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arXiv

Layer-Order Inversion: Rethinking Latent Multi-Hop Reasoning in Large Language Models

Xukai Liu, Ye Liu, Jipeng Zhang, Yanghai Zhang, Kai Zhang, Qi Liu

Large language models (LLMs) perform well on multi-hop reasoning, yet how they internally compose multiple facts remains unclear. Recent work proposes \emph{hop-aligned circuit hypothesis}, suggesting that bridge entities are computed sequentially across layers before later-hop answers. Through systematic analyses on real-world multi-hop queries, we show that this hop-aligned assumption does not generalize: later-hop answer entities can become decodable earlier than bridge entities, a phenomenon we call \emph{layer-order inversion}, which strengthens with total hops. To explain this behavior, we propose a \emph{probabilistic recall-and-extract} framework that models multi-hop reasoning as broad probabilistic recall in shallow MLP layers followed by selective extraction in deeper attention layers. This framework is empirically validated through systematic probing analyses, reinterpreting prior layer-wise decoding evidence, explaining chain-of-thought gains, and providing a mechanistic diagnosis of multi-hop failures despite correct single-hop knowledge. Code is available at https://github.com/laquabe/Layer-Order-Inversion.

arXiv

iFlip: Iterative Feedback-driven Counterfactual Example Refinement

Yilong Wang, Qianli Wang, Nils Feldhus

Counterfactual examples are minimal edits to an input that alter a model's prediction. They are widely employed in explainable AI to probe model behavior and in natural language processing (NLP) to augment training data. However, generating valid counterfactuals with large language models (LLMs) remains challenging, as existing single-pass methods often fail to induce reliable label changes, neglecting LLMs' self-correction capabilities. To explore this untapped potential, we propose iFlip, an iterative refinement approach that leverages three types of feedback, including model confidence, feature attribution, and natural language. Our results show that iFlip achieves an average 57.8% higher validity than the five state-of-the-art baselines, as measured by the label flipping rate. The user study further corroborates that iFlip outperforms baselines in completeness, overall satisfaction, and feasibility. In addition, ablation studies demonstrate that three components are paramount for iFlip to generate valid counterfactuals: leveraging an appropriate number of iterations, pointing to highly attributed words, and early stopping. Finally, counterfactuals generated by iFlip enable effective counterfactual data augmentation, substantially improving model performance and robustness.

arXiv

Can Large Language Models Still Explain Themselves? Investigating the Impact of Quantization on Self-Explanations

Qianli Wang, Nils Feldhus, Pepa Atanasova, Fedor Splitt, Simon Ostermann, Sebastian Möller, Vera Schmitt

Quantization is widely used to accelerate inference and streamline the deployment of large language models (LLMs), yet its effects on self-explanations (SEs) remain unexplored. SEs, generated by LLMs to justify their own outputs, require reasoning about the model's own decision-making process, a capability that may exhibit particular sensitivity to quantization. As SEs are increasingly relied upon for transparency in high-stakes applications, understanding whether and to what extent quantization degrades SE quality and faithfulness is critical. To address this gap, we examine two types of SEs: natural language explanations (NLEs) and counterfactual examples, generated by LLMs quantized using three common techniques at distinct bit widths. Our findings indicate that quantization typically leads to moderate declines in both SE quality (up to 4.4%) and faithfulness (up to 3.9%). The user study further demonstrates that quantization considerably diminishes both the coherence and trustworthiness of SEs (by up to 8.5%). Compared to smaller models, larger models show limited resilience to quantization in terms of SE quality but maintain more faithfulness. Moreover, no quantization technique consistently excels across task accuracy, SE quality, and faithfulness. Because quantization's impact varies considerably by context and can be sizable in specific cases, we recommend validating SE quality for the intended use case. Despite these sometimes considerable drops, quantization remains an effective compression technique when its impact on SEs is properly validated.

arXiv

EduAgentQG: Multi-Agent Personalized Mathematics Question Generation with Explicit Diversity and Objective-Aware Evaluation

