Graphs that teach > graphs that impress. Turn any code into an interactive knowledge graph you can explore, search, and ask questions about. Works with Claude Code, Codex, Cursor, Copilot, Gemini CLI, and more.
中文介绍 该工具将任意代码库转化为交互式知识图谱,支持探索、搜索与问答。通过连接 Claude Code、Codex、Cursor 等主流 AI 编码助手,帮助开发者快速理解陌生项目架构与逻辑,解决代码库认知负担过重的问题。
The agent harness performance optimization system. Skills, instincts, memory, security, and research-first development for Claude Code, Codex, Opencode, Cursor and beyond.
中文介绍 一个 Agent 框架性能优化系统,集成了技能、直觉、记忆、安全等模块,并强调研究优先开发。专为 Claude Code、Codex、Cursor 等 AI 编码助手设计,用于构建更高效、安全的自动化代理。
FinceptTerminal is a modern finance application offering advanced market analytics, investment research, and economic data tools, designed for interactive exploration and data-driven decision-making in a user-friendly environment.
💖🧸 Self hosted, you-owned Grok Companion, a container of souls of waifu, cyber livings to bring them into our worlds, wishing to achieve Neuro-sama's altitude. Capable of realtime voice chat, Minecraft, Factorio playing. Web / macOS / Windows supported.
中文介绍 一个可自托管的 AI 伴侣项目,目标是创造如《赛博朋克》中的灵魂容器。它支持实时语音聊天和 Minecraft 游戏交互,致力于实现类似 Neuro-sama 的高度自主与交互能力。
Everyone is talking about AI agents. Save this :) Build an agent. Deploy an agent. Agent this. Agent that. But when you actually sit down to build one, you hit a wall. The tutorials assume you already
中文介绍 分享一份使用 Claude 构建首个 AI 代理团队的系统性完整课程。内容针对现有教程往往跳过实操难点的问题,旨在帮助学习者跨越从理论到动手搭建的门槛。
I thought I was using AI to code. I was actually just typing faster. Here is the difference — and the 7-agent system that changed everything. Save this. It will save you months. THE PROBLEM NOBODY
中文介绍 分享一个利用 Claude Code 构建的 7-agent 协作系统,目标是实现软件功能在睡眠时自动交付。博主对比了「AI 编程」与「快速打字」的本质区别,强调了多代理协作工作流的价值。
Everyone is talking about AI agents in 2026. Most people have no idea how they actually work. This changes today. I spent weeks distilling everything: courses, books, real builds, production failures.
中文介绍 分享一套关于 AI 代理的综合性学习资源,内容融合了课程、书籍知识、实战构建经验及生产环境失败案例。旨在为 2026 年仍对代理原理感到困惑的人提供一站式指南。
Most people start their day the same way. They open Twitter and spend 20 minutes scrolling through noise looking for the three things that actually matter. They open their email and get pulled into
中文介绍 分享如何用 Claude 构建一个研究代理,每天早晨自动阅读互联网信息,并在 5 分钟内生成个人简报。核心价值在于帮助用户从繁杂的信息流中解脱,快速获取关键内容。
I need to get something off my chest. Before my interview @cursor_ai, I had never actually used Cursor. At Meta, Claude Code was explosively taking off. I even paid for a personal $200 a month plan
中文介绍 博主分享个人在面试 Cursor 公司前后的使用体验。对比了在 Meta 时流行的 Claude Code 与 Cursor 的实际用法,并支付每月 200 美元个人计划,旨在分享对 AI 编码工具的真实看法与建议。
At some point, reading about LLMs stops being enough. You need to build the stack yourself: Tokenizer first, then embeddings, position, attention, Transformer blocks, objectives, decoding, cache, long
tldr: Korea is already being repriced as an AI memory market. But I think the next leg could be Physical AI: robots, actuators, reducers, and the boring precision-machining companies sitting
中文介绍 分析韩国作为 AI 内存市场被重新定价的趋势,并预测下一阶段投资焦点将是「物理 AI」领域,如机器人、执行器、减速器以及相关的精密制造零部件公司。
TLDR: this is your definitive guide to all things related to memory systems for Hermes Agent. Why create this? Because every week I see new posts or articles describing some new memory tool for Hermes
How a 40-line shell script became infrastructure In August 2024, Andrej Karpathy — co-founder of OpenAI, former AI Director at Tesla — published something unexpectedly small. Not a paper. Not a model.
I’ve been getting a lot of DMs since I started posting AI videos, so I figured I’d just write it all out. Fair warning: I’m still learning too. This is just what’s been working for me. tools
中文介绍 面向初学者的 AI 视频制作经验分享。博主根据收到的大量提问,整理了自己仍在学习中但行之有效的工具选择与制作流程,内容务实,侧重入门实践。
We are witnessing the beginning of the biggest economic shift in modern history. And most people still don’t realize it. AI replacement is no longer some distant sci-fi prediction. It has started.
中文介绍 对 AI 替代人类工作的经济趋势进行宏观分析,指出这已不是远期预测,而是正在发生的现实。内容涉及对现代史上最大经济转变的观察,属于趋势预警与影响评估。
OpenAI partners with Grupo Folha and Grupo UOL to bring trusted Brazilian journalism to ChatGPT, expanding access to news with attribution and transparency.
During Tuesday’s Google I/O keynote, Demis Hassabis, the CEO of Google DeepMind, proclaimed that we are currently “standing in the foothills of the singularity.” It was a striking statement—the singularity is the theoretical future moment when AI rapidly exceeds human intelligence and dramatically t
中文介绍 Google DeepMind首席执行官Demis Hassabis在I/O大会上宣称人类正站在“奇点”的起点,标志着AI驱动的科学路径正在发生转变。
How Virgin Atlantic used Codex to ship its revamped mobile app on a fixed holiday travel deadline, reaching near-total unit test coverage and zero P1 defects.
OpenAI is named a leader in the 2026 Gartner Magic Quadrant for Enterprise AI Coding Agents, with Codex recognized for innovation and enterprise-scale deployment.
Listen to the session or watch below AI companies want to build systems that understand the external world and overcome the limitations of LLMs. Recent developments have brought world models to the forefront of the AI discussion. Watch a conversation with editor in chief Mat Honan, senior AI editor
Storytelling is core to humanity’s DNA, stemming from our impulse to express ideals, warnings, hopes, and experiences. Technology has always been woven through the medium and the distribution: from early humans’ innovation of natural pigments and charcoals for cave paintings to literal representatio
Abstract:The rapid advancement of cloud-native technologies has created an urgent need for security. Currently, confidential containers are increasingly deployed in multi-tenant environments. Existing confidential container designs mainly adopt a microVM-based architecture. Although this approach improves inter-container isolation, its complex software stack leads to high startup latency and significant resource overhead, making it unsuitable for short-lived container workloads. In this paper, we propose Fasco, a lightweight confidential container runtime based on the ARM Confidential Compute Architecture (CCA). Fasco directly instantiates each container as an independent Container Realm, leveraging CCA's hardware-enforced isolation to ensure the confidentiality and integrity of application data inside the container. In addition, Fasco introduces a dedicated System Realm to provide...
Abstract:We present a dataset of adversarial malware samples derived from the public RawMal-TF collection of real-world malware binaries. Using a suite of adversarial malware generators, we construct two sets of adversarial PE files: 44,347 family-labelled samples and 33,596 type-labelled samples, achieving evasion rates of 98.35 % and 92.20 % against the EMBER classifier, respectively. Each adversarial binary is accompanied by detailed metadata, including EMBER scores and VirusTotal classifications. We further demonstrate the susceptibility of malware classification pipelines to data poisoning attacks through a series of training experiments. Injecting fully mislabelled adversarial samples representing only 0.5 % of the training data in the family-labelled dataset increases the evasion rate against the re-trained classifier from 26.1 % to 92.8 %. The dataset is publicly released to...
Abstract:Packer identification tools are a critical foundation of malware analysis, directly affecting unpacking, behavioral analysis, malware classification, and threat attribution. However, their semantic correctness is rarely validated. In practice, a tool may return a plausible packer label that is nevertheless semantically wrong, leading to failed unpacking and unreliable downstream analysis. This paper presents a semantic validation framework for testing and repairing packer identification tools. Our key idea is to use unpackers as executable semantic contracts. If a tool predicts a packer family, the corresponding unpacker should recover analyzable program content. This enables automatic test oracles without requiring manually labeled ground truth. Building on this idea, we develop a systematic pipeline for detecting, localizing, and repairing semantic faults in existing packer...
Abstract:Vision-Language-Action (VLA) models are increasingly deployed on real robots, where each predicted action is executed and each failure carries a safety cost. They reach high success rates on clean inputs but collapse under small adversarial perturbations. A $16/255$ PGD attack on OpenVLA-7B drops LIBERO success from above $95\%$ to under $5\%$. Empirical defenses recover some robustness at a cost in clean accuracy, but the literature does not say whether the trade-off has a theoretical floor. We prove that it does. For any VLA policy with discrete actions, the sum of capability (mutual information between policy action and oracle action) and robustness (mutual information preserved under adversarial perturbation, net of trivial channel leakage) is upper-bounded by a policy-independent budget: task entropy plus adversarial channel capacity. The proof is two applications of the...
Abstract:Broken Object Level Authorization (BOLA) is consistently ranked the most critical API security vulnerability, yet the existing literature remains almost entirely conceptual. This paper presents one of the first large-scale empirical analyses of BOLA in publicly disclosed bug bounty reports. We constructed a reproducible sampling frame of 200 HackerOne disclosures tagged IDOR or Improper Access Control (2021-2026) and applied a three-criterion inclusion filter, yielding 107 fully classified reports. Classification used an LLM-assisted schema-completion procedure under constrained, human-adjudicated criteria against a six-family BOLA taxonomy. Of 107 classified reports, 84 (78.5%) were confirmed in-scope BOLA. Action-Level Object BOLA, defined by unauthorized state-changing actions on another user's objects, accounts for 41.7% of confirmed cases and emerges alongside Direct...
Abstract:Validators on generic Proof of Stake chains earn the same fees whether they handle attestation work correctly or selectively censor it. For chains whose main activity is moving tokens around, that indifference is fine. For chains whose primary economic activity is recording attestations (content provenance, AI-output attribution, threshold-signed credentials, supply-chain receipts), the indifference becomes a problem. Proof of Useful Attestation (PoUA) makes attestation handling first-class in the consensus weighting itself. Validator vote weight is the product of bonded stake and a reputation scalar in [r_min, r_max] that accumulates from valid attestation work. The reputation update is additive, fee-weighted, non-transferable, and capped per epoch. We prove a cost-to-grind floor (Lemma 1): under chain-wide adaptive burn fraction tau_burn, the non-recoverable cost an...
Abstract:Extracting MITRE ATT&CK techniques from cyber threat intelligence (CTI) reports is an open-set, multi-label problem requiring both high recall (not missing techniques) and high precision (not hallucinating unsupported ones). Existing methods--rule-based, supervised, and LLM-based--struggle to achieve both: rule-based and supervised approaches lack generalizability across diverse attack descriptions, while LLM-based approaches that couple candidate generation and validation within a single inference step suffer from limited recall and precision simultaneously. We propose TTPrint, which addresses this challenge through a diverge-then-converge design inspired by how human analysts work: first extracting broadly, then verifying rigorously. In the divergent phase, reports are decomposed into atomic behaviors and candidate techniques are proposed broadly. A deterministic span...
