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1,444篇论文匹配“Dialogue”
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Deep Learning · Large Language Models

Xiang Li, Liping Yi, Mingze Kong, Min Zhang, Zhongxiang Dai, Qinghua Hu

Social simulation provides a compelling testbed for studying social intelligence, where agents interact through multi-turn dialogues under evolving contexts and strategically adapting opponents. Such environments are inherently non-stationary, requiring agents to dynamically adjust their strategies over time. However, most Large Language Model (LLM) based social agents rely on static personas, while existing approaches for enhancing social intelligence, such as offline reinforcement learning or external planners, are ill-suited to these settings, typically assuming stationarity and incurring substantial training overhead. To bridge this gap, we propose **ALSO** (**A**dversarial on**L**ine **S**trategy **O**ptimization), the first framework for online strategy optimization in multi-agent social simulation. ALSO advances social adaptation through two key contributions. (1) ALSO formulates multi-turn interaction as an adversarial bandit problem, where combinations of static personas and dynamic strategy instructions are treated as arms, providing a principled solution to non-stationarity without relying on environmental stability assumptions. (2) To predict rewards and generalize sparse feedback in multi-turn dialogues, ALSO introduces a lightweight neural surrogate to predict rewards from interaction histories, enabling sample-efficient exploration and continuous online adaptation. Experiments on the Sotopia benchmark demonstrate that ALSO consistently outperforms static baselines and existing optimization methods in dynamic environments, validating the effectiveness of adversarial online strategy optimization for building robust social agents. The codes of ALSO are available at https://anonymous.4open.science/r/ALSO-67D5/

Applications · Health / Medicine

Zhitao He, Haolin Yang, Zeyu Qin, Yi Fung

While Large Language Models (LLMs) have achieved remarkable success in dyadic (one-on-one) instruction, they face significant challenges in One-to-Many alignment, such as clinical ward rounds, where an instructor must simultaneously guide a diverse group of trainees. Current models often suffer from context dilution and goal misalignment, failing to balance individual scaffolding with collective learning progress. To address this, we introduce ClinEdu, a multi-agent pedagogical simulator that model the complexity of group dynamics. Leveraging this platform, we construct ClinTeach, a large-scale dataset of Socratic teaching dialogues, and propose ClinTutor-R1, the first multimodal agent explicitly architected to achieve one-to-many alignment in clinical education, employing an explicit internal thinking mechanism to model both individual belief states and group consensus. We validate our framework through a comprehensive protocol covering both standard static benchmarks and rigorous in-situ interactive evaluation within ClinEdu. Experimental results demonstrate that ClinTutor-R1 outperforms base models by over 20% and achieves parity with proprietary reasoning models , while exhibiting exceptional scalability in maintaining instructional quality across expanding student cohorts.

Deep Learning · Large Language Models

Ao Tian, Yunfeng Lu, Xinxin Fan, Changhao Wang, Lanzhi Zhou, Yeyao Zhang, Yanfang Liu

Personalized and continuous interactions are critical for LLM-based conversational agents, yet finite context windows and static parametric memory hinder the modeling of long-term, cross-session user states. Existing approaches, including retrieval-augmented generation and explicit memory systems, primarily operate at the fact level, making it difficult to distill stable preferences and deep user traits from evolving and potentially conflicting dialogues.To address this challenge, we propose RGMem, a self-evolving memory framework inspired by the renormalization group (RG) perspective on multi-scale organization and emergence. RGMem models long-term conversational memory as a multi-scale evolutionary process: episodic interactions are transformed into semantic facts and user insights, which are then progressively integrated through hierarchical coarse-graining, thresholded updates, and rescaling into a dynamically evolving user profile.By explicitly separating fast-changing evidence from slow-varying traits and enabling non-linear, phase-transition-like dynamics, RGMem enables robust personalization beyond flat retrieval or static summarization. Extensive experiments on the LOCOMO and PersonaMem benchmarks demonstrate that RGMem consistently outperforms SOTA memory systems, achieving stronger cross-session continuity and improved adaptation to evolving user preferences.