Rui Jia, Min Zhang, Fengrui Liu, Bo Jiang, Kun Kuang, Zhongxiang Dai

In intelligent education, personalized mathematics question generation aims to produce mathematics questions that satisfy educational requirements while supporting adaptive assessment and learning. Existing LLM-based single-agent and multi-agent methods improve generation flexibility, but they still tend to rely on aggregated feedback or model randomness, making it difficult to jointly ensure dimension-wise objective alignment and controllable diversity. To address these challenges, we propose EduAgentQG, a multi-agent collaborative framework for personalized mathematics question generation with explicit diversity and objective-aware evaluation. EduAgentQG organizes question generation as a closed-loop process of planning, writing, evaluation, refinement, and checking: structured generation plans and multiple generation directions guide candidate generation, while fine-grained evaluation verifies logical correctness, solvability, and objective alignment in knowledge concepts, difficulty, grade level, and core competencies. We first construct a mathematics question generation benchmark containing 10,273 questions across Grades 1-9, covering 634 knowledge concepts, 16 core competencies, and three difficulty levels; for evaluation, it is organized into two subsets: MathChoice, with 489 educational objectives for multiple-choice question generation, and MathBlank, with 500 educational objectives for fill-in-the-blank question generation. Experiments show that EduAgentQG consistently outperforms COT, COT$_N$, ReAct, and EQPR in diversity, Objective Consistency, and Win Rate.

arXiv

Scalable Supervision for Software Agents via Patch Reasoning

Junjielong Xu, Boyin Tan, Xiaoyuan Liu, Chao Peng, Pengfei Gao, Pinjia He

While language model agents have advanced software engineering, existing test-based supervision is limiting its scalability on real-world issues. The reason is twofold: (1) high-coverage tests are naturally rare in the wild, and (2) building and running test sandbox is heavy and fragile. To unlock supervision scaling, we propose R4P, a reasoning-based method that provides scaffold-agnostic rewards. R4P uses a group-wise training objective, enabling it to verify multiple patches against each other's modification and gain a dense reward for supervising agents without executing tests or relying on specific agent trajectories. R4P achieves 72.2% Acc. for verifying patches from SWE-bench, competitive with proprietary models. To show the downstream practical utility of R4P, we design and train an execution-free scaffold, Mini-SE, with pure RL via R4P. Mini-SE achieves 26.2% Pass@1, showing a 10.0% improvement over the original Qwen3-32B, and can be further improved to 32.8% with R4P for test-time scaling on patch selection. The stable scaling curves illustrate that though imperfect, R4P can still reliably support downstream tasks at scale.

arXiv

E2Rank: Unifying Text Embedding and Listwise Reranking for Effective and Efficient Search

Qi Liu, Yanzhao Zhang, Mingxin Li, Dingkun Long, Pengjun Xie, Jiaxin Mao

Text embedding models deliver competitive retrieval performance with high efficiency, but their ranking fidelity remains limited compared to LLM-based listwise rerankers, which capture fine-grained query-document and document-document interactions at high computational cost. We propose E2Rank (Efficient Embedding-based Ranking), a unified framework that extends a single text embedding model to perform both retrieval and listwise reranking via continued training under a listwise ranking objective. The key insight is to treat the listwise prompt---constructed from the query and its top-K candidates---as a pseudo-relevance feedback (PRF) query, enabling reranking via cosine similarity against precomputed document embeddings without autoregressive decoding. Empirically, E2Rank achieves state-of-the-art results on BEIR, competitive performance on the reasoning-intensive BRIGHT benchmark, significantly lower latency than existing LLM-based rerankers, and improved embedding performance on MTEB---all within a single model.

arXiv

EduDial: Constructing a Large-scale Multi-turn Teacher-Student Dialogue Corpus

Shouang Wei, Min Zhang, Xin Lin, Bo Jiang, Zhongxiang Dai, Kun Kuang

Recently, several multi-turn dialogue benchmarks have been proposed to evaluate the conversational abilities of large language models (LLMs). As LLMs are increasingly recognized as a key technology for advancing intelligent education, owing to their ability to deeply understand instructional contexts and provide personalized guidance, the construction of dedicated teacher-student dialogue benchmarks has become particularly important. To this end, we present EduDial, a comprehensive multi-turn teacher-student dialogue dataset. EduDial covers 345 core knowledge points and consists of 34,250 dialogue sessions generated through interactions between teacher and student agents. Its design is guided by Bloom's taxonomy of educational objectives and incorporates ten questioning strategies, including situational questioning, zone of proximal development (ZPD) questioning, and metacognitive questioning-thus better capturing authentic classroom interactions. Furthermore, we design differentiated teaching strategies for students at different cognitive levels, thereby providing more targeted teaching guidance. Building on EduDial, we further develop EduDial-LLM 32B via training and propose an 11-dimensional evaluation framework that systematically measures the teaching abilities of LLMs, encompassing both overall teaching quality and content quality. Experiments on 17 mainstream LLMs reveal that most models struggle in student-centered teaching scenarios, whereas our EduDial-LLM achieves significant gains, consistently outperforming all baselines across all metrics. The code is available at https://github.com/Mind-Lab-ECNU/EduDial/tree/main.

