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Spotter is proposed, which reverses the roles: the embodied model leads and executes continuously, while the VLM runs in parallel, monitors through a lightweight local screener, intervenes only when an error is detected, reflects on and corrects it, and returns control.
A D-LLM hallucination detection framework that formulates the Denoising trajectories as Multivariate Time Series over learnable latent variables (DeMTS for short) that outperforms existing hallucination detection methods while maintaining strong robustness, efficiency, and cross-task transferability.
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