Network Intrusion Detection Systems (NIDS) are now increasingly leveraging Machine Learning (ML) techniques to detect malicious network activities. Numerous papers have scrutinized the security of ML-based NIDS (ML-NIDS) by testing them against various attacks involving adversarial perturbations. The findings were oftentimes worrying: by making imperceptible changes to a given input, powerful ML models would be bypassed. In this context, we took a step back and wondered: where (i.e., in what "space") have these perturbations been applied? We argue that real-world adversaries can apply adversarial perturbations only by operating on the hosts they can control -- a concept which we define as _host-space perturbations_. To some, such an observation may seem trivial. And yet, through a systematic literature review (n=316), we found that prior work applied perturbations by manipulating...
Semantic-level watermarking (SWM) improves robustness against text modifications by treating sentences as the basic unit. However, robustness to paragraph-level paraphrasing remains difficult because such attacks globally disrupt watermark signals by changing sentence order. In this work, we propose SAMark, a self-anchored watermarking framework that removes the dependency on sentence order by establishing a step-independent green region in semantic space. To improve detectability, we introduce a multi-channel hyperbolic scoring mechanism that amplifies watermark signals while suppressing noise from weakly aligned candidates. We further propose a diversity-aware filtering strategy that combines hard filtering with soft regularization, extending beyond simple n-gram repetition filters to address semantic redundancy. Experimental results show that SAMark achieves up to 90.2% TP@FP1%...
Abstract:With the rapid development of mobile computing technology, massive amounts of spatial data are continuously generated from various mobile terminals and sensing devices, such as smartphones, connected vehicles, and drones. Performing efficient distributed statistical analysis on this data is crucial for real-time mobile computing applications. However, the constrained and dynamic nature of mobile environments exacerbates the privacy challenge: centralizing sensitive data for analysis risks severe privacy leaks, while existing privacy-preserving techniques often introduce excessive overhead or inaccuracies In this paper, we design, implement, and evaluate the first system that supports efficient and privacy-preserving distribution statistics analysis for mobile spatial data. First, we propose eSpat-B, which leverages two non-colluding servers and a newly designed improved...
Retrieval-Augmented Generation (RAG) empowers LLMs with external knowledge, making cross-institutional domain-specific knowledge base integration a highly promising deployment paradigm. Despite this potential, strict privacy regulations create severe "data silos" that obstruct such collaboration. Building federated RAG systems requires distributed inference, but the Transformer's self-attention mechanism fundamentally conflicts with this by mandating cross-node access to distributed Key-Value caches. To address this challenge, we present FedRAG, a high-throughput, privacy-preserving federated RAG framework. At its core is a novel Scrambled Distributed Attention protocol that utilizes numerically stable feature scrambling and token permutation. By dynamically delegating scrambled computations to collaborating nodes, our system successfully decouples attention execution from data...
Abstract:Mobile gaming apps increasingly rely on third-party Software Development Kits SDKs for advertising, analytics, attribution, and user engagement, potentially introducing privacy exposure beyond traditional permission based risks. Existing studies have largely focused on permissions or isolated tracking behaviors, providing only a partial understanding of privacy exposure in modern mobile ecosystems. This study presents a configuration aware empirical assessment of privacy exposure in Android mobile gaming apps by examining permissions, manifest level configurations, exported components, and SDK ecosystem complexity across children-oriented and general-audience games. A systematic static analysis was conducted on 41 widely deployed Android mobile gaming apps collected from the Google Play ecosystem. The analysis incorporated SDK categorisation and statistical evaluation using...
Abstract:Security evaluations inherently depend on stable identifiers. Any finding, audit, or regulatory decision must remain attached to the specific artifact it pertains to. Continuously updated artificial intelligence systems violate this core assumption, with public model designations remaining static while underlying weights, prompts, retrieval mechanisms, misuse classifiers, inference settings, and serving infrastructures undergo unannounced modifications. Consequently, current evaluations frequently apply to superficial labels rather than identifiable and distinct systems. To resolve this, we propose referential security as a new paradigm for AI evaluation. The fundamental security question extends beyond whether a model is safe to whether subsequent parties can conclusively determine which system a specific safety claim addressed. This approach reframes model identity as an...
Abstract:Extended Berkeley Packet Filter (eBPF) programs are kernel extensions used for networking, observability, and security enforcement in the Linux kernel. The in-kernel eBPF verifier checks low-level memory safety and termination on eBPF programs, but it does not enforce many higher-level source-level properties, such as initialization discipline, schema consistency, or error handling. We document six classes of source-level bugs that compile, pass the kernel verifier, and can silently corrupt data, leak previously traced events to userspace, or yield incorrect enforcement outcomes. Among these, we identify previously unreported information leaks in ten open-source eBPF programs whose ring-buffer or stack-resident event records carry fully decodable prior traced events, including user-identifying paths and recurring kernel-text return addresses sufficient to recover the KASLR...
While Large Language Model-based Multi-Agent Systems (LLM-MAS) demonstrate remarkable capabilities in solving complex tasks by orchestrating specialized agents and external tools, the implicit trust in tool outputs creates a critical attack surface. Existing tool attacks are limited by domain specificity or fixed and static templates. To address these challenges, we propose Evo-Attacker, which formulates the tool attack as a self-evolving, memory-augmented reinforcement learning process. Evo-Attacker constructs a dynamic attack memory and employs deliberative reasoning to retrieve adversarial patterns and strategize modifying interventions at critical moments. Furthermore, we introduce Attack-Flow GRPO to optimize intermediate reasoning steps via terminal outcomes, addressing the long-horizon credit assignment challenge. Comprehensive experiments demonstrate that Evo-Attacker...
Abstract:Observability tells operators when an agent is slow. KYA tells operators when an agent is wrong, drifting, leaking, or quietly going rogue. We present KYA (Know Your Agents), an open-source trust and governance layer for autonomous systems composed of five primitives: (1) a four-gate inbound apply pipeline composing Ed25519 signature verification with multi-anchor pinning, persist-time expiry, only-tighten composition, and operator-approval-as-default; (2) an only-tighten composition algebra over a three-channel multi-tenant hierarchy (platform default,tenant override, signed external recommendation); (3) KYP -- Know Your Principal, a schema-level unification of trust scoring across human users, AI agents, and service accounts; (4) auditable interaction-multiplier amplification over an AIVSS-shaped additive baseline, with bounded asymmetric per-interaction multipliers carrying...
Reentrancy attacks remain a persistent threat to decentralized applications (DApps), with malicious actors siphoning around 80M USD from the DApp ecosystem last year by exploiting EVM's inter-contract message-passing semantics. Existing research focuses primarily on detection, relying on known attack patterns, and fails to provide deployable solutions that eliminate the vulnerability. Traditional reentrancy guards are similarly limited, offering incomplete coverage across attack variations and lacking robustness against complex DApp interactions. In this paper, we introduce Sentinel, a novel proxy-based approach that mitigates reentrancy vulnerabilities in a type-agnostic way by integrating reentrancy logic directly into the proxy layer, intercepting all calls to the underlying implementation contract. Key features include a dual-mode operational system offering both a gas-optimized...
论文介绍 智能合约中的重入攻击威胁去中心化应用安全,现有防护方法覆盖不全。本文提出 Sentinel,一种基于代理的方案,将重入逻辑集成到代理层,拦截所有对底层合约的调用,提供类型无关的缓解。该方法采用双模式操作和 gas 优化设计,旨在提升智能合约生态的安全性。
Abstract:In this work, we study the interface of the Brazilian e-Voting Machine (BVM) in the context of electromagnetic side-channel threats commonly referred to as TEMPEST attacks. In a TEMPEST attack against video displays, an eavesdropper uses Software-Defined Radios (SDRs) to recover sensitive information by intercepting electromagnetic emanations generated during video signal transmission. We emulate the BVM using a VGA monitor by leveraging publicly available information disclosed by the electoral authority, including technical specifications, operational rules of the system, and the official BVM interface. Based on this setup, we investigate whether the BVM interface gives rise to a distinctive spectral signature observable through its unintended electromagnetic emissions. Our findings show that design characteristics relevant to a nationwide electoral process -- such as high...
Abstract:Background: Fine-tuning is central to adapting pre-trained Large Language Models (LLMs) to downstream tasks, but its reliance on training data, parameter updates, and reusable components opens entry points for attackers. Threats have evolved from data poisoning and weight tampering to agent manipulation and interface exploitation, yet existing reviews lack a unified framework spanning the full fine-tuning lifecycle. Objective: This paper presents a systematic survey of LLM fine-tuning security and establishes a lifecycle-based framework for comparing attacks and defenses, complemented by unified empirical evaluation. Methods: We divide attack and defense mechanisms into three phases by intervention timing: pre-tuning, during-tuning, and post-tuning. Within each phase, strategies are reviewed and contrasted to expose their evolution and limitations. Representative methods are...
Abstract:Remote Direct Memory Access (RDMA) is a key enabler of high-performance systems, offering low latency, high throughput, and reduced CPU overhead by allowing direct memory-to-memory transfers between machines. However, its design bypasses traditional CPU-mediated security mechanisms, introducing critical vulnerabilities in untrusted environments. This work explores the integration of RDMA and AES-128 encryption to secure data transfers without compromising performance. We implement encryption directly within the data plane of a programmable Tofino switch using the P4 programming language. By offloading encryption from the CPU to the switch, our design preserves RDMA's performance benefits while addressing its security shortcomings. Experimental results show that the system achieves throughput of 0.37 Gbps for 16-byte packets, 0.76 Gbps for 32-byte packets, 1.83 Gbps for 64-byte...
论文介绍 远程直接内存访问提供高性能数据传输但安全性不足,易受攻击。本文探索在 RDMA 系统中集成 AES-128 加密,通过在可编程 Tofino 交换机的数据平面实现加密,卸载 CPU 负担。实验显示在不同包大小下达到一定吞吐量,旨在安全化高性能数据传输,适用于不信任环境。
Abstract:Memory-backed agents need provenance that can survive leaked or migrated snapshots, where logs, visible outputs, and trusted metadata may be absent. We propose MemMark, a state-evolution attribution watermark that embeds an owner-controlled signal into latent memory-write decisions. At each internal LLM call, MemMark samples among admissible candidates using keyed, distribution-preserving selection, and records cryptographic commitments with signed session anchors and reveal evidence. This makes attribution depend on reproducible backend behavior rather than mutable provenance fields. Across A-Mem and Graphiti on LoCoMo, with three LLM backbones, MemMark preserves memory utility: Overall F1 retains 99.6% of the unwatermarked baseline, while BLEU-1 changes by +0.2%. It also provides usable carrier capacity, with 1.16, 1.14, and 1.26 bits of mean entropy for update-target...