arXiv

ONNX-Net: Towards Universal Representations and Instant Performance Prediction for Neural Architectures

Shiwen Qin, Alexander Auras, Shay B Cohen, Elliot J Crowley, Michael Moeller, Linus Ericsson, Jovita Lukasik

Neural architecture search (NAS) automates the design process of high-performing architectures, but remains bottlenecked by expensive performance evaluation. Most existing studies that achieve faster evaluation are mostly tied to cell-based search spaces and graph encodings tailored to those individual search spaces, limiting their flexibility and scalability when applied to more expressive search spaces. In this work, we aim to close the gap of individual search space restrictions and search space dependent network representations. We present ONNX-Bench, a benchmark consisting of a collection of neural networks in a unified format based on ONNX files. ONNX-Bench includes all open-source NAS-bench-based neural networks, resulting in a total size of more than 600k {architecture, accuracy} pairs. This benchmark allows creating a shared neural network representation, ONNX-Net, able to represent any neural architecture using natural language descriptions acting as an input to a performance predictor. This text-based encoding can accommodate arbitrary layer types, operation parameters, and heterogeneous topologies, enabling a single surrogate to generalise across all neural architectures rather than being confined to cell-based search spaces. Experiments show strong zero-shot performance across disparate search spaces using only a small amount of pretraining samples, enabling the unprecedented ability to evaluate any neural network architecture instantly.

arXiv

LLMTrace: A Corpus for Classification and Fine-Grained Localization of AI-Written Text

Irina Tolstykh, Aleksandra Tsybina, Sergey Yakubson, Maksim Kuprashevich

The widespread use of human-like text from Large Language Models (LLMs) necessitates the development of robust detection systems. However, progress is limited by a critical lack of suitable training data; existing datasets are often generated with outdated models, are predominantly in English, and fail to address the increasingly common scenario of mixed human-AI authorship. Crucially, while some datasets address mixed authorship, none provide the character-level annotations required for the precise localization of AI-generated segments within a text. To address these gaps, we introduce LLMTrace, a new large-scale, bilingual (English and Russian) corpus for AI-generated text detection. Constructed using a diverse range of modern proprietary and open-source LLMs, our dataset is designed to support two key tasks: traditional full-text binary classification (human vs. AI) and AI-generated interval detection, facilitated by character-level annotations. We believe LLMTrace will serve as a vital resource for training and evaluating the next generation of more nuanced and practical AI detection models. The project page is available at https://sweetdream779.github.io/LLMTrace-info/.

arXiv

Reasoning or Rambling? Exploring the Effect of Thinking on Agent Persuasion

Haodong Zhao, Jidong Li, Zhaomin Wu, Tianjie Ju, Zhuosheng Zhang, Bingsheng He, Gongshen Liu

Understanding persuasion is critical for the safety and reliability of multi-agent systems built on large language models (LLMs). This paper studies persuasion dynamics by contrasting general LLMs with Large Reasoning Models (LRMs) that employ explicit ``thinking'' processes. Through large-scale experiments on objective (MMLU) and subjective (PersuasionBench and Perspectrum) tasks, we identify Persuasion Duality: reasoning enhances an agent's persuasive power while simultaneously increasing its resistance to persuasion. For LRMs, adding thinking content increases persuasion rates by 21 pp on average, yet reduces susceptibility to incorrect persuasion by up to 10 pp on objective tasks. Despite these gains, we uncover a critical vulnerability: persuasiveness often stems from superficial cues such as response length and repetition rather than logical validity. Non-semantic padding or repeated conclusions can match or exceed the persuasive effect of coherent reasoning, revealing a strong length bias in agents' judgments. We further show that persuasion propagates non-linearly in multi-hop agent chains, where intermediate agents may amplify or attenuate influence depending on task subjectivity. Finally, guided by attention analysis, we propose a prompt-level adversarial argument detection method that consistently improves agent robustness.