Deep Learning · Large Language Models

Jiayi Zhang, Simon Yu, Derek Chong, Anthony Sicilia, Michael Tomz, Christopher Manning, Weiyan Shi

Post-training alignment often reduces LLM diversity, leading to a phenomenon known as mode collapse. Unlike prior work that attributes this effect to algorithmic limitations, we identify a fundamental, pervasive data-level driver: typicality bias in preference data, whereby annotators systematically favor familiar text as a result of well-established findings in cognitive psychology. We formalize this bias theoretically, verify it empirically on preference datasets, and show that it plays a central role in mode collapse. Motivated by this analysis, we introduce Verbalized Sampling (VS), a simple, training-free prompting strategy to circumvent mode collapse. VS prompts the model to verbalize a probability distribution over a set of responses (e.g., "Generate 5 jokes about coffee and their corresponding probabilities"), which relieves the pressure to produce a single "typical" answer. Experiments show that VS significantly improves performance across creative writing (poems, stories, jokes), social dialogue simulation, synthetic data generation, and open-ended QA, without sacrificing safety and factual accuracy. For instance, in creative writing, VS increases diversity by 1.6-2.1x compared to direct prompting. We further observe an emergent trend that more capable models benefit more from VS. In sum, our work provides a new data-centric perspective on mode collapse and a practical inference-time remedy that helps unlock pre-trained generative diversity.

Deep Learning · Large Language Models

Yuanzhe Shen, Zisu Huang, Zhengyuan Wang, Muzhao Tian, Zhengkang Guo, Chenyang Zhang, Shuaiyu Zhou, Zengjie Hu, Dailin Li, Kaimin Wang 等

As LLM-based agents are deployed in increasingly complex real-world settings, existing benchmarks underrepresent key challenges such as enforcing global constraints, coordinating multi-tool reasoning, and adapting to evolving user behavior over long, multi-turn interactions. To bridge this gap, we introduce \textbf{TRIP-Bench}, a long-horizon benchmark grounded in realistic travel-planning scenarios. TRIP-Bench leverages real-world data, offers 18 curated tools and 40+ travel requirements, and supports automated evaluation. It includes splits of varying difficulty; the hard split emphasizes long and ambiguous interactions, style shifts, feasibility changes, and iterative version revision. Dialogues span up to 15 user turns, can involve 150+ tool calls, and may exceed 200k tokens of context. Experiments show that even advanced models achieve at most 50\% success on the easy split, with performance dropping below 10\% on hard subsets. We further propose GTPO, an online multi-turn reinforcement learning method with specialized reward normalization and reward differencing. Applied to Qwen2.5-32B-Instruct, GTPO improves constraint satisfaction and interaction robustness, outperforming Gemini-3-Pro in our evaluation. We expect TRIP-Bench to advance practical long-horizon interactive agents, and GTPO to provide an effective online RL recipe for robust long-horizon training.

Wenhao Li, Yue Lin, Yun Hua, Xiangfeng Wang, Bo Jin, Hongyuan Zha, Baoxiang Wang

Information design (ID) explores how a sender influence the optimal behavior of receivers to achieve specific objectives. While ID originates from everyday human communication, existing game-theoretic and learning methods often model information structures as numbers, which limits many applications to toy games. This work leverages LLMs and proposes a verbalized framework in Bayesian persuasion (BP), which extends classic BP to real-world games involving human dialogues for the first time. We map the BP to a verbalized mediator-augmented game, where LLMs instantiate the sender and receiver. To efficiently solve the verbalized game, we propose a generalized equilibrium-finding algorithm combining LLM and game solver. The algorithm is reinforced with techniques including verbalized commitment assumptions, verbalized obedience constraints, and information obfuscation. Experiments in dialogue scenarios, such as recommendation letters, law enforcement, diplomacy with press, validate that our framework can reproduce theoretical results in classic BP and discover effective persuasion strategies in more complex natural language and multi-stage scenarios.