Abstract:The advent of digital technologies has revolutionized traditional power distribution networks, transforming them into smart grids that are more reliable, efficient, and sustainable. Despite these advancements, electricity theft remains a significant threat to the effective operation of large electrical networks. To address this issue, we propose EnThM, a lightweight and communication-efficient scheme for real-time mitigation of power theft in smart grid systems. Our approach uses the hierarchical structure of the smart grid infrastructure to verify the authenticity of the metering data at multiple levels of the power distribution network. Our work focuses primarily on issues related to cryptographic security. The verification process involves statistically modeling the cumulative averages of the power usage data and applying rule-based checks on the aggregated power...
Abstract:Penetration testing is essential to securing modern web infrastructures, yet traditional manual methods struggle to keep pace with their scale and complexity. Large Language Models (LLMs) offer new opportunities for automating these tasks, but existing approaches face two persistent challenges: hallucination of technical entities and insufficient long-term contextual memory. To address these issues, we present APT-Agent, a fully automated LLM-driven penetration testing framework that systematically orchestrates reconnaissance, exploitation, and exfiltration. APT-Agent introduces a hybrid rectification module to recover hallucinated commands and a command-specific memory architecture to preserve operational context across multi-step attack sequences. We evaluate our APT-Agent on Metasploitable 2 against seven vulnerable services spanning web, database, and network protocols...
论文介绍 传统渗透测试难以应对现代 web 基础设施的规模和复杂性。提出 APT-Agent,一个 LLM 驱动的自动化渗透测试框架,系统化侦察、利用和数据渗出。引入混合纠正模块和命令特定记忆架构,解决 LLM 幻觉和长期记忆问题。在模拟环境中评估,针对多种脆弱服务。
Abstract:Modern LLM agents combine long-term memory for personalization with tool-calling interfaces for taking actions in the world -- a combination underpinning contemporary production systems. We study a previously unexamined failure of this combination: when personality-driven biases stored in memory (cost-consciousness, impatience, risk tolerance, etc.) silently affect tool calls in contexts where they are not applicable. We call this memory-induced tool-drift and operationalize it through MEMDRIFT, a benchmark of 105 scenarios spanning five bias dimensions and seven professional domains, generated through an automated adversarial pipeline. Across seven frontier models -- including those with extended reasoning -- biased memories raise deflection scores (a judge-scored measure of parameter deviation from unbiased baselines) by up to $+3.6$ points on a 1--5 scale. Tool-drift...
Abstract:Machine learning based malware detectors become obsolete over time due to concept drift in benign and malware applications. Recent methods rely on fully labeled data and use hierarchical contrastive loss (HCL) with active learning to improve robustness against drift by exploiting semantic structure in malware representations. However, obtaining labeled data in the security domain is difficult. Under partially labeled settings, HCL suffers significant performance degradation in detecting unseen malware, especially on datasets such as BODMAS where strong semantic structure may not exist. In this paper, we propose SEED, a semantic-structure-agnostic method for malware detection under limited supervision. SEED combines a tailored binary cross-entropy objective with semi-supervised continual learning and active learning. For partially labeled seen tasks, unlabeled samples are...
Abstract:Large language model (LLM) safety classifiers such as Llama Guard are effective at detecting overtly harmful prompts but remain vulnerable to adversarial jailbreak attacks that disguise malicious intent through role-play scenarios, fictional framing, and indirect requests. We present Reflect-Guard, a method that augments LLM-based safety classifiers with chain-of-thought self-reflection capabilities through parameter-efficient fine-tuning. Our approach distills analytical reasoning from GPT-4o-mini into structured reflection annotations, then trains Llama-Guard-3-8B via QLoRA to generate logical self-reflections before issuing safety verdicts. Using only 1000 training examples and updating just 0.5% of model parameters (~42M), Reflect-Guard achieves substantial improvements on two challenging benchmarks. On WildGuardTest, F1 score improves from 0.770 to 0.842 (+7.2 pp), with...
Abstract:Mixture-of-Experts (MoE) architectures have become an increasingly important paradigm for scaling Large Language Models (LLMs). As MoE models are increasingly deployed in real-world services, safety auditing becomes necessary to verify whether these models produce or facilitate harmful behaviors during operation. However, existing content-based auditing methods typically require access to user prompts, model inputs, or generated outputs, potentially exposing sensitive user information and creating a fundamental tension between LLM safety and user privacy. On the other hand, we observe that, in MoE models, sparse expert routing maps different inputs to activate different expert-execution patterns, producing measurable footprints in low-level GPU execution telemetry. Inspired by this observation, we propose RouteScan, a non-intrusive auditing framework for detecting harmful...
Abstract:Large language models (LLMs) are increasingly applied to cybersecurity question answering (QA) for critical tasks such as incident response and vulnerability analysis. However, real-world operational contexts, including system logs and network configurations, inherently contain sensitive identifiers, e.g., IP addresses, host names, and user accounts. Processing this data with cloud-based models is often unsafe or infeasible in regulated environments. Furthermore, progress in privacy-preserving QA is hindered by the lack of annotated, context-rich datasets capable of jointly evaluating operational reasoning and privacy preservation. To address this gap, we introduce CYBERMASKQA, a privacy-aware QA benchmark covering key security domains. Unlike existing benchmarks that primarily test factual knowledge, CYBERMASKQA grounds questions in realistic organizational contexts with...
Abstract:Streaming network intrusion detection systems must process flows continuously while keeping memory bounded, but most current methods leave alerting threshold selection as a post-hoc tuning problem poorly suited to production. Operators need alerting behaviour specifiable before deployment using inputs such as false-negative cost, false-positive cost, and alerting budget. This paper presents CALIBURN, a five-component streaming alerting pipeline composed of a truncated Bayesian online change-point detector, an isotonic calibration layer mapping the change-point posterior to an empirical conditional attack probability, a cost-sensitive decision threshold derived from operator-specified misclassification costs, a Conformal Risk Control wrapper that converts an alert-budget specification into a within-window valid threshold under exchangeability, and a multi-window burn-rate...
Abstract:This paper presents CyBOKClaw, an interpretable human-in-the-loop retrieval framework for mapping cybersecurity keywords or phrases (KWoPs) to the Cyber Security Body of Knowledge (CyBOK). Rather than treating the task as strict exact classification, the framework is designed as a top-k candidate generator for expert review. It combines query normalization, curated term expansion, concept-level boosts, topic-description enrichment, and domain-sensitive ranking rules. Because educational KWoPs are often broad, ambiguous, and only approximately aligned with CyBOK terminology, strict exact matching provides only a partial account of practical utility. We therefore evaluate the framework using both structural retrieval metrics and an expert-guided top-5 usefulness metric, ECA-5 (Exact or Closest Acceptable Match at top-5), which records whether the returned candidates contain at...
Abstract:Recent demonstrations of large language models producing candidate and confirmed vulnerabilities in production software have renewed the narrative that AI will reshape offensive and defensive security. Headlines emphasize capability; they rarely interrogate costs and incentives. This paper examines LLM-driven vulnerability discovery through a bugonomics lens: the operational economics of producing, proving, prioritizing, and fixing security-relevant defects. Historically, the most visible high-end bugonomics was offense-priced because production-grade zero-days and exploit chains were expensive specialist outputs for governments, brokers, and offensive vendors. Defender-side bugonomics already existed in vulnerability research, reward programs, and vendor remediation work; LLM-assisted systems change its scale and distribution. They make candidate generation, code...
Abstract:Ransomware has grown to become one of the most damaging types of cybercrime, affecting private and public organizations in any sector. While early types of ransomware targeted many victims via automated attacks, ransomware groups have started to specifically target organizations and companies in the expectation of receiving larger ransoms. To increase the pressure on victims, most groups host so-called data leak sites, where information about their victims is made public. The shift towards 'human-operated' ransomware together with easily accessible behavioral traces available from data leak sites makes research investigating operational regularities of ransomware groups of interest. Using leak site posts as behavioral traces of ransomware groups, we created a dataset consisting of over 27,000 posts from 325 groups. Based on this dataset, we analyzed victim concentration...
Abstract:Representation engineering (RepE) defenses have shown strong robustness against jailbreak attacks on large language models (LLMs). However, these methods fundamentally rely on black-list supervision: they learn jailbreak-to-refusal activation transformations from harmful or jailbreak data that are inherently incomplete and continuously evolving. Hence, the performance of RepE-based defenses becomes tightly coupled to the quality and coverage of collected harmful samples, leaving models vulnerable to unseen attacks. This reliance also obscures the distinction between defenses that fit known harmful distributions and defenses that protect a benign latent region without estimating the harmful distribution. We adopt the opposite, the white-list perspective, by leveraging the accessibility and abundance of benign data. The goal is to elicit refusal on arbitrary inputs while...
Abstract:Cybersecurity awareness training has historically adopted a one-size-fits-all approach, despite established individual differences in how users process and retain security information. Personality has been proposed as one axis along which training content might be tailored; yet no prior study has implemented and empirically evaluated a complete personality-conditional system end-to-end. This paper reports the design, implementation, and quasi-experimental evaluation of \emph{TailoredSec}, a mobile cybersecurity awareness application that routes training content based on a user's dominant Five-Factor Model (FFM) personality trait, as measured by the ten-item Big Five Inventory (BFI-10). Seventy-four UK-based adults were allocated to a traditional video-training condition ($n = 40$) or a personality-conditional condition ($n = 34$). Both groups completed a four-item...
Abstract:This paper examines the erosion of Public Key Cryptography (PKC) security under adaptive adversarial optimisation driven by artificial intelligence. The problem addressed is the growing mismatch between algorithm-centric cryptographic security models and operational attack realities, where adversaries exploit implementation-level observability rather than breaking cryptographic primitives.
Abstract:Jailbreak prompts can trigger harmful completions on aligned LLMs, In accordance, safety steering has been proposed: test-time activation interventions that steer jailbreak activations to trigger refusal while preserving benign utility. However, existing steering methods are fundamentally supervised and tied to a static, limited training set, whereas real jailbreaks evolve and are often out-of-distributed from the training set, leading to failures on unseen attacks. In this paper, we tackle the failure on unseen jailbreaks problem, base on unsupervised latent direction discovery. We propose a bi-level adversarial training framework for zero-shot jailbreak defense. In the inner step, we simulate diverse jail-broken activations by extrapolating from refusal-state harmful-request activations via unsupervised latent direction discovery, which expands the coverage of real jailbreak...
Abstract:Large language models (LLMs) are increasingly used as analyst assistants in security operations centers (SOCs), where they ingest log and alert data to produce triage labels, incident summaries, or remediation advice. We study a structural failure mode of this design: many log fields are attacker controlled. User agents, URLs, payloads, DNS queries, and attempted usernames can therefore carry instructions to the model alongside evidence of the intrusion. We call this setting \emph{log-substrate prompt injection}. We introduce a four-class taxonomy of log-substrate attacks: direct override (S1), persona hijack (S2), context manipulation (S3), and obfuscated payloads (S4). We evaluate 48 strategy-defense-task combinations using \texttt{gpt-4o-mini} as the analyst. Three findings stand out. First, direct overrides are ineffective in our setting: all S1 classification attacks...