arXiv

IDEAlign: Comparing Ideas of Large Language Models to Domain Expert

HyunJi Nam, Lucia Langlois, James Malamut, Mei Tan, Dorottya Demszky

Large language models (LLMs) are increasingly used to produce open-ended, interpretive annotations, yet there is no validated, scalable measure of idea-level similarity to expert annotations. We (i) introduce the content evaluation of LLM annotations as a core, understudied task, (ii) propose IDEAlign for capturing expert similarity judgments via pick-the-odd-one-out tasks, and (iii) benchmark various similarity methods (text embeddings, topic models, and LLM-as-a-judge) against these human ratings. Applying this approach to two real-world educational datasets (e.g., interpreting math reasoning and feedback generation), we find that most metrics fail to capture the nuanced dimensions of similarity meaningful to experts. LLM-as-a-judge performs best (11~18% improvement over other methods) but still falls short of expert alignment, making it useful as a triage tool rather than a substitute for human review. Our work demonstrates the difficulty of evaluating open-ended LLM annotations at scale, and positions IDEAlign as a reusable protocol for benchmarking on this task to help guide responsible deployment of LLMs.

arXiv

SimLens for Early Exit in Large Language Models: Eliciting Accurate Latent Predictions with One More Token

Ming Ma, Bowen Zheng, Zhongqiao Lin, Tianming Yang

Intermediate-layer predictions in large language models (LLMs) are informative but hard to decode accurately, especially at early layers. Existing lens-style methods typically rely on direct linear readout, which is simple but often drifts away from the model's eventual prediction. We proposeSimLens, a simple training-free decoder for single-token decision tasks that keeps only the start token and a candidate answer token ([s] and [a]) and performs one lightweight continuation through the remaining upper layers. This surprisingly small modification recovers much more accurate latent predictions than direct linear decoding. We further introduce Linear SimLens, a lightweight linear approximation for entropy-based confidence estimation, and combine the two in SimExit, a hybrid early-exit mechanism. On ARC, BoolQ, and HeadQA with LLaMA-7B and Vicuna-7B, SimLens improves Iso-Compute accuracy in all six settings, with an average gain of +0.43 even when fair compute includes the extra two-token post-forward overhead. SimExit yields an average 1.15$\times$ speedup at the best-accuracy operating points and 1.40$\times$ when allowing up to a 1 percentage-point accuracy drop. Ablations show that [s] and [a] play distinct roles as global condition and semantic anchor, respectively.

arXiv

Emergent Abilities in Large Language Models: A Survey

Leonardo Berti, Flavio Giorgi, Gjergji Kasneci

Large Language Models (LLMs) are leading a new technological revolution as one of the most promising research streams toward artificial general intelligence. The scaling of these models, accomplished by increasing the number of parameters and the magnitude of the training datasets, has been linked to various so-called emergent abilities that were previously unobserved. These emergent abilities, ranging from advanced reasoning and in-context learning to coding and problem-solving, have sparked an intense scientific debate: Are they truly emergent, or do they simply depend on external factors, such as training dynamics, the type of problems, or the chosen metric? What underlying mechanism causes them? Despite their transformative potential, emergent abilities remain poorly understood, leading to misconceptions about their definition, nature, predictability, and implications. In this work, we shed light on emergent abilities by conducting a comprehensive review of the phenomenon, addressing both its scientific underpinnings and real-world consequences. We first critically analyze existing definitions, exposing inconsistencies in conceptualizing emergent abilities. We then explore the conditions under which these abilities appear, evaluating the role of scaling laws, task complexity, pre-training loss, quantization, and prompting strategies. Our review extends beyond traditional LLMs and includes Large Reasoning Models (LRMs), which leverage reinforcement learning and inference-time search to amplify reasoning and self-reflection. However, emergence is not inherently positive. As AI systems gain autonomous reasoning capabilities, they also develop harmful behaviors, including deception, manipulation, and reward hacking. We highlight growing concerns about safety and governance, emphasizing the need for better evaluation frameworks and regulatory oversight.

arXiv

Infer Human's Intentions Before Following Natural Language Instructions

Yanming Wan, Yue Wu, Yiping Wang, Jiayuan Mao, Natasha Jaques

For AI agents to be helpful to humans, they should be able to follow natural language instructions to complete everyday cooperative tasks in human environments. However, real human instructions inherently possess ambiguity, because the human speakers assume sufficient prior knowledge about their hidden goals and intentions. Standard language grounding and planning methods fail to address such ambiguities because they do not model human internal goals as additional partially observable factors in the environment. We propose a new framework, Follow Instructions with Social and Embodied Reasoning (FISER), aiming for better natural language instruction following in collaborative embodied tasks. Our framework makes explicit inferences about human goals and intentions as intermediate reasoning steps. We implement a set of Transformer-based models and evaluate them over a challenging benchmark, HandMeThat. We empirically demonstrate that using social reasoning to explicitly infer human intentions before making action plans surpasses purely end-to-end approaches. We also compare our implementation with strong baselines, including Chain of Thought prompting on the largest available pre-trained language models, and find that FISER provides better performance on the embodied social reasoning tasks under investigation, reaching the state-of-the-art on HandMeThat.