Deep Learning · Large Language Models

Yeongseo Jung, Jaehyeok Kim, Eunseo Jung, Jiachuan Wang, Yongqi Zhang, Ka Chun Cheung, Simon See, Lei Chen

Modern conversational agents condition on an ever-growing dialogue history at each turn, incurring redundant attention and encoding costs that grow with conversation length. Naive truncation or summarization degrades fidelity, while existing context compressors lack cross-turn memory sharing or revision, causing information loss and compounding errors in long dialogues. We revisit the context compression under conversational dynamics and empirically present its fragility. To improve both efficiency and robustness, we introduce Context-Driven Incremental Compression (C-DIC), which treats a conversation as interleaved contextual threads and stores revisable per-thread compression states in a single, compact dialogue memory. At each turn, a lightweight retrieve → revise → write-back loop shares information across turns and updates stale memories, stabilizing long-horizon behavior. In addition, we adapt truncated backpropagation-through-time (TBPTT) to our multi-turn setting, learning cross-turn dependencies without full-history backpropagation. Extensive experiments on long-form dialogue benchmarks demonstrate superior performance and efficiency of C-DIC; notably, C-DIC maintains near-constant inference time and stable perplexity even over hundreds of dialogue turns, supporting a scalable path to high-quality dialogue modeling.

Applications · Health / Medicine

Pengtao Xie, Victor Nizet, Lei Wang, Ahmed Alaa, Daniel Zielinski, Trey Ideker, Bernhard Palsson

Understanding the functions of DNAs, RNAs, and proteins is fundamental to advancing life science research and enabling translational applications such as drug discovery and precision medicine. While deep learning methods have shown promise in biomolecular function prediction, they typically constrain outputs to predefined categories and require training separate models for each task. Existing multi-task learning methods operate on a fixed set of predefined tasks and require model retraining when new tasks arise. Furthermore, current approaches produce one-shot, static outputs, lacking the capacity for iterative refinement or deeper exploration of predictions. This position paper argues that multi-modal large language models (LLMs) are essential for enabling free-form and interactive prediction of biomolecular functions, and zero-shot generalization to new tasks without model retraining. These models can generate coherent and context-aware text outputs that reflect the complexity and nuance of diverse functional roles. Importantly, they can generalize to novel biomolecules whose functions are unknown or poorly characterized, and they enable generalization to new tasks through prompt-driven adaptation, eliminating the need for task-specific retraining. Additionally, multi-modal LLMs enable interactive, multi-turn dialogue, allowing users to iteratively refine queries, clarify contexts, and explore hypotheses in a dynamic and responsive manner. By leveraging these capabilities, multi-modal LLMs provide a scalable, adaptable, and generalizable framework for advancing biomolecular function prediction and accelerating biological discovery.

Applications · Language, Speech and Dialog

William Chen, Prem Seetharaman, Rithesh Kumar, Oriol Nieto, Shinji Watanabe, Justin Salamon, Zeyu Jin

Despite recent breakthroughs, audio foundation models struggle in processing complex multi-source acoustic scenes. We refer to this challenging domain as audio stories, which can have multiple speakers and background/foreground sound effects. Compared to traditional audio processing tasks, audio stories introduce new layers of semantic, temporal, and physical complexity. To address this challenge, we propose AudioChat, a framework for developing audio foundation models that can generate, edit, and understand audio stories. AudioChat introduces a new paradigm in which LLM-based toolcalling agents simulate interactions between users and the system, and these simulated dialogues are used as training data. We also introduce a novel Audio Transfusion Forcing objective to train the AudioChat model, allowing it to simultaneously decompose high-level instructions via structured chain-of-thought reasoning and perform interactive multi-turn audio understanding/generation. To evaluate generation and editing performance, we develop three new metrics that directly measure task performance instead of relying upon distribution-based scoring. We highly encourage readers to visit our demo to better understand the capabilities of AudioChat: https://audiochat-icml-2026.github.io/.

Applications · Language, Speech and Dialog

Amir Ivry, Shinji Watanabe

Spoken dialogues with and between voice agents are becoming increasingly common, yet assessing them for their socially harmful content such as violence, harassment, and hate remains text-centric and fails to account for audio-specific cues and transcription errors. We present LALM-as-a-Judge, the first controlled benchmark and systematic study of large audio-language models (LALMs) as safety judges for multi-turn spoken dialogues. We generate 24,000 unsafe and synthetic spoken dialogues in English that consist of 3-10 turns, by having a single dialogue turn including content with one of 8 harmful categories (e.g., violence) and on one of 5 grades, from very mild to severe. On 160 dialogues, 5 human raters confirmed reliable unsafe detection and a meaningful severity scale. We benchmark three open-source LALMs: Qwen2-Audio, Audio Flamingo 3, and MERaLiON as zero-shot judges that output a scalar safety score in $\left[0,1\right]$ across audio-only, transcription-only, or multimodal inputs, along with a transcription-only LLaMA baseline. We measure the judges' sensitivity to detecting unsafe content, the specificity in ordering severity levels, and the stability of the score in dialogue turns. Results reveal architecture- and modality-dependent trade-offs: the most sensitive judge is also the least stable across turns, while stable configurations sacrifice detection of mild harmful content. Transcription quality is a key bottleneck: Whisper-Large may significantly reduce sensitivity for transcription-only modes, while largely preserving severity ordering. Audio becomes crucial when paralinguistic cues or transcription fidelity are category-critical. We summarize all findings and provide actionable guidance for practitioners.

