, Ruiqi Song et al.

Social norms play a crucial role in guiding agents towards understanding and adhering to standards of behavior, thus reducing social conflicts within multi-agent systems (MASs). However, current LLM-based (or generative) MASs lack the capability to be normative. In this paper, we propose a novel architecture, named CRSEC, to empower the emergence of social norms within generative MASs. Our architecture consists of four modules: Creation & Representation, Spreading, Evaluation, and Compliance. This addresses several important aspects of the emergent processes all in one: (i) where social norms come from, (ii) how they are formally represented, (iii) how they spread through agents' communications and observations, (iv) how they are examined with a sanity check and synthesized in the long term, and (v) how they are incorporated into agents' planning and actions. Our experiments deployed in the Smallville sandbox game environment demonstrate the capability of our architecture to establish social norms and reduce social conflicts within generative MASs. The positive outcomes of our human evaluation, conducted with 30 evaluators, further affirm the effectiveness of our approach. Our project can be accessed via the following link: https://github.com/sxswz213/CRSEC.

Ruiqi Song, Xianda Guo, Hangbin Wu et al.

Directly generating planning results from raw sensors has become increasingly prevalent due to its adaptability and robustness in complex scenarios. Scene representation, as a key module in the pipeline, has traditionally relied on conventional perception, which focus on the global scene. However, in driving scenarios, human drivers typically focus only on regions that directly impact driving, which often coincide with those required for end-to-end autonomous driving. In this paper, a novel end-to-end autonomous driving method called InsightDrive is proposed, which organizes perception by language-guided scene representation. We introduce an instance-centric scene tokenizer that transforms the surrounding environment into map- and object-aware instance tokens. Scene attention language descriptions, which highlight key regions and obstacles affecting the ego vehicle's movement, are generated by a vision-language model that leverages the cognitive reasoning capabilities of foundation models. We then align scene descriptions with visual features using the vision-language model, guiding visual attention through these descriptions to give effectively scene representation. Furthermore, we employ self-attention and cross-attention mechanisms to model the ego-agents and ego-map relationships to comprehensively build the topological relationships of the scene. Finally, based on scene understanding, we jointly perform motion prediction and planning. Extensive experiments on the widely used nuScenes benchmark demonstrate that the proposed InsightDrive achieves state-of-the-art performance in end-to-end autonomous driving. The code is available at https://github.com/songruiqi/InsightDrive

Xinqing Li, Ruiqi Song, Qingyu Xie et al.

With the rapid advancement of autonomous driving technology, a lack of data has become a major obstacle to enhancing perception model accuracy. Researchers are now exploring controllable data generation using world models to diversify datasets. However, previous work has been limited to studying image generation quality on specific public datasets. There is still relatively little research on how to build data generation engines for real-world application scenes to achieve large-scale data generation for challenging scenes. In this paper, a simulator-conditioned scene generation engine based on world model is proposed. By constructing a simulation system consistent with real-world scenes, simulation data and labels, which serve as the conditions for data generation in the world model, for any scenes can be collected. It is a novel data generation pipeline by combining the powerful scene simulation capabilities of the simulation engine with the robust data generation capabilities of the world model. In addition, a benchmark with proportionally constructed virtual and real data, is provided for exploring the capabilities of world models in real-world scenes. Quantitative results show that these generated images significantly improve downstream perception models performance. Finally, we explored the generative performance of the world model in urban autonomous driving scenarios. All the data and code will be available at https://github.com/Li-Zn-H/SimWorld.

Xin Wang, Zhiyao Cui, Hao Li et al.

Vision language model (VLM)-based mobile agents show great potential for assisting users in performing instruction-driven tasks. However, these agents typically struggle with personalized instructions -- those containing ambiguous, user-specific context -- a challenge that has been largely overlooked in previous research. In this paper, we define personalized instructions and introduce PerInstruct, a novel human-annotated dataset covering diverse personalized instructions across various mobile scenarios. Furthermore, given the limited personalization capabilities of existing mobile agents, we propose PerPilot, a plug-and-play framework powered by large language models (LLMs) that enables mobile agents to autonomously perceive, understand, and execute personalized user instructions. PerPilot identifies personalized elements and autonomously completes instructions via two complementary approaches: memory-based retrieval and reasoning-based exploration. Experimental results demonstrate that PerPilot effectively handles personalized tasks with minimal user intervention and progressively improves its performance with continued use, underscoring the importance of personalization-aware reasoning for next-generation mobile agents. The dataset and code are available at: https://github.com/xinwang-nwpu/PerPilot

Ruiqi Song, Lei Liu, Ya-Nan Zhang et al.