Abstract:Retrieval-augmented generation (RAG) has become central to large language model (LLM) deployments, grounding responses in enterprise or proprietary data to reduce hallucinations. However, this design introduces a new privacy risk: model outputs may signal the presence of specific documents in the retrieval corpus, enabling membership inference attacks (MIAs) that leak sensitive information. Existing MIAs are feasible, but they often rely on easily detected templated queries or require many non-templated yet costly and repetitive queries, limiting practicality. We ask: Can an adversary launch a limited-budget, surrogate-free, stealthy, and defense-agnostic membership inference attack using non-templated queries? We present MEntA (Membership Entailment Attack), a query-efficient MIA that leverages natural-language entailment to maximize information gained per query. By asking...
Abstract:We argue that LLM agent security is fundamentally an agent-human interaction (AHI) problem, not a purely algorithmic one. To substantiate this position, we conduct a systematic analysis of 59 academic papers, 21 production agent systems, and 26 security plugins as of April 2026. Our analysis reveals a striking pattern: the three widely deployed human-centric security mechanisms (policy specification, runtime approval, and scope configuration) dominate industry practice, each adopted by at least 14 of 21 systems (14, 15, and 16, respectively), while the categories most heavily studied in academia (intent anchoring and trust labeling) see zero production deployment. Yet current human participation mechanisms are far from satisfactory: they suffer from a fundamental trade-off between cognitive burden and security guarantees, leaving users caught between approval fatigue and...
Abstract:Large language models (LLMs) are widely used for code generation, but their security reliability remains inconsistent across languages and prompting strategies. Existing prompt engineering improves functional correctness but rarely ensures consistent security outcomes. We introduce the \textit{Mitigation-Aware Chain-of-Thought (MA-CoT)} framework, which embeds task-specific CWE mitigation guidance and language-aware safeguards to reduce recurring vulnerabilities in generated code. We evaluate MA-CoT across three LLMs (gpt-5, claude-4.5, gemini-2.5), three programming languages (C, Java, Python), and four prompting strategies (Vanilla, Zero-shot, CoT, MA-CoT) on a 200-task primary dataset, with external validation on LLMSecEval. Using static analysis with expert validation, MA-CoT reduces total security findings from 92 to 39 (57.6\%) on the primary dataset and from 73 to 4...
Abstract:The growing use of Large Language Models (LLMs) for automated code generation has enhanced software development efficiency, but often at the cost of security. Generated code frequently overlooks critical concerns, leaving it vulnerable to issues such as weak encryption and improper input validation. To investigate this problem, we present a comprehensive empirical evaluation of the security quality of LLM-generated code across five LLMs and four programming languages (Java, C++, C, and Python), examining the impact of multiple prompt engineering methods. We introduce a weaknesses-aware zero-shot chain-of-thought (WA-0CoT) prompting strategy that enriches prompts with security context using CWE mappings to guide model reasoning. Our empirical analysis, supported by chi-square tests, finds no statistically significant reductions in vulnerability frequency or density across...
Abstract:Android malware detectors often degrade after deployment because of concept drift, while full retraining at each maintenance step is costly. We propose a chronological adaptive maintenance framework that models deployment-time maintenance as a sequential decision problem. The framework learns a stable latent representation through self-supervised learning during initialization, freezes the encoder, measures latent drift in the fixed representation space, and performs lightweight downstream adaptation using a trainable adapter and classification head. A proximal policy optimization controller selects low-cost maintenance actions based on the detector state, including current utility, retention on a fixed memory set, latent drift indicators, and update cost. We evaluate the framework under a causal deployment-style protocol on emulator and real Android malware datasets with...
Abstract:The Model Context Protocol (MCP) standardizes how a large-language-model (LLM) agent and an external tool server exchange messages, but not trust: a host reads a server's self-declared tool list and dispatches calls, with no notion of which servers it may use, at what sensitivity, or which of a server's tools are in bounds. This work grew out of a concrete need -- letting the Enclawed agent use Google's externally-operated MCP servers (Gmail, Calendar, Drive) safely, admitting the server and bounding the tools it may drive, without changing MCP or Enclawed's own tool application-programming interface (API). The mechanism we built, mcp-attested (shipped in both the open enclawed-oss distribution and the enclaved flavor), generalizes: the gap that makes an unmediated third-party connection unsafe for one user makes a regulated deployment impossible to accredit. We close it with...
Deep-research agents, i.e., systems that rely on multi-agent pipelines to iteratively retrieve, synthesize, and cite Web content in order to produce structured reports, are rapidly replacing traditional search for both routine and complex information needs. These agents issue many related queries during a single research session. We show that for many common search topics, they repeatedly retrieve the same user-generated content (UGC) pages from platforms such as Reddit and Wikipedia. Next, we argue that this retrieval overlap creates a concentrated attack surface: an adversary who appends a short, crafted text to a single, frequently retrieved UGC page can cause the agent to cite attacker-chosen content and promote attacker-chosen entities across many related queries. We evaluate this attack on three representative deep-research systems (STORM, Co-STORM, and OmniThink) across multiple...
Many existing Artificial Intelligence (AI) solutions on mobile devices rely on an extensive collection of sensitive data, raising privacy concerns and often requiring storage for both context and model improvement. Apple's Private Cloud Compute (PCC) aims to address this by emphasizing mobile device integration and a privacy-first design. The central claim of PCC is that it does not store any user data and that user input and user accounts are unlinkable. While most of the PCC system specifications are public, compiled binaries add a layer of opaqueness. There are no reproducible builds, and there are no symbols within those binaries, creating potential discrepancies between the specification and what is shipped to the user. Additionally, the underlying models and interfaces for querying PCC are not openly accessible, limiting academic evaluation of model properties, such as accuracy...
论文介绍 本文分析 Apple 的私有云计算系统,该系统声称不存储用户数据且输入与账户不可链接。但系统规范和二进制文件之间的不透明性限制了学术评估。研究探讨了隐私保护设计的可信度和潜在挑战。
Abstract:Along with the recent rise in popularity of Electric Vehicles (EVs), Electric Vehicle Supply Equipment (EVSE) has emerged as a new target for cyber attacks. Therefore, ensuring the security and integrity of network communication between EVSE components and vehicular clients is a significant challenge that must be addressed. To this end, this paper proposes a Flow-based Analysis and Labeling for COnnected vehicular Network Cybersecurity (FALCON-C) framework. The FALCON-C framework leverages an autoencoder for anomaly detection and is trained on a small number of benign flows from the CICEVSE2024 dataset. The model's objective is to model benign flow behavior and identify malicious flows by detecting statistically different reconstruction error profiles. The results demonstrate that the model can successfully identify malicious flows, achieving 100% accuracy. Initially, some...
Abstract:Electric Vehicles (EVs) have emerged as significant disruptors in the transportation sector over the past decade. Their growing popularity and adoption are accompanied by capital expenditures to deploy charging infrastructure. EV charging infrastructure sits at the intersection of the power grid, the network, and the vehicular client, creating an attractive surface for cyberattacks. Many machine learning-based cybersecurity countermeasures have been developed using various public and private datasets. These countermeasures, often intrusion detection systems, are limited in performance by the quality and expressivity of the training data. This work explores the most common datasets and modeling methods, identifies key limitations and open challenges, and proposes future directions to continue catalyzing innovation in the field. By addressing these data limitations, intrusion...
Abstract:The rise of tool-using Large Language Model (LLM) agents, standardized by protocols like the Model Context Protocol (MCP), has unlocked unprecedented autonomous execution capabilities for LLM Agents by integrating external open-domain knowledge and tools. However, this interoperability introduces a covert attack surface targeting the agent's cognitive planning layer. This paper systematically investigates Tool Description Poisoning (TDP), a novel semantic attack. In TDP, malicious instructions are not embedded in a tool's executable code, but rather covertly injected into its descriptive metadata, the very "manual" an agent relies on for secure planning and decision-making. To rigorously and systematically evaluate this emerging threat, we introduce the MCP-TDP Security Benchmark. This high-fidelity sandbox environment comprises 32 realistic, real-world test cases spanning 6...
Abstract:Cryptographic operations are an essential component of cloud security architectures; their comprehensive performance characterization across different cloud services, hardware architectures, and programming language implementations remains unknown. Specifically, healthcare IoT devices are highly vulnerable and frequently targeted, yet the cryptographic performance trade offs in their cloud security architectures remain poorly understood. This research presents an extensive microbenchmark study evaluating the performance of core cryptographic workloads, including SHA HMAC generation, AES encryption, decryption, Elliptic Curve Cryptography (ECC) signature generation and verification, and RSA encryption, decryption, across Function as a Service (FaaS) integrated with Key Management Services (KMS) from Amazon Web Services (AWS) and Microsoft Azure. We evaluate FaaS platforms using...
Abstract:Federated learning (FL) enables collaborative model training by aggregating local updates without requiring raw data sharing. However, prior studies have shown that servers can exploit gradient inversion to compromise user privacy or manipulate aggregation results, undermining the utility of the global model. To address these concerns, we propose a secure and verifiable aggregation scheme with lightweight cryptographic primitives for FL. Our method leverages pseudo-random functions (PRFs) and a non-colluding dual-server architecture to achieve secure aggregation with mutual server verification, while maintaining communication overhead comparable to plaintext aggregation and a constant verification tag size. Crucially, it preserves user privacy and achieves end-to-end secure aggregation with verification. Moreover, our scheme significantly reduces both user computation and...
Abstract:Agentic AI coding assistants can edit files, run commands, and access the internet on behalf of developers. However, their reliance on unvetted external artifacts introduces a new attack vector. Hidden instructions in external artifacts can hijack these assistants, turning them into an attacker's shell to run unauthorized commands. In this article, we examine how these prompt injection attacks work, measure their prevalence, discuss the limitations and challenges of current defenses, and suggest future research directions.
Membership inference attacks (MIAs) are popular methods for empirically assessing the leakage of sensitive information in the training data through models or statistics learned from the data. The MIA vulnerability is often evaluated through false positive rate (FPR) and true positive rate (TPR) of a binary classifier that tries to predict whether a particular sample was in the training data. However, in order to reliably estimate the TPR especially for low FPR values, a lot of observations are needed, which in case of MIA translates to many target models, leading to large computational cost. To avoid excessive compute requirements, the MIA scores are often averaged over multiple individuals and multiple targeted models. We demonstrate two key weaknesses in this efficient MIA evaluation pipeline. First, we show that evaluating the TPR based on MIA scores concatenated across multiple...
We extend the closed-form privacy-subsidy result of Nakamura~(2026, arXiv:2605.15746) from the single-period Kyle model to continuous-time. A committed Bayesian automated market maker observes the aggregate order flow perturbed by an independent Brownian privacy channel of diffusion intensity $σ_\varepsilon$. Under the Markovian linear equilibrium, the price-impact coefficient is $λ= σ_v / \sqrt{σ_u^2 + σ_\varepsilon^2}$ -- constant in time -- and the cumulative expected transfer from the protocol's liquidity pool to traders over $[0,1]$ is $|Π_M| = σ_v σ_\varepsilon^2 / \sqrt{σ_u^2 + σ_\varepsilon^2}$. We then establish a structural duality between this cumulative privacy subsidy and Loss-Versus-Rebalancing (Milionis et al.~2022), identifying privacy-noise welfare as the order-flow observation analog of LVR's price observation gap. The result completes the program of quantifying...