arXiv

Noise Contrastive Estimation-based Matching Framework for Low-Resource Security Attack Pattern Recognition

Tu Nguyen, Nedim Šrndić, Alexander Neth

Tactics, Techniques and Procedures (TTPs) represent sophisticated attack patterns in the cybersecurity domain, described encyclopedically in textual knowledge bases. Identifying TTPs in cybersecurity writing, often called *TTP mapping*, is an important and challenging task. Conventional learning approaches often target the problem in the classical multi-class or multi-label classification setting. This setting hinders the learning ability of the model due to a large number of classes (i.e., TTPs), the inevitable skewness of the label distribution and the complex hierarchical structure of the label space. We formulate the problem in a different learning paradigm, where the assignment of a text to a TTP label is decided by the direct semantic similarity between the two, thus reducing the complexity of competing solely over the large labeling space. To that end, we propose a neural matching architecture with a sampling-based learn-to-compare mechanism and two complementary sampled objectives: $α$-balanced NCE controls the collective mass, but not the internal ordering, of sampled negatives; asymmetric focusing controls individual comparisons under incomplete annotation.

arXiv

KESA: A Knowledge Enhanced Approach For Sentiment Analysis

Qinghua Zhao, Shuai Ma, Shuo Ren

Though some recent works focus on injecting sentiment knowledge into pre-trained language models, they usually design mask and reconstruction tasks in the post-training phase. In this paper, we aim to benefit from sentiment knowledge in a lighter way. To achieve this goal, we study sentence-level sentiment analysis and, correspondingly, propose two sentiment-aware auxiliary tasks named sentiment word cloze and conditional sentiment prediction. The first task learns to select the correct sentiment words within the input, given the overall sentiment polarity as prior knowledge. On the contrary, the second task predicts the overall sentiment polarity given the sentiment polarity of the word as prior knowledge. In addition, two kinds of label combination methods are investigated to unify multiple types of labels in each task. We argue that more information can promote the models to learn more profound semantic representation. We implement it in a straightforward way to verify this hypothesis. The experimental results demonstrate that our approach consistently outperforms pre-trained models and is additive to existing knowledge-enhanced post-trained models. The code and data are released at https://github.com/lshowway/KESA.

arXiv

Automated pipeline for herbarium label digitization

Hiba Abbad, Hanane Ariouat, Eva Perez Pimpare, Nicolas Turenne, Eric Chenin, Abderrazak Sebaa, Edi Prifti, Jean-Daniel Zucker, Youcef Sklab

Digitized herbarium collections, now comprising over 100 million freely accessible specimen images, have become a critical resource for addressing fundamental questions in ecology and evolutionary biology. Yet the rich metadata encoded in herbarium labels (collector identities, geographic localities, collection dates, and ecological observations) remains largely inaccessible at scale, constraining both biodiversity informatics and the construction of specimen-specific image-text corpora for multimodal AI. We present HERBIOME, a modular end-to-end pipeline for automated herbarium label digitization, integrating YOLOv8-based component detection, CRAFT Hezar word-level text localization, fine-tuned TrOCR for recognition of mixed handwritten and printed text, and GPT-4o Mini for semantic metadata structuring into standardized fields. TrOCR was trained on a multi-source dataset combining general transcription corpora (CREMMA-AN, PictoCatalogs) with herbarium-specific data (RéColNat), achieving a Character Error Rate of 4.05-4.10%. End-to-end evaluation on 450 French herbarium specimens, using a dual-metric framework of Maximum Window Similarity (MWS: 0.614-0.618) and Semantic Metadata Accuracy (SMA: 0.440-0.445), reveals that hybrid training strategies improve semantic fidelity while random sampling maximizes surface similarity, with taxonomic fields remaining the principal bottleneck. By automating the extraction of structured metadata from complex, heterogeneous labels, HERBIOME reduces transcription burden, enables the construction of paired image-text datasets that faithfully capture specimen individuality, which is a prerequisite for next-generation multimodal biodiversity AI systems.

