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Xiaofeng Lin

Xiaofeng Lin contributes to research discovery and scholarly infrastructure.

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Artificial Intelligence Computation and Language eess.SY Robotics Systems and Control

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preprint2026arXiv

Autonomous Robotic Bone Micro-Milling System with Automatic Calibration and 3D Surface Fitting

Automating bone micro-milling using a robotic system presents challenges due to the uncertainties in both the external and internal features of bone tissue. For example, during mouse cranial window creation, a circular path with a radius of 2 to 4 mm needs to be milled on the mouse skull using a microdrill. The uneven surface and non-uniform thickness of the mouse skull make it difficult to fully automate this process, requiring the system to possess advanced perceptual and adaptive capabilities. In this study, we address this challenge by integrating a Microscopic Stereo Camera System (MSCS) into the robotic bone micro-milling system and proposing a novel online pre-measurement pipeline for the target surface. Starting from uncalibrated cameras, the pipeline enables automatic calibration and 3D surface fitting through a convolutional neural network (CNN)-based keypoint detection. Combined with the existing feedback-based system, we develop the world's first autonomous robotic bone micro-milling system capable of rapidly, in real-time perceiving and adapting to surface unevenness and non-uniform thickness, thereby enabling an end-to-end autonomous cranial window creation workflow without human assistance. Validation experiments on euthanized mice demonstrate that the improved system achieves a success rate of 85.7 % and an average milling time of 2.1 minutes, showing not only significant performance improvements over the previous system but also exceptional accuracy, speed, and stability compared to human operators.

preprint2026arXiv

From Table to Cell: Attention for Better Reasoning with TABALIGN

Multi-step LLM reasoning over structured tables fails because planning and execution share no explicit cell-grounding contract. Existing methods constrain the planner to a left-to-right factorization at odds with table permutation invariance, and score intermediate states by generated content alone, overlooking cell grounding. We conduct a pilot study showing that diffusion language models (DLMs) produce more human-aligned and permutation-stable cell attention on tables than autoregressive models, with a 40.2% median reduction in attention-AUROC variability under row reordering. Motivated by this, we propose TABALIGN, a planned table reasoning framework that operationalizes the contract. TABALIGN pairs a masked DLM planner, whose bidirectional denoising emits plan steps as binary cell masks, with TABATTN, a lightweight verifier trained on 1,600 human-verified attention standards to score each step by its attention overlap with the plan-designated mask. Across eight benchmarks covering table question answering and fact verification, TABALIGN improves average accuracy by 15.76 percentage points over the strongest open-source baseline at comparable 8B-class scale, with a matched-backbone ablation attributing 2.87 percentage points of this gain to the DLM planner over an AR planner on a fixed reasoner. Cleaner DLM plans also accelerate downstream reasoning execution by 44.64%.

preprint2026arXiv

MedFabric and EtHER: A Data-Centric Framework for Word-Level Fabrication Generation and Detection in Medical LLMs

Large Language Models exhibit strong reasoning and semantic understanding capabilities but often hallucinate in domains that require expert knowledge, among which fabrications, the generation of factually incorrect yet fluent statements, pose the greatest risk in medical contexts. Existing medical hallucination datasets inadequately capture fabrication phenomena due to limited fabrication coverage, stylistic disparities between human and LLM-authored texts, and distributional drift during hallucinated sample synthesis. To address this, we propose a data-centric pipeline to generate realistic and word-level fabrications that preserve syntactic and stylistic fidelity while introducing subtle factual deviations, resulting in MedFabric. Building upon this dataset, we introduce ETHER, a modular word-level fabrication detector integrating Text2Table Decomposition, Word Masking and Filling and Hybrid Sentence Pair Evaluation to enhance factual alignment. Empirical results demonstrate that MedFabric outperforms state-of-the-art detectors by over 15% on word-level fabrication benchmarks while maintaining consistent performance across structural similarities, offering a comprehensive framework for reliable and domain-specific factuality detection.

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