Abstract:Heterogeneous Internet of Things (IoT) systems suffer from fragmentation across hardware architectures, networking stacks, and data serialization formats. Existing standards (such as MQTT, COAP, and DDS) rely on address-bound, imperative routing models that require hardcoded configurations and leave no flexibility for runtime schema translation. This paper presents TIP (The Intent Protocol), a decentralized, declarative network protocol. Instead of addressing specific physical endpoints, nodes submit abstract intents specifying desired capabilities, schemas, and Quality of Service (QoS) constraints. The TIP Engine resolves matching nodes using a hybrid discovery mechanism combining local multicast DNS (mDNS) with Kademlia Distributed Hash Tables (DHT). Selection is optimized via a multi-criteria scoring algorithm incorporating network latency, historical reputation, and...
Abstract:Concept Bottleneck Models (CBMs) have emerged as a cornerstone approach for interpretable machine learning, providing human-understandable intermediate representations through explicit concept activations. However, this interpretability fundamentally introduces a critical, previously unexplored attack surface: the concept bottleneck layer itself. We present a comprehensive, systematic study of concept-level adversarial vulnerabilities in CBMs, revealing that targeted, minimal perturbations operating on input pixels can induce catastrophic misclassification by manipulating semantic representations. We develop a rigorous theoretical framework to quantify concept-space robustness, establishing novel metrics that expose the vulnerability landscape of these architectures. Our extensive analysis on the CUB-200-2011 dataset demonstrates that standard CBMs exhibit severe...
Abstract:Quantum machine learning (QML) is moving from research prototypes to deployed cloud services. As QML enters regulated industries, the integrity of the quantum stage becomes a practical concern on two fronts: noisy hardware drifts at the channel level between recalibrations, and an adversary with control over the execution environment can substitute the declared quantum channel with a behaviorally similar but mathematically distinct one. Neither concern is covered by existing QML verification work on pulse-level noise, input drift, input-perturbation robustness, or device identity. We introduce QML-PipeGuard, a contract-based framework addressing both concerns under a single mathematical machinery. It characterizes a QML pipeline at runtime by its behavioral fingerprint, the vector of observable expectation values under a tomographically structured measurement family, and...
The widespread integration of Large Language Models (LLMs) necessitates rigorous and systematic safety evaluation. Existing paradigms either rely on constructed benchmarks to assess safety from predefined perspectives, or employ dynamic red-teaming to probe potential vulnerabilities. While effective, these approaches face challenges, as they depend heavily on expert domain knowledge, offer limited systematic guarantees, and are vulnerable to rapid obsolescence. To address these limitations, we introduce a novel framework POLARIS that brings the rigor of specification-based software testing to AI safety. POLARIS first compiles unstructured natural-language policies into First-Order Logic (FOL) representations, establishing a traceable link between high-level rules and concrete test cases. This formalization enables the construction of a Semantic Policy Graph, where complex policy...
Abstract:Privacy measurement instruments (e.g., CFIP, IUIPC, PAQ) predate GDPR by over a decade and measure privacy concerns, distinct from preferences for regulatory protections (e.g., data portability, erasure, automated decision-making rights). This leaves practitioners without tools to assess whether users value the GDPR mechanisms implemented in compliant policies. We developed a GDPR-grounded privacy preference measurement item bank by extracting 669 statements from all 99 GDPR articles, validated by: (1) two-round expert review achieving full consensus on accuracy, (2) semantic clustering into 10 parent themes and 87 subthemes, and (3) consensus review with 50 privacy experts (5 per theme) using a larger or equal than 4/5 vote retention threshold. The final 527-item bank comprises 9 parent themes and 73 subthemes (18 to 112 items per parent theme, 1 to 29 per subtheme), enabling...
Abstract:Sparse mixture-of-experts (MoE) language models activate only a small subset of parameters for each token, making router behavior a central part of model computation. This paper studies routing behavior of Mixtral 8x7B-Instruct under benign and harmful prompts using two complementary signals: activation-based routing scores derived from expert selection frequencies and gradient-based scores derived from router-gate sensitivities. We analyze expert- and layer-level routing behavior and conduct expert-suppression interventions. The results show that activation-based expert usage is broad and long-tailed, whereas gradient-based importance is concentrated. At expert level, benign and harmful prompt groups remain close under both signals with modest separation. At layer level, activation-based routing is most selective around layers 8-15, while gradient-based importance is...
Abstract:Monitoring autonomous large language model (LLM) agents for covert malicious behavior is challenging due to delayed, context-dependent, and long-horizon attack patterns. Agents may pursue hidden objectives while maintaining superficially benign behavior, making detection difficult even with full trajectory access. Prior monitoring approaches improve scaffolding or ensemble aggregation, but treat each trajectory independently and do not learn from prior monitoring experience. Moreover, standard reasoning methods explain observed behavior without explicitly reasoning about agent beliefs, intentions, and goal alignment required to distinguish benign task execution from covert deviation. We propose \textbf{Agent-ToM}, a learning-to-monitor framework grounded in Theory-of-Mind (ToM) reasoning for security analysis of autonomous agents. Agent-ToM performs structured full-trajectory...
Abstract:Memorization in large language models has been studied almost exclusively through prefix-conditioned extraction, a natural choice for autoregressive models. However, diffusion language models (DLMs) can denoise masked tokens at arbitrary positions. Thus, prefix-only probing reveals only one facet of memorization in DLMs and significantly underestimates the risk of training-data extraction. In order to realistically model extractability of training data in DLMs, we introduce \emph{infilling extraction}, a data-extraction protocol parameterized by an arbitrary binary mask that subsumes prefix-only probing and accounts for the bidirectional inductive bias of DLMs. Instantiating it on LLaDA-8B and Dream-7B across five extraction modes, three training pipelines, and three corpora covering verbatim and partial leakage, we find that mask geometry governs extractability...
Abstract:The Quantum Fisher Information (QFI) metric governs a fundamental duality: it quantifies both how precisely a parameter can be estimated (metrology) and how distinguishable two quantum states are (privacy). We exploit this duality to establish a geometry-aware framework for quantum differential privacy (DP) that replaces isotropic depolarizing noise with direction-dependent noise aligned to the QFI eigenstructure of the quantum embedding. We prove six principal theorems: (1) the minimax-optimal mechanism concentrates the noise budget in the dominant QFI eigenmode, achieving $\varepsilon = (\Delta^2/2)\lambda_{\max}(1-c\gamma)$ with $O(d/\lambda_{\max})$ advantage; (2) mixed-state QFI decomposition reveals that dephasing in the adversary's basis $\textit{increases}$ accessible information, while misaligned-basis dephasing provides constructive privacy amplification from...
Abstract:Agentic AI systems -- Large Language Models (LLMs) augmented with planning, tool use, memory, and long-horizon interactions -- can execute complex tasks autonomously, but their multi-step trajectories introduce new failure modes that challenge trustworthiness. This survey provides a focused examination of trustworthy agentic AI through two core dimensions that are critical for high-risk deployments: Safety and Robustness, and Privacy and System Security. For each dimension, we clarify key concepts, identify where risks emerge along the agent workflow, and summarize stage-targeted mitigation strategies. Other trustworthiness aspects (value alignment, transparency, fairness, and accountability) are discussed as relevant context rather than parallel chapters. To support consistent comparison and deployment decisions, we consolidate evaluation into a unified metrics-and-benchmarks...
Abstract:Large language models (LLMs) are increasingly used as proposal generators for evolutionary robot design, yet most loops remain memoryless: simulator results shape the next population but are not preserved as reusable design knowledge. We present Auto-Robotist, a self-evolving LLM agent that distills morphology-search traces into an explicit natural-language skill library. Each skill stores a structural archetype, evidence-grounded positive and negative rules, and the evaluated designs that support them, making design memory inspectable rather than implicit in a population. During search, the agent retrieves skills to condition LLM edits of elite bodies while retaining a Genetic Algorithm (GA) mutation path for exploration; after evaluation, it updates the library through Add, Diagnose, and Merge. Across seven EvoGym tasks spanning locomotion, traversal, and object interaction...
Abstract:Recent vision-language-action (VLA) models and world action models (WAMs) advance robotic manipulation by enriching intermediate representations with auxiliary spatial features or future visual-state prediction. However, these representations largely remain within the observation space and do not share the rigid-body geometry of the action space, forcing the action decoder to implicitly recover this geometry. We propose OASIS, a visuomotor policy that aligns the intermediate representation with the action space via $SE(3)$ end-effector trajectory prediction. OASIS couples a 3D-aware feature encoder that fuses vision-language and metric-depth features with an $SE(3)$ trajectory predictor that produces a camera-frame end-effector trajectory. Conditioned on the predictor's pose-supervised hidden states, the action decoder generates action chunks consistent with rigid-body motion...
Abstract:Humanoid parkour requires locomotion policies to coordinate whole-body dynamics across rapidly changing terrains such as stairs, gaps, slopes, and obstacles. Existing reinforcement learning policies are largely reactive, mapping observations directly to actions without explicitly modeling future body states. Such modeling becomes critical in agile locomotion tasks where successful motion execution depends strongly on anticipating upcoming contact transitions and body this http URL present ParkourFormer, a Transformer-based sequence modeling framework that reformulates humanoid locomotion as a future-conditioned decision-making problem. The current robot state queries historical sensorimotor trajectories through cross-attention, while a lightweight prediction head forecasts short-horizon future proprioceptive states. The predicted future states, trained with supervised signals...
Abstract:Robotic systems with redundant degrees of freedom can achieve the same task outcome using multiple configurations, resulting in solution sets that form manifolds in the configuration space. Existing approaches typically exploit such redundancy locally through Jacobian-based techniques to compute individual solutions or trajectories. While effective for solution computation, these methods do not retain a representation of the geometry of the solution set itself. In this work, we adopt a representation-centric approach to estimate the geometric structure of the solution space. We consider solution manifolds induced by general task-defining maps and construct an implicit scalar field over the configuration space, whose zero-level set corresponds to the solution manifold. To this end, we generate samples in the neighborhood of the solution manifold using a Jacobian-guided...
Abstract:Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are consistent with the surrounding scene, especially in the presence of heavy occlusions or partial visibility. This can limit both safety and efficiency for robotic operations. We introduce HumanFlow, a latent diffusion model that unifies human motion tracking and forecasting, conditioned on the 3D scene context. We show that our human motion model produces smooth and accurate predictions under challenging conditions, including heavy occlusions, and outperforms state-of-the-art methods in tracking accuracy while being significantly more efficient. Furthermore, we show how HumanFlow's latent space can be tightly coupled with control by...
Abstract:In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical interactions and exhibit passive behavior. To achieve this, we extend a state-of-the-art pushing model to integrate it with impedance-controlled robots. We develop a model predictive control framework built upon this model that enables compliant pushing through optimal modulation of the robot's position/velocity set-point, jointly realizing the required pushing force and contact point adaptation to obtain desired object motion. However, external interactions may induce tracking errors, causing a consequent potentially indefinite increase of the pushing force. To prevent this, we integrate an energy tank passivity filter that further modulates the...