arXiv

Multi-exposure HDR Imaging: A Review of Pixel-level and Feature-level Reconstruction Methods

Qian Tao, Wei Wang, Chaobing Zheng, Zhengguo Li

Multi-exposure is an efficient way to capture real-world high-dynamic-range (HDR) scenes. However, HDR imaging suffers from severe ghosting artifacts in dynamic scenes due to the temporal gap between sequential exposures. In this article, we categorize the literature on two important topics on HDR imaging: multi-exposure fusion (MEF) and ghost removal. Conventional filter-based and data-driven methods are studied in pixel space and feature space. For popular deep learning-based approaches, we provide a granular taxonomy based on their alignment and fusion domains: pixel-space methods, which typically employ explicit motion compensation such as optical flow or spatial transformers, and feature-space methods, which leverage implicit alignment through deformable convolutions, attention mechanisms, or latent representation merging. Representative works are compared across different supervision settings, and key design principles are summarized. In addition, this survey summarizes commonly used datasets and evaluation metrics, discussing their applicability under diverse output forms. Finally, major bottlenecks and promising directions for future research are outlined.

arXiv

GameWAM: A World Action Model for Video Games

Yuncheng Guo, Zhanqiu Zhang, Yiwen Guo, Weijia Li

Modern video games combine first-person perception, rapid visual changes, persistent world state, and heterogeneous native controls. Existing game agents map visual and task context directly to actions but lack explicit world dynamics modeling, whereas interactive game world models predict visual futures from supplied actions but do not serve as task policies. World-Action Models (WAMs) unify these objectives, but remain largely unexplored under the dynamics and open-ended interaction of video games. We introduce GameWAM, to our knowledge the first WAM for native closed-loop gameplay and GUI control. GameWAM jointly generates future visual observations and executable keyboard-mouse trajectories through parallel visual and action generative processes with block-causal conditioning and flow matching. To support joint world-action learning, we construct synchronized gameplay and GUI trajectories. To handle heterogeneous native control, GameWAM predicts a gameplay/GUI mode at each action step and generates actions with mode-specific prediction distributions and continuous-action normalization. For long-horizon interaction, block-cycle control predicts beyond the committed horizon, executes only a short action prefix, and replans from new observations, while fine-grained within-cycle context and hierarchical cross-cycle history preserve temporal continuity. Experiments demonstrate competitive task success with fewer executed native actions than the compared agents. We further uncover Low-Frequency Action Source Imprinting (LASI), in which low-frequency components of the sampled action source systematically steer coarse generated camera motion under fixed conditioning, revealing a source-sensitivity failure mode in generative control. Project page is available at https://yunncheng.github.io/GameWAM/.

arXiv

Lightweight Machine Learning-Driven Monocular Sidewalk Path Extraction for Embedded Micromobility Navigation

Lkhanaajav Mijiddorj, Yang Yan, Tyler Beringer, Bilguunzaya Mijiddorj, Alex N. Ho, Bin Xu, Binbin Weng

Sidewalk-scale path extraction demands perception and planning that run reliably on compact, low-power hardware in cluttered, map-sparse environments. We present a monocular vision pipeline for sidewalk path extraction in micromobility systems that progresses through three design iterations, from a skeleton-graph baseline through distance-transform corridor planning to a lightweight image-space architecture, and provides a systematic comparison of five path-planning methods across both bird's-eye-view (BEV) and image-space domains. A compact SegFormer-B0 student model, trained with a semi-supervised teacher-student framework using OneFormer Swin-L pseudo-labels, achieves a hand-annotated IoU of 0.946 at 11.7 ms per frame, improving over the baseline checkpoint (IoU 0.758, 18.9 ms). In a controlled planner comparison on 32 hand-labeled frames, image-space midpoint planning achieves the lowest lateral center error (14.3 px) at 2.2 ms, a 421x speedup over BEV distance-transform planning (926.8 ms, 65.0 px center error), while maintaining comparable mask-path alignment (98.5% versus 98.6%). A full-video replay across six campus sequences (22,679 frames) confirms that the improved segmentation reduces temporal instability from 1.46% to 0.33% and increases template-path availability from 73.7% to 79.3%. We further show that BEV-only path extraction is fragile in monocular settings: in one profiled run, 99.3% of frames produced no valid BEV path. The final recommended architecture, image-space midpoint primary, image-space distance-transform fallback, and BEV reserved for visualization, runs the full perception-to-path stack in under 50 ms per frame on CPU, making it suitable for embedded pedestrian-speed micromobility systems.

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