Accurate retinal vessel segmentation is a critical prerequisite for quantitative analysis of retinal images and computer-aided diagnosis of vascular diseases such as diabetic retinopathy. However, the elongated morphology, wide scale variation, and low contrast of retinal vessels pose significant challenges for existing methods, making it difficult to simultaneously preserve fine capillaries and maintain global topological continuity. To address these challenges, we propose the Vessel-aware Frequency-domain and Global Spatial modeling Network (VFGS-Net), an end-to-end segmentation framework that seamlessly integrates frequency-aware feature enhancement, dual-path convolutional representation learning, and bidirectional asymmetric spatial state-space modeling within a unified architecture. Specifically, VFGS-Net employs a dual-path feature convolution module to jointly capture fine-grained local textures and multi-scale contextual semantics. A novel vessel-aware frequency-domain channel attention mechanism is introduced to adaptively reweight spectral components, thereby enhancing vessel-relevant responses in high-level features. Furthermore, at the network bottleneck, we propose a bidirectional asymmetric Mamba2-based spatial modeling block to efficiently capture long-range spatial dependencies and strengthen the global continuity of vascular structures. Extensive experiments on four publicly available retinal vessel datasets demonstrate that VFGS-Net achieves competitive or superior performance compared to state-of-the-art methods. Notably, our model consistently improves segmentation accuracy for fine vessels, complex branching patterns, and low-contrast regions, highlighting its robustness and clinical potential.

Yihao Wang, Ruiqi Song, Lingxiao Li et al.

Existing linguistic steganography schemes often overlook the conditional probability (CP) of tokens in the candidate pool, allocating the one coding to all tokens, which results in identical selection likelihoods. This approach leads to the selection of low-CP tokens, degrading the quality of stegos and making them more detectable. This paper proposes a scheme based on the interval allocated, called DAIRstega. DAIRstega first uses a portion of the read secret to build the roulette area. Then, this scheme uses the idea of the roulette wheel and takes the CPs of tokens as the main basis for allocating the roulette area (i.e., the interval length). Thus, tokens with larger CPs are allocated more area. The secret will have an increased likelihood of selecting a token with a higher CP. During allocation, we designed some allocation functions and three constraints to optimize the process. Additionally, DAIRstega supports prompt-based controllable generation of stegos. Rich experiments show that the proposed embedding way and DAIRstega perform better than the existing ways and baselines, which shows strong perceptual, statistical, and semantic concealment, as well as anti-steganalysis ability. It can also generate high-quality longer stegos, addressing the deficiencies in this task. DAIRstega is confirmed to have potential as a secure watermarking, offering insights for its development.

Cong Wang, Xianda Guo, Wenbo Xu et al.

In the realm of driving scenarios, the presence of rapidly moving vehicles, pedestrians in motion, and large-scale static backgrounds poses significant challenges for 3D scene reconstruction. Recent methods based on 3D Gaussian Splatting address the motion blur problem by decoupling dynamic and static components within the scene. However, these decoupling strategies overlook background optimization with adequate geometry relationships and rely solely on fitting each training view by adding Gaussians. Therefore, these models exhibit limited robustness in rendering novel views and lack an accurate geometric representation. To address the above issues, we introduce DriveSplat, a high-quality reconstruction method for driving scenarios based on neural Gaussian representations with dynamic-static decoupling. To better accommodate the predominantly linear motion patterns of driving viewpoints, a region-wise voxel initialization scheme is employed, which partitions the scene into near, middle, and far regions to enhance close-range detail representation. Deformable neural Gaussians are introduced to model non-rigid dynamic actors, whose parameters are temporally adjusted by a learnable deformation network. The entire framework is further supervised by depth and normal priors from pre-trained models, improving the accuracy of geometric structures. Our method has been rigorously evaluated on the Waymo and KITTI datasets, demonstrating state-of-the-art performance in novel-view synthesis for driving scenarios.

Jianzhe Lin, Zeyu Pan, Yun Zhu et al.