Abstract:Autonomous ground robots operating in large-scale outdoor environments require both robust long-range navigation and fine-grained ''last-mile'' exploration. Current advances in visual-language navigation (VLN) work well at short-range tasks, lacking geospatial grounding for long-distance missions. Some OpenStreetMap (OSM)-based methods relying on cloud-based Large Language Models (LLMs) are prone to factual hallucination and cannot conduct ''last-mile'' exploration based on human instruction. To address these challenges, we present G-DRAGON, a retrieval-augmented framework for outdoor, open-world navigation. This framework maps natural-language commands to versioned, local OSM entities via generative retrieval based on lightweight LLM, yielding accurate coordinates for global route planning. A high-level planning module bridges global topological routes with the SLAM system...
Abstract:Multi-robot task allocation usually assumes some combination of communication, known task models, or a coordinator. We study the opposite extreme, a regime common in practice but overlooked in theory, which we name Zero-Knowledge MRTA (ZK-MRTA): a robot team with no prior knowledge (no task models, not even the latent rank), no communication (no messages, no parameter sharing, no coordinator), and only a partial and privately-noisy view of a public stream of teammates' outcomes. A hidden low-rank structure governs which robot suits which task, and there are far more tasks than rounds, so most (robot, task) pairs are never attempted. Yet each robot can act well on tasks it never attempted, and onboard new tasks, by running online low-rank collaborative filtering over the broadcast (SwarmCF). The advantage over any structure-free learner is categorical, not a constant factor: a...
Abstract:Existing embodied control research demonstrates remarkable performance improvements by scaling training data and model size. We instead explore inference-time strategy as an alternative axis. Non-deterministic generative models, such as diffusion and autoregressive models, have been widely adopted in the field of embodied control. However, the single-shot inference paradigm limits their performance. In this paper, we propose \textbf{TapSampling}, a plug-and-play framework for inference-time sampling. First, we introduce an Action-VAE that represents actions in a low-dimensional latent space by mapping policy-generated initial actions into a compressed posterior distribution, from which any number of latent samples can be drawn and decoded into candidate actions that approximate the true action distribution. Second, we formulate action verification as task-progress outcome...
Abstract:Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision avoidance, obstacle avoidance, and workspace boundaries must be satisfied during real-robot operation. However, existing approaches remain limited because kinematic safety guarantees can be degraded in the presence of unknown disturbances, such as model uncertainties, trajectory-tracking errors, and external perturbations. This paper presents a hierarchical safety-critical whole-body control framework for humanoid robots based on input-to-state safe control barrier functions (ISSf-CBFs). The proposed architecture integrates a kinematic-level whole-body controller (KinWBC), an ISSf-CBF safety filter, and a dynamic-level whole-body controller (DynWBC). KinWBC generates nominal joint-motion references...
Abstract:Robotic perception in unstructured environments remains challenging despite the zero-shot capabilities of foundation models such as SAM. This work attributes performance degradation to non-uniform representation shifts across transformer layers: shallow layers exhibit substantial domain gaps (CKA < 0.5), whereas deep layers transfer effectively (CKA > 0.7). Based on this observation, we propose RepSAM, a representation-guided parameter-efficient fine-tuning (PEFT) framework for adapting foundation models to robotic vision. RepSAM employs a theoretically grounded CKA-guided rank allocation strategy combined with a multi-modal fusion module for robust handling of challenging robotic scenarios, including transparent objects and cluttered scenes. Experimental evaluation across six benchmarks and robotic manipulation tasks demonstrates that RepSAM achieves 97.9% of full fine-tuning...
Abstract:The ability to efficiently and reliably learn new tasks has been a foundational challenge in robotics. Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse manipulation tasks, yet pretrained policies consistently fall short of the reliability required for real-world deployment. Reinforcement learning (RL) fine-tuning offers a promising path to bridge this gap, but existing approaches either train from scratch without fully leveraging pretrained priors, or fine-tune VLAs without achieving the sample efficiency and success rates that practical deployment demands. We present EXPO-FT, a system for stable, sample-efficient RL finetuning of pretrained VLA policies that closes this gap. Our system solves a suite of challenging manipulation tasks, including routing string lights and inserting the plug to light it up, striking a pool ball into a...
Abstract:Autonomous exploration is critical for robot mapping unknown environments. Desirable characteristics of exploration algorithms include compute efficiency and small traversed distance during the exploration process. Motivated by these, we present Omnidirectional Path-efficient Aerial 3D expLoration (OPAL), an exploration framework centered on deliberate 360-degree yaw rotation at ambiguous branch points rather than compute-heavy global tour planning. We devise multiple variants of OPAL to determine the frontier-selection strategy once the yaw pan is completed. One variant is model-free, while others use large language models (LLMs) or vision-language models (VLMs). We characterize the performance of these variants while varying the vicinity search radius to include frontiers in the selection process. Through simulations we find that although the time-consuming in-place yaw...
Abstract:Distribution shift in imitation learning refers to the problem that the agent cannot plan proper actions for a state that has not been visited during the training. This problem can be largely attributed to the inherently narrow state-action coverage provided by expert demonstrations over the full environment. In this paper, we propose a robust offline to adaptive online imitation learning framework that handles the distribution shift problem in a lifelong, multi-phase scheme. In the offline learning phase, we leverage supplementary demonstrations to broaden the state-action coverage of the policy by utilizing a discriminator to effectively train the policy with supplementary demonstrations, thereby enhancing the robustness of the policy to distribution shift. In the subsequent online inference phase, our framework detects the occurrence of distribution shift and conducts...
Abstract:Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a path following system that automatically follows specific points. However, the path following system of BAUV is limited, and its evaluation with multi-link mechanism robots has not yet been clarified. The path following system in BAUV requires prior simulation because the model differs depending on the type of biomimetics. In this study, we propose a path following system for BAUVs with a multi-link mechanism and evaluation in underwater simulation. In this result, it was possible to design a path following system suitable for BAUV, determine parameters using a simulator, and evaluate control methods.
Abstract:Neural network (NN) dynamics models and control policies achieve strong performance in robotics, but providing sound guarantees under uncertainty remains difficult, especially for closed-loop NN systems. Existing reachability tools provide formal over-approximations, yet are often non-differentiable, overly conservative, or too slow for modern learning and online planning pipelines. To address this, we present a parallelizable, differentiable reachability framework in JAX for continuous- and discrete-time systems with analytical and NN-based dynamics and controllers. Our framework combines Taylor-model flowpipe construction with CROWN-style linear bound propagation through a unified representation that preserves affine dependencies while supporting GPU-batched computation and automatic differentiation. Building on this reachability primitive, we develop (i) a certified...
第一作者: Fernando Cañadas-Aránega · 方向: 导航与运动 · 来源: cs.RO
农业机器人地面分割RGB-D感知温室环境GreenSeg
Abstract:Greenhouse agriculture in the Mediterranean region faces significant automation challenges due to its unique structural and environmental constraints. These environments are characterized by extremely narrow aisles, heterogeneous terrains ranging from concrete to tilled soil and severe optical interference caused by polyethylene covers, which induce specular reflections and "ghost points" in depth sensors. While autonomous navigation is essential for digitizing agricultural tasks, traditional solutions often rely on expensive 3D LiDAR systems that are economically unscalable for most facilities. To address this, this paper presents GreenSeg, a robust perception framework for autonomous navigation using RGB-D sensing. The proposed method introduces a dual-layer validation strategy: a robust global plane fitting combined with a surface curvature filter for terrain adaptability...
Abstract:Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manipulation. We introduce InvariantCloud, a 6-DoF pose estimation framework that leverages the global invariance of surface marker constellations on vision-based tactile sensors. In contrast to recent approaches, our one-shot globally invariant point cloud registration suppresses cumulative drift and overcomes long-standing limitations in accurately estimating yaw (Z-axis) rotation. Experimental verifications show that InvariantCloud achieves superior yaw tracking accuracy and re-localization repeatability compared to existing benchmarks, demonstrating its precision and robustness in long-sequence manipulation tasks.
Abstract:Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely determined by pressure. Instead, the response depends on the way the actuator is built, including the shape of its chambers, the placement of reinforcements, the use of folds, material stiffness, and the constraints that guide its deformation. As the literature has expanded, it has become more difficult to determine which mechanism is most suitable for a given application and which reported results can be compared across studies. This review examines soft pneumatic actuators according to the design strategies used to generate four motion classes: linear, bending, twisting, and omnidirectional actuation. For each class, it analyzes the...
Abstract:Decentralized multi-robot LiDAR-SLAM is essential for collaborative missions but faces significant challenges in maintaining global consistency. Existing frameworks predominantly rely on local-search optimization or one-time coordinate alignment, which are prone to suboptimal convergence and long-term inconsistency, especially in large-scale or degenerate environments. To address these limitations, this paper presents the first decentralized LiDAR-SLAM system that integrates a state-of-the-art certifiably optimal Pose Graph Optimization (PGO) backend. By leveraging the Riemannian Block Coordinate Descent (RBCD) algorithm, our system ensures globally consistent trajectory estimation without requiring accurate initial guesses. Experimental results demonstrate that the proposed framework achieves superior robustness, improving trajectory RMSE by up to 48.9% compared to the...
Abstract:Learning universal policies from cross-embodied data remains a fundamental challenge in robotics. Although Vision-Language-Action (VLA) models are pre-trained on large and diverse datasets, they typically rely on embodiment-specific fine-tuning to achieve strong performance in downstream tasks. This requirement severely limits their generalization capability and restricts knowledge transfer across embodiments performing similar tasks. To overcome these limitations, we focus on cross-embodied settings with shared robotic bases and heterogeneous end-effectors, and propose X-DiffVLA, a diffusion-based VLA model featuring a unified cross-embodied action head. X-DiffVLA can leverage the generative strengths of diffusion models to capture both the diversity and latent correlations in cross-embodied datasets. Specifically, we introduce Embodiment Forcing, a classifier-free guidance...
Abstract:4D radar is increasingly attractive for robotic mapping because it provides range, azimuth, elevation, and Doppler measurements while remaining robust in adverse visibility conditions. Although recent radar and radar--inertial odometry methods have achieved promising online state estimation performance, offline global map refinement for 4D radar remains underexplored. This paper presents RAMBA, a radar bundle-adjustment framework for globally consistent 4D radar mapping. Given initial poses and radar frames from a radar--inertial odometry front-end, RAMBA jointly refines radar frame states using covariance-weighted geometric residuals, IMU preintegration factors, and radar ego-velocity constraints. The geometric residuals extend pairwise GICP to a multi-frame optimization by forming voxel-based correspondences across selected frames and weighting each residual with point...
Abstract:Autonomous parking demands precise low-speed maneuvering within narrow, cluttered, and highly constrained environments, where vehicles must navigate tight spaces while avoiding static obstacles and complex geometric boundaries. Unlike imitation learning, which typically requires massive volumes of high-quality expert demonstrations to converge to a stable policy and often suffers from limited generalization to unseen scenarios, traditional reinforcement learning (RL) methods face persistent challenges including excessive training overhead, inefficient exploration, and even failure to learn viable parking strategies in challenging settings. To address these limitations, this paper presents a correction-in-the-loop sample-efficient reinforcement learning (CIL-SERL) framework for end-to-end autonomous parking, which is entirely trained in a photorealistic 3D Gaussian Splatting...
Abstract:Coordinating micro-robotic swarms in physiologically realistic, time-dependent fluid environments remains an unsolved challenge for biomedical and environmental applications. We present a hybrid Computational Fluid Dynamics - Multi-Objective Multi-Agent Reinforcement Learning framework that directly couples a high-fidelity incompressible Navier-Stokes solver with decentralized proximal policy optimization to learn physically consistent swarm control strategies in oscillatory flow. Sixteen magnetically actuated micro-robots navigate a pulsatile arterial waveform, simultaneously optimizing upstream progression, energy conservation, and motion smoothness, reconciled using PCGrad surgery. Without PCGrad, energy efficiency and smoothness rewards collapse to near zero within 10,000 training steps while progress exhibits persistent large-amplitude oscillations, confirming that...
Abstract:Integrating artificial intelligence (AI) into sampling-based motion planning provides new possibilities for improving autonomous navigation efficiency. In this paper, three algorithms, namely RRT*, Neural RRT*, and Neural Informed RRT*, are implemented and evaluated on environments containing convex and concave obstacles with different obstacle densities. The obtained results indicate that neural-guided planners improve path quality, producing up to 14\% shorter paths and 55--75\% smoother trajectories compared with the conventional RRT* algorithm. Among the evaluated methods, Neural Informed RRT* achieves the best overall performance in terms of path length and trajectory smoothness. These results demonstrate the effectiveness of AI-guided sampling strategies for improving reliability and trajectory efficiency in robotic and UAV navigation, despite a slight increase in...
Abstract:Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many iterations to obtain high-quality solutions. This paper proposes Convex-Neural RRT*, an enhanced RRT* variant that incorporates neural guidance to predict informative waypoint regions near high-quality paths. Convex candidate regions are extracted from these predictions, enabling the planner to concentrate exploration on geometrically relevant areas while preserving global exploration. The proposed algorithm is evaluated against Neural RRT*, Neural Informed RRT*, classical RRT*, and LTA* across three environment types and 18 benchmark maps. Experimental results show that Convex-Neural RRT* reduces computation time by 30-75% compared to...
Abstract:Proximal Policy Optimization (PPO) has become the de facto standard for training legged robots, thanks to its robustness and scalability in massively parallel simulation environments like IsaacLab. However, its on-policy nature makes it inherently sample-inefficient, preventing its use for continuous adaptation and fine-tuning on real hardware. Soft Actor-Critic (SAC), by contrast, is an off-policy algorithm that can reuse past experience, making it a natural candidate for sim-to-real transfer workflows where the same algorithm can be used both in simulation and for online learning on the real robot. Despite these advantages, SAC has consistently failed to match PPO's empirical performance in massively parallel training settings. This work identifies the root causes of this gap and introduces targeted modifications, covering policy initialization, timeout-aware critic targets...
Abstract:Human egocentric video captures rich manipulation demonstrations without any robot hardware, yet transferring these skills to robots remains challenging due to the embodiment gap between human and robot in both visual appearance and kinematics. We present HumanEgo, a framework that bridges the embodiment gap by lifting each human demonstration to an entity-level representation of hand-object interaction, and training a flow matching policy with dense auxiliary objectives that amplify supervision from every trajectory. HumanEgo is robot-data-free, hardware-agnostic, data-efficient, and zero-shot human-to-robot transferable. With only 30 minutes of human videos per task, HumanEgo achieves 92.5% average success across four real-world tasks (75% with just 15 minutes), outperforms matched-time robot teleoperation by 41%, and robustly transfers zero-shot across novel robots...
Abstract:Modern robotic policies increasingly rely on action chunking to execute complex tasks in the physical world. While action chunking improves temporal consistency at moderate action frequencies, it becomes insufficient when the action frequency is further increased (e.g., to 60~Hz). At such high frequencies, policies often fail to generate actions that are both temporally smooth and spatially consistent. We address this challenge by shifting high-frequency action learning from the action space to a latent space with variational autoencoder (VAE). This formulation significantly improves both temporal and spatial consistency of high-frequency control. To enable smooth real-time execution, we further introduce Reuse-then-Refine, a chunk-level refine strategy that improves continuity between adjacent action chunks under asynchronous inference. As a result, robots controlled by our...
Abstract:Diffusion models excel at generating diverse and multimodal trajectories for robotic planning, yet their iterative denoising process introduces latency that is incompatible with high-frequency closed-loop control. To address this problem, we propose Dynamic Neural Koopman Distillation, a framework that distills multistep diffusion inference into a single forward pass while retaining the multimodal expressivity of the teacher model. Specifically, we introduce a Factorized Dynamic Koopman layer that models the denoising process through a factorized latent transition with state-dependent modal gains. We evaluate the proposed method on standard D4RL MuJoCo locomotion benchmarks and a physical Kinova manipulator, comparing against one-step baselines. The results show that our method significantly outperforms existing one-step distillation approaches on the reported locomotion...
Abstract:We present MuJoCoUni, a downstream MuJoCo distribution for online robot learning and batched physics evaluation. Alongside the open-loop batched trajectory generation already provided by upstream this http URL, MuJoCoUni supplies runtime primitives for stateful environment execution. The target workloads need high-throughput parallel execution while retaining upstream CPU MuJoCo semantics for models, sensors, contact, and constraints. Its core object, BatchEnvPool, is a C++/pybind11 executor that owns per-environment mjModel copies, per-thread mjData workers, and an internal thread pool. It provides final-state-only short stepping, sparse reset, reset-lifecycle domain randomization, batched sensor forward evaluation without advancing dynamics, and batched Jacobian and height-field queries. The implementation is confined to the Python binding layer; MuJoCo's solver, contact...
Abstract:Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor patterns observed in human operators. Conversely, learning from demonstration often tightly couples task execution to the specific training geometry, limiting transferability. We propose a modular framework that decouples geometric motion planning from execution-level expertise. Expert behavior is represented as a vocabulary of interpretable, atomic motor rules, such as velocity scaling and orientation offsets, that systematically modify a geometrically planned reference path. We train a multimodal neural network to infer rule parameters jointly from kinematic trajectory data and CAD model geometry. We evaluate our approach through dynamic...
Abstract:Sampling-based model predictive control methods, such as Model Predictive Path Integral (MPPI), offer derivative-free optimization and robustness in complex robotic systems. However, standard MPPI relies on cost-based soft penalties that cannot guarantee hard-constraint satisfaction, severely limiting its applicability to highly constrained tasks such as closed-chain manipulation. To address this, we propose Manifold-Constrained MPPI (MC-MPPI), a real-time sampling-based control framework that enforces manifold-based equality constraints while preserving the computational advantages of MPPI. The key idea is to decouple the constrained optimal control problem into latent-space planning and execution-level correction. At the planning stage, a Variational Autoencoder (VAE) learns a low-dimensional latent representation of the constraint manifold, enabling MPPI to efficiently...
Abstract:We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides geometric insight into reachable motion and enables rapid selection of rotation axis orientations without numerical optimization. The second contribution is a dynamics-informed methodology for mechanisms driven by self-locking transmissions, supporting evaluation of torque requirements for a prescribed workspace geometry. The framework is accompanied by an open-source software package for friction identification and inverse dynamics analysis. Experiments on a purpose-built robotic tool for vitreoretinal surgery validate the predictive capability of the models and demonstrate their practical utility for engineering design.
Abstract:The motion planning problem for robotic manipulation can be addressed through classical or deep learning approaches. Existing methods face significant challenges in generalizing to diverse settings. In this study, we present a method with high generalization capability that generates collision-free trajectories using diffusion models where the denoising process is guided by the gradient of the total collision cost. We are also presenting a dynamic approach for choosing start step of the gradient guidance. Experimental results demonstrate that guiding the diffusion model dynamically with the sum of collision costs offers more robust performance by overcoming the generalization issues faced by competing methods. The proposed model demonstrates its effectiveness by achieving the highest performance on diverse test settings in M$\pi$nets\ dataset among the compared methods.
Abstract:This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar leg design, we develop RL policies for walking, vertical jumping, forward jumping, and in-flight attitude control, explicitly tailored to the reduced gravity on Mars. These policies jointly enable such robots to overcome obstacles larger than themselves through coordinated jumping and precise in-flight reorientation for safe landings. We demonstrate Sim2Real transfer of the attitude control policy on the Olympus quadruped through single-axis reorientation tests, while all locomotion policies are validated in simulation. A complete Mars exploration mission scenario demonstrates coordinated policy deployment across challenging terrain. Experimental results show 90° attitude reorientation in 2.6 seconds...
Abstract:A robot resolving ``put the cup on that one'' must fuse gesture, language, and scene geometry, yet 3D grounding benchmarks only partially capture this regime: descriptions are written post-hoc, gestures are templated, or pointing is staged for the camera. MM-Conv captures natural co-speech gesture from dyadic VR interaction alongside full-body motion capture and 3D scene graphs. We use it to evaluate pose-language fusion with a decoupled late-fusion architecture in which pose and text pathways share no learned parameters. The two choices together make category, pose, and text contributions easier to isolate through controlled ablations. Fusion with frozen MiniLM category embeddings exceeds pose alone and the best text-only pathway on every reference type, reaching 31.9% top-1. The learned scalar gate flips between opposing policies depending on whether the text pathway has...
Abstract:This paper presents MuGen, a data-driven framework for learning and deploying multi-skill locomotion on humanoid robots. MuGen enables a robot to perform expressive motions like humans under the guidance of example motion sequences. To achieve this, we employ vector-quantized autoencoders (VQ-VAEs) trained with model-based reinforcement learning, resulting in a generative representation of locomotion that captures key patterns of human motion from hours of heterogeneous human performance data. We employ a teacher-student learning framework and develop a new policy distillation strategy to enable a deployable student policy learning this efficient latent representation. This policy allows the robot to track and mimic unseen human motions and further enables the robot to reuse the learned latent space for other tasks. We demonstrate the effectiveness of our framework through a...
Abstract:This paper presents Elevator-LIO, a LiDAR-inertial odometry framework designed to achieve continuous robot localization during elevator travel, thereby supporting cross-floor robotic tasks. To address the state-estimation problem in non-inertial frames, Elevator-LIO establishes a decoupled state-estimation model that separately models the robot motion relative to the elevator and the elevator motion itself, and embeds it into a mode-dependent iterated error-state Kalman filter framework. This framework degenerates to conventional LIO estimation in ordinary indoor environments, while enabling the propagation and constrained update of elevator-related states in elevator non-inertial environments, thereby achieving continuous and stable localization. An elevator mode manager detects elevator entry and exit events using LiDAR ranging statistics and estimated states, and introduces...
Abstract:Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transit between different modes to adapt to various terrains. However, few amphibious robots can sense interactions with both terrestrial and aquatic environments. In this paper, we present a solution that uses Hall-effect sensors to sense foot contact forces and lateral hydrodynamic forces on a salamander-inspired amphibious robot. With two bus lines, the robot can simultaneously acquire this exteroceptive information at more than 500 Hz and proprioceptive information, such as joint positions and loads, at 100 Hz. The Hall-effect sensors used are compact, making them suitable for embedding in multiple positions within a robot, and exhibit high sensitivity to small forces. Moreover, because the sensor can be positioned separately from the measured object...
Abstract:Flow-matching robot policies commonly use action-chunking inference for efficient closed-loop control, but chunk boundaries can introduce discontinuous action transitions. Existing RTC guidance improves continuity by injecting correction signals during denoising, yet its weight schedule is weak at intermediate timesteps and its unconstrained correction direction may introduce transverse perturbations. We propose POTR, a **p**rior-corrected **o**rthogonal **t**rust-**r**egion guidance method. First, we incorporate a data-prior scale $\sigma_d$ into the RTC guidance weight, yielding stronger intermediate-time correction. Second, we decompose the guidance vector into components parallel and perpendicular to the denoising velocity, and constrain the perpendicular component within a trust region. On LIBERO with $\pi_{0.5}$, POTR improves success rate and consistently reduces...
Abstract:Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with ordered keypoints and explicit edge connectivity. This reliance makes them prone to failures due to tracking drift and topology mismatch caused by repeated bending and crossings during knot this http URL address these limitations, we introduce RoboHitch, a novel framework that learns to perform hitch knot tying from human demonstrations using only disordered 3D keypoints and RGB images. This eliminates the need for explicit topological order, allowing for more flexible manipulation. Our method employs a dynamic Graph Autoencoder to extract geometric features from untracked keypoints, complemented by a Convolutional Autoencoder that captures...
Abstract:Robotic assistants in long-term human-robot collaboration need to assist users under partial observations while leveraging cross-day interaction history. However, human traits and routines are often unknown at the beginning of collaboration, making passive infer-then-act assistance ineffective and inefficient. To address this challenge, we study a cross-day proactive asking setting for continual task assistance and propose PACT (Proactive Asking for Continual Task Assistance), an ask-or-act framework that determines whether clarification should be sought before taking action. PACT leverages current observations together with accumulated interaction history to evaluate contextual sufficiency, enabling the robot to provide more reliable assistance and progressively adapt to the user over time. We implement its primary learned instantiation using reinforcement learning and...
Abstract:We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab. IsaacIPC maps simulated deformation between simulation and visual meshes, enabling real-time realistic rendering with applications to data collection and policy evaluation. For tactile sensing, we introduce the geometric mortar contact potential (GMCP), which defines a barrier potential over contact samples on tactile surfaces to better resolve contact-pressure distributions. We evaluate GMCP on contact benchmarks and demonstrate IsaacIPC on rigid-deformable robotic simulations including a quadruped robot, a dexterous hand, and a universal manipulation interface (UMI) gripper.
Abstract:Planetary rovers operating in extraterrestrial environments often encounter significant mobility challenges due to varying terrain features such as gradients and granularity. While recent works in multimodal wheel design have explored adjustments in stiffness, compliance, and diameter as a means to improve terrain adaptability, full wheel grouser-adjustable designs remain largely unexplored. Grousers are a compelling feature to actuate, as granular terrains tend to require increased grouser height for improved wheel performance. As a result, we introduce [Anonymized Robot Name], a multimodal wheel capable of continuously adjusting its grouser height for terrain adaptation. The platform was evaluated across four representative surfaces, including vinyl flooring, coarse rock, pea gravel, and sand under two packing states, spanning a range of granular conditions. Results from 750...
Abstract:In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of each decoded design (phenotype). This provides a scalable alternative to co-design algorithms that either train an individual policy for every robot, which is inefficient, or a monolithic universal controller for all robots, which results in overly conservative structures and behaviors. Our approach lies somewhere between these two extremes, preserving ancestral knowledge in a unified yet modular framework in which different body plans activate and deactivate different combinations of learned sensorimotor circuits for goal-directed behavior. This allows one part of the controller to be overhauled to better suit new species of designs as they...
Abstract:Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determining where to interact in complex visual scenes. While recent efforts introduce various forms of visual planning to address this issue, existing approaches either rely on global geometric cues, symbolic intermediate representations, or externally generated visual signals, which are often weakly coupled with downstream action prediction. In this work, we revisit visual planning in VLA systems and argue that effective planning should be local, visually grounded, internally generated, and directly aligned with action. Based on this insight, we propose Afford-VLA, a unified framework that internalizes task-conditioned affordance as an explicit visual planning interface within VLA models. Concretely, we...
Abstract:In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain environments. Series Elastic Actuation (SEA) introduces compliance to enhance disturbance rejection and enable force measurement via Hooke's Law but reduces system bandwidth. A custom Series Elastic (SE) element was retrofitted to a black-box actuator to mitigate non-linearities like backlash and static friction. Integrating the SE element enabled high-fidelity force measurements, improving force control bandwidth and performance. A torsional SE element was designed through Finite Element (FE) analysis, yielding a stiffness of 2155.4 Nm/rad. Open-loop force control bandwidth was measured for the original motor and the SEA-integrated configuration, while...
Abstract:We consider the problem of combining potential field and ergodic search on multi-robot systems. Traditional ergodic search algorithms use metrics for ergodicity that account for the desired distribution at different scales. Recently, a heat equation-driven ergodic approach was proposed, which adds flexibility to the smoothing of the ergodic metric. However, such an approach, as it is an isotropic diffusion, propagates the error uniformly in all directions, regardless of changes in the desired distribution. We introduce a general class of anisotropic diffusion formulation of the ergodicity problem, which generates a potential field for the ergodic search. We demonstrate that this approach generalizes previous results, which consider radial basis functions and the solution of the heat equation to represent the difference between the goal density distribution and the covered...
Abstract:Robots deployed in dynamic environments must contend with environment-driven changes that reshape computation at runtime: new tasks may appear, precedence relations can shift, and overall workload structure evolves, all of which degrade performance, especially when multi-task inference is required under tight resource and real-time budgets. We present RED, a real-time scheduling framework for multi-task deep neural network workloads on resource-constrained robotic platforms that adapts to Robotic Environmental Dynamics (RED) while preserving end-to-end timing guarantees under modeling assumptions. The core of RED is a deadline-aware scheduler that assigns intermediate sub-deadlines, allowing it to accommodate evolving computation graphs and asynchronous inference induced by unpredictable conditions. The framework also supports flexible deployment of MIMONet (multi-input...
Abstract:3D Visual Grounding (3DVG) is an essential capability for embodied AI, requiring agents to localize objects in 3D scenes based on natural language descriptions. Recent zero-shot methods leverage 2D vision-language models (LVLMs). However, they often rely on existing sets of multi-view images and struggle with the limited semantic and spatial details provided by standard 3D segmentation tools. We present $\textbf{AgentGrounder}$, a zero-shot 3D visual grounding framework that operates directly on colored point clouds without task-specific 3D training. Our approach follows a two-stage design: (1) an offline stage that applies 3D model to build an Object Lookup Table (OLT) with instance IDs, semantic labels, 3D bounding boxes; and (2) an online tool-driven agent that decomposes each query, retrieves only relevant candidates from the OLT, performs geometric scoring, and triggers...
Abstract:This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful execution of complex tasks, ensuring stability of human-in-the-loop systems on the $SO(3)$ manifold remains a largely unsolved challenge. We first propose a new control architecture in which a multi-robot system preserves invariance of the average information fed back to the human operator through so-called stealthy control, and the human intervention is mediated through a virtual leader, which is coupled with the robots via a passivity-based attitude synchronization law. We then rigorously prove closed-loop stability of the proposed human-in-the-loop system under the assumption that the human behaves as a passive system. To support this...
Abstract:Recent work explores new opportunities at the intersection of vision-language-action models (VLAs) and geometric foundation models (GFMs) for 3D reconstruction, such as VGGT. While the resulting geometric VLAs often show improved performance, it remains unclear (i) if modern VLAs already have sufficient geometric understanding to start with, (ii) what is the best architecture to inject geometric understanding into a VLA, and (iii) what is the effect of other design choices that affect geometric VLAs. In this paper we provide a rigorous experimental analysis to shed light on these questions, for a specific choice of VLA (GR00T-N1.5) and GFM (VGGT). Our first contribution is to formalize prior work's intuition that current VLAs lack geometric understanding, by providing a rigorous analysis based on linear probing. The analysis quantifies, for the first time, the "geometric gap"...
Abstract:Fisheye cameras are increasingly adopted in robotics for near-field manipulation, navigation, and immersive perception, yet indoor depth benchmarks with accurate ground truth are still missing. To address this, we introduce WideDepth - the first indoor dataset for fisheye depth estimation, featuring 101 scenes containing 5K high-resolution stereo pairs labeled with millimeter-level ground truth depth and disparity. Our dataset also includes paired pinhole and fisheye samples across varying fields of view and baselines in both horizontal and vertical stereo setups. We further propose a method to adapt pinhole-trained stereo models to fisheye images and introduce a novel stereo fisheye image generation pipeline based on high-resolution LiDAR scans. Leveraging these methods, we thoroughly evaluate state-of-the-art monocular depth, stereo matching, and depth completion models on...
Abstract:Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental interaction, the objects of learning are often fixed in advance, such as input features, recognition outputs, network structures, task goals, or action sequences. This limits their ability to adapt when new features, new categories, or more efficient task routines appear during long-term operation. To address this problem, this paper proposes a thinking-learning interaction model for autonomous robots. The core idea is that thinking guides learning by identifying potential changes, selecting useful evidence, organizing training materials, and planning verification actions, while learning promotes thinking by updating task knowledge...
Abstract:Alzheimer's disease is a neurodegenerative disorder marked by progressive declines in memory and language that reduce independence in daily life, motivating socially assistive robotic support. This paper presents MEMOR-E, a mobile quadruped robot with an interactive tablet interface that assists patients and caregivers through medication reminders, routine guidance, memory oriented interactions, and companionship. We evaluated the feasibility of fine tuning large language models (LLMs) to emulate stage consistent cognitive behavior and interpret responses across standard neuropsychological language tasks, using audio transcriptions from 235 Alzheimer's patients and synthetically generated healthy controls. We also report findings on using in context learning (ICL) in LLMs, where a second LLM produced domain and severity level cognitive error summaries. Our results show that...
Abstract:Vision-Language-Action (VLA) models widely adopt pretrained Vision-Language Models (VLMs) as policy backbones, yet it remains unclear what kind of pretrained VLM representation is useful as a VLA initialization. In this paper, we study VLA initialization as a controlled representation-design problem along three axes: capability-level embodied VQA supervision, parameter-update strategy, and robot-data pretraining. Our experiments show that the original pretrained VLM representation is a key source of action performance. However, embodied VQA adaptation does not yield uniform gains: its benefit depends on downstream bottlenecks, and gains from different capability domains are not simply additive. For update strategy, LoRA provides a more reliable initialization than Full Finetune, indicating that overly reshaping the pretrained representation can weaken VLA initialization...
Abstract:Vision-Language-Action (VLA) models commonly adapt pretrained Vision-Language Models (VLMs) to robot control by mapping visual observations and language instructions to continuous actions. Existing approaches typically take an action-insufficiency view, assuming that pretrained VLM latents either lack directly usable action information or should be shielded from action-learning signals. Against this view, our \textit{Quotient Theory for VLA} shows that pretrained VLM latents are not action-insufficient but action-sufficient: they already contain the information needed for control, yet remain overcomplete by distinguishing prompