Advancing from usable to collaborative autonomy requires driving systems to execute passenger instructions safely and reliably. This work formulates instruction realization as scheduling across multiple motion planners and presents a dual-loop framework that provides a transparent decision chain from natural language to vehicle control. The outer loop uses a small language model (SLM) for high-level, low-frequency semantic reasoning and schedule generation, while the inner loop performs low-level, high-frequency schedule execution and vehicle control. To compensate for the SLM’s limited capacity, the framework integrates receding-horizon scheduling to segment long-horizon instruction tasks, a domain-specific language (DSL) that restricts SLM outputs to a scheduling-oriented subspace, and reinforcement learning in high-fidelity urban traffic to refine the SLM’s DSL proficiency and scheduling performance. Experiments show that the framework improves instruction-completion rates while maintaining high safety and compliance relative to multiple baselines.

LVLMs have achieved strong multimodal reasoning capabilities but remain prone to hallucinations, producing outputs inconsistent with visual inputs or user instructions. Existing training-free methods, including contrastive decoding and auxiliary expert models, which incur several times more computational overhead and may introduce potential interference, as well as static internal signal enhancement, are often vulnerable to the attention sink phenomenon. We find that internal Positive Attention Dynamics (PAD) in LVLMs naturally reveal semantically core visual regions under the distortions of attention sinks. Based on this, we propose Positive Attention Dynamics Enhancement (PADE), a training-free attention intervention that constructs a PAD map to identify semantically core visual regions, applies per-head Median Absolute Deviation Scaling to adaptively control the intervention strength, and leverages System-Token Compensation to maintain attention to complex user instructions and support long-term output consistency. Experiments on multiple LVLMs and benchmarks show that PADE improves visual grounding and reduces hallucinations, validating the effectiveness of leveraging internal attention dynamics for reliable multimodal reasoning.

Large language models (LLMs) store extensive factual knowledge acquired during pretraining, yet this knowledge is inherently static and may become inaccurate or outdated, leading to knowledge hallucinations. Knowledge editing offers an efficient alternative to full retraining by enabling targeted factual updates while preserving overall model behavior. Existing locate-then-edit methods, however, rely on fixed layer selection strategies, treating the locating stage as a static design choice and failing to account for the hierarchical and instance-dependent nature of knowledge representation in LLMs. In this paper, we propose FiDAL, a Fisher-driven adaptation-aware locating strategy that dynamically identifies which model components should be edited for a given knowledge update. FiDAL formulates localization as a weight-level decision problem and leverages Fisher Information to select layers that are both influential and sensitive to factual modifications. A lightweight probing stage with low-rank modulation enables efficient localization with minimal overhead. Experiments on standard benchmarks demonstrate that FiDAL consistently improves editing effectiveness and knowledge preservation across multiple editing methods.

In response to the escalating demand for digital human representations, progress has been made in the generation of realistic human gestures from given speeches. Despite the remarkable achievements of recent research, the generation process frequently includes unintended, meaningless, or non-realistic gestures. To address this challenge, we propose a gesture translation paradigm, GesTran, which leverages large language models (LLMs) to deepen the understanding of the connection between speech and gesture and sequentially generates human gestures by interpreting gestures as a unique form of body language. The primary stage of the proposed framework employs a transformer-based auto-encoder network to encode human gestures into discrete symbols. Following this, the subsequent stage utilizes a pre-trained LLM to decipher the relationship between speech and gesture, translating the speech into gesture by interpreting the gesture as unique language tokens within the LLM. Our method has demonstrated state-of-the-art performance improvement through extensive and impartial experiments conducted on public TED and TED-Expressive datasets.