We introduce SuperIntelliAgent, an agentic learning framework that couples a trainable small diffusion model (the learner) with a frozen large language model (the verifier) to enable continual intelligence growth through self-supervised interaction. Unlike conventional supervised fine-tuning, SuperIntelliAgent learns autonomously without annotation: the learner generates candidate outputs, the verifier evaluates them through step-by-step reasoning, and their interaction produces chosen/rejected pairs for Direct Preference Optimization (DPO). This converts each input into a pseudo-training signal for continual improvement. The framework integrates dual-scale memory: short-term in-context memory that preserves reasoning traces across refinement cycles, and long-term memory that consolidates acquired knowledge through lightweight on-the-fly fine-tuning. A replay buffer retains samples that show verifiable progress and replays them as auxiliary supervision, reinforcing recent learning while forming adaptive curricula. SuperIntelliAgent is infrastructure-agnostic and can be plugged into existing agentic frameworks while turning ordinary inference loops into a lifelong optimization process. We posit that pairing a trainable learner with a reasoning-capable verifier forms a minimal reliable unit of growing intelligence, as paired feedback and partial-history replay yield richer learning curricula and stronger preference alignment. With a small number of automatically generated DPO pairs, the learner improves across all benchmarks, indicating that this mechanism provides a promising direction for continual intelligence accumulation and real-world deployment.

Nan Mu, Ruiqi Song, Zhihui Xu et al.

Background: Coronary Artery Disease (CAD) is one of the leading causes of death worldwide. Invasive Coronary Angiography (ICA), regarded as the gold standard for CAD diagnosis, necessitates precise vessel segmentation and stenosis detection. However, ICA images are typically characterized by low contrast, high noise levels, and complex, fine-grained vascular structures, which pose significant challenges to the clinical adoption of existing segmentation and detection methods. Objective: This study aims to improve the accuracy of coronary artery segmentation and stenosis detection in ICA images by integrating multi-scale structural priors, state-space-based long-range dependency modeling, and frequency-domain detail enhancement strategies. Methods: We propose SFD-Mamba2Net, an end-to-end framework tailored for ICA-based vascular segmentation and stenosis detection. In the encoder, a Curvature-Aware Structural Enhancement (CASE) module is embedded to leverage multi-scale responses for highlighting slender tubular vascular structures, suppressing background interference, and directing attention toward vascular regions. In the decoder, we introduce a Progressive High-Frequency Perception (PHFP) module that employs multi-level wavelet decomposition to progressively refine high-frequency details while integrating low-frequency global structures. Results and Conclusions: SFD-Mamba2Net consistently outperformed state-of-the-art methods across eight segmentation metrics, and achieved the highest true positive rate and positive predictive value in stenosis detection.

Nan Mu, Ruiqi Song, Xiaoning Li et al.

Background: Coronary artery disease (CAD) remains one of the leading causes of mortality worldwide. Precise segmentation of coronary arteries from invasive coronary angiography (ICA) is critical for effective clinical decision-making. Objective: This study aims to propose a novel deep learning model based on frequency-domain analysis to enhance the accuracy of coronary artery segmentation and stenosis detection in ICA, thereby offering robust support for the stenosis detection and treatment of CAD. Methods: We propose the Frequency-Domain Attention-Guided Diffusion Network (FAD-Net), which integrates a frequency-domain-based attention mechanism and a cascading diffusion strategy to fully exploit frequency-domain information for improved segmentation accuracy. Specifically, FAD-Net employs a Multi-Level Self-Attention (MLSA) mechanism in the frequency domain, computing the similarity between queries and keys across high- and low-frequency components in ICAs. Furthermore, a Low-Frequency Diffusion Module (LFDM) is incorporated to decompose ICAs into low- and high-frequency components via multi-level wavelet transformation. Subsequently, it refines fine-grained arterial branches and edges by reintegrating high-frequency details via inverse fusion, enabling continuous enhancement of anatomical precision. Results and Conclusions: Extensive experiments demonstrate that FAD-Net achieves a mean Dice coefficient of 0.8717 in coronary artery segmentation, outperforming existing state-of-the-art methods. In addition, it attains a true positive rate of 0.6140 and a positive predictive value of 0.6398 in stenosis detection, underscoring its clinical applicability. These findings suggest that FAD-Net holds significant potential to assist in the accurate diagnosis and treatment planning of CAD.