General Machine Learning · Evaluation

Ilija Subasic, Andrew Rabinovich, Zhao Chen

As Large Language Models (LLMs) are increasingly deployed to serve open-ended, multi-turn interactions, evaluating conversational quality at human scale has become a central challenge. Existing evaluation frameworks built for summarization, translation, or short-form QA tasks fall short of adequately measuring the consistency of human-scale dialogue, especially when derivation and validation of these metrics themselves often rely on synthetic rather than human sources. We fill the gap by introducing UPHELD (Utility & Planning Human-Scale Evaluated Long Dialogues), a large, reference-full benchmark for evaluating human-scale conversational ability beyond factual correctness. UPHELD consists of hundreds of complete human-to-human dialogues authored by professional script writers, with realistic turn densities and 36,000+ per-turn human annotations across 10,000+ expert-generated dialogue turns. Using UPHELD, we systematically evaluate classical automatic metrics and reference-free LLM-as-a-judge approaches, and find them unreliable when correlated with expert human judgment. Building off this analysis, we use UPHELD to develop a Mixture-of-Judges framework that combines multiple evaluative signals and improves correlation with human assessments by approximately 30%. Overall, UPHELD provides a robust, human-grounded foundation for evaluating long, human-scale conversational intelligence that fills a crucial gap in the pre-existing LLM dataset landscape

Reinforcement Learning · Policy Search

Abdulhady abas, Fatemeh Daneshfar, Seyedali Mirjalili, Mourad Oussalah

Aligning large language models (LLMs) with human preferences is commonly done via reinforcement learning from human feedback (RLHF) with Proximal Policy Optimization (PPO) or, more simply, via Direct Preference Optimization (DPO). While DPO is stable and RL-free, it treats preferences as flat winner vs. loser signals and is sensitive to noisy or brittle preferences arising from fragile chains of thought. We propose TUR-DPO, a topology- and uncertainty-aware variant of DPO that rewards how answers are derived, not only what they say, by eliciting lightweight reasoning topologies and combining semantic faithfulness, utility, and topology quality into a calibrated uncertainty signal. A small learnable reward is factorized over these signals and incorporated into an uncertainty-weighted DPO objective that remains RL-free and relies only on a fixed or moving reference policy. Empirically, across open 7–8B models and benchmarks spanning mathematical reasoning, factual question answering, summarization, and helpful/harmless dialogue, TUR-DPO improves judge win-rates, faithfulness, and calibration relative to DPO while preserving training simplicity and avoiding online rollouts. We further observe consistent gains in multimodal and long-context settings, and show that TUR-DPO matches or exceeds PPO on reasoning-centric tasks while maintaining operational simplicity.

Reinforcement Learning · Multi-agent

Zhuohui Zhang, Bin Cheng, Bin He

Building scalable and reusable multi-agent decision policies from offline datasets remains a challenge in offline multi-agent reinforcement learning (MARL), as existing methods often rely on fixed observation formats and action spaces that limit generalization. In contrast, large language models (LLMs) offer a flexible modeling interface that can naturally accommodate heterogeneous observations and actions. Motivated by this, we propose the Decision Language Model (DLM), which formulates multi-agent decision making as a dialogue-style sequence prediction problem under the centralized training with decentralized execution paradigm. DLM is trained in two stages: a supervised fine-tuning phase, which leverages dialogue-style datasets for centralized training with inter-agent context and generates executable actions from offline trajectories, followed by a group relative policy optimization phase to enhance robustness to out-of-distribution actions through lightweight reward functions. Experiments on multiple benchmarks show that a unified DLM outperforms strong offline MARL baselines and LLM-based conversational decision-making methods, while demonstrating strong zero-shot generalization to unseen scenarios across tasks.

Deep Learning · Large Language Models

Yuxuan Li, Lingxi Xie, Xinyue Huo, Jihao Qiu, Jiacheng Shao, Pengfei Chen, Jiannan Ge, Kaiwen Duan, Qi Tian

Long-form TV dramas present a formidable challenge for comprehensive video understanding, where deciphering complex storyline often relies on **speaker recognition**, the task of accurately attributing each spoken utterance to its respective character. In this paper, we advance this field through two primary contributions. (1) We introduce **DramaSR-532K**, a large-scale benchmark comprising 532K annotated dialogue lines across more than 900 unique characters, necessitating the integration of auditory, linguistic, and visual cues for speaker recognition. (2) We propose **DramaSR-LRM**, a robust approach built upon a large reasoning model (LRM). DramaSR-LRM is designed to autonomously aggregate contextual evidence via multimodal tool-use, synthesizing diverse inputs to achieve high-fidelity attribution. Experimental results demonstrate that DramaSR-LRM significantly outperforms existing baselines, particularly on short utterances where acoustic biometrics are inherently unreliable. *All the data and code will be made publicly available.*

Deep Learning · Large Language Models

Tianyu Xie, Yuexiao Ma, Yuhang Wu, Wang Chen, Jiayi Ji, Tat-Seng Chua, Xiawu Zheng, Rongrong Ji

Building interactive omni-modal assistants often relies on end-to-end multimodal alignment to fuse heterogeneous modalities, which incurs substantial data and compute costs and limits extensibility. We present Training-Free Large Language Model Orchestration (LLM Orchestration), a training-free orchestration framework that integrates off-the-shelf modality experts into a unified multimodal input--output system without additional gradient-based training for integration. LLM Orchestration comprises three components: (1) an LLM controller that infers user intent and emits explicit control tokens for expert selection and sequencing, enabling protocol-constrained and auditable routing; (2) a text-centric cross-modal memory that compresses multimodal evidence into structured records for lightweight retrieval and reuse, reducing redundant expert invocations across turns; and (3) a unified interaction layer that executes routing and memory decisions to support consistent modality transitions, full-duplex streaming, and interruption-aware dialogue. Across diverse multimodal benchmarks, LLM Orchestration achieves strong performance under standard evaluation constraints while maintaining low orchestration overhead and modular upgradeability, providing a practical alternative to costly joint training for omni-modal systems.

Applications · Language, Speech and Dialog

Miria Feng, William H. Tan, Mert Pilanci

Globalization and multiculturalism continue to produce increasingly diverse speech varieties. Yet current spoken dialogue systems frequently fail on under-represented dialects and accents, often misidentifying the input language and causing cascading failures in downstream dialogue tasks. Addressing this dialectal variance under low-resource constraints remains an open challenge, as standard fine-tuning is computationally expensive and prone to overfitting on high-dimensional speech data. We propose Convex Language Detection (CLD), a novel framework that integrates theoretically grounded convex optimization techniques into the spoken dialogue systems pipeline. Our method is efficiently implemented via multi-GPU Alternating Direction Method of Multipliers (ADMM) in JAX, thus providing global optimality guarantees and fast training in polynomial time. Theoretically, we prove that our convex objective induces certified margin stability and provide rigorous guarantees against feature perturbations. Empirically, we demonstrate sample efficiency and robustness to input dialectical variance, to significantly reduce language misidentification rates for low-resource dialects within high-resource languages. Our open-source package is available at \url{https://anonymous.4open.science/r/CLD-845F/README.md}.

General Machine Learning · Everything Else

Shuyu Wu, Ziqiao Ma, Xiaoxi Luo, Yidong Huang, Josue Torres-Fonseca, Freda Shi, Joyce Chai

Symbol grounding (Harnad, 1990) describes how symbols such as words acquire their meanings by connecting to real-world sensorimotor experiences. Recent work has shown preliminary evidence that grounding may emerge in (vision-)language models trained at scale without using explicit grounding objectives. Yet, the specific loci of this emergence and the mechanisms that drive it remain largely unexplored. To address this problem, we introduce a controlled evaluation framework that systematically traces how symbol grounding arises within the internal computations through mechanistic and causal analysis. Our findings show that grounding concentrates in middle-layer computations and is implemented through the aggregate mechanism, where attention heads aggregate the environmental ground to support the prediction of linguistic forms. This phenomenon replicates in multimodal dialogue and across architectures (Transformers and state-space models), but not in unidirectional LSTMs. Our results provide behavioral and mechanistic evidence that symbol grounding can emerge in language models, with practical implications for predicting and potentially controlling the reliability of generation.

Applications · Language, Speech and Dialog

Mufan Xu, Kehai Chen, Jiahao Hu, Xinchao Xu, Muyun Yang, Tiejun Zhao, Min zhang

Emotional support plays an important role in dialogue systems, and its success depends on adapting to a user’s evolving and implicit needs across multi-turn interactions while leveraging the strong reasoning capacity of large language models (LLMs). However, since user needs are often weakly supervised and can only be disambiguated through multi-turn back-and-forth, existing emotional support methods often struggle to acquire and generalize emotionally relevant conversational knowledge efficiently. To bridge this gap, we introduce User-aware active knowledge acquisition (UKA), a gradient-free active dialogue learning framework that explicitly represents uncertainty about user needs and incorporates active learning into both knowledge acquisition and response selection. We propose a Theory-of-Mind-inspired uncertainty estimation mechanism that allows the model to prioritize responses, thereby obtaining the greatest expected information gain. Our framework is capable of efficiently exploring user-aligned conversational knowledge during training while maintaining robustness at test time. Experiments across multiple dialogue benchmarks and model architectures demonstrate that our approach consistently outperforms strong baselines in dialogue quality and user alignment.

Deep Learning · Large Language Models

Shan Zhao, Wang Xu, Tianwei Yan, Chengyu Wang, Haolan Chen, Shizhao Chen, Qian Wan

Despite the growing use of large language models (LLMs) in subjective tasks such as role-playing, humor, emotional intelligence, and dialogue quality, their evaluation faces a pressing reproducibility crisis: even the same evaluator may contradict itself when re-judging the exact same sample. We attribute this instability to dimension drift, where free-form evaluation protocols (e.g., Chain-of-Thought reasoning) unpredictably shift their implicit criteria, undermining reliability. To address this fundamental challenge, we reformulate subjective evaluation as an information-theoretic optimization problem. Specifically, we propose an **Expected Information Gain (EIG)-based framework** that constructs a stable yet adaptive personalized rubric to eliminate dimension drift. Our two-stage “generate–then–score” design first produces a diverse pool of candidate evaluation questions and then selects the most informative subset via EIG, yielding explicit and repeatable criteria. Experiments on six benchmarks, including CharacterEval, The rJokes, and MT_bench, demonstrate that our approach substantially improves both evaluation consistency and alignment with human judgments, outperforming CoT-based and fixed-questionnaire baselines. These results highlight that information-theoretic questionnaire construction offers a principled and reliable path toward reproducible evaluation of subjective tasks.

Deep Learning · Large Language Models

Jianwen Sun, Yukang Feng, Yifan Chang, Chuanhao Li, Zizhen Li, Jiaxin Ai, Fanrui Zhang, Yu Dai, Kaipeng Zhang

A fundamental bottleneck in human-AI collaboration is the "intention expression gap", the difficulty for humans to effectively convey complex, high-dimensional thoughts to AI. This challenge often traps users in inefficient trial-and-error loops and is exacerbated by the diverse expertise levels of users. We reframe this problem from passive instruction following to a Socratic collaboration paradigm, proposing an agent that actively probes for information to resolve its uncertainty about user intent. we name the proposed agent Nous, trained to acquire proficiency in this inquiry policy. The core mechanism of Nous is a training framework grounded in the first principles of information theory. Within this framework, we define the information gain from dialogue as an intrinsic reward signal, which is fundamentally equivalent to the reduction of Shannon entropy over a structured task space. This reward design enables us to avoid reliance on costly human preference annotations or external reward models. To validate our framework, we develop an automated simulation pipeline to generate a large-scale, preference-based dataset for the challenging task of scientific diagram generation. Comprehensive experiments, including ablations, subjective and objective evaluations, and tests across user expertise levels, demonstrate the effectiveness of our proposed framework. Nous achieves leading efficiency and output quality, while remaining robust to varying user expertise. In conclusion, our research provides a systematic methodology and a new perspective for addressing the issue of ambiguous intentions in complex human-machine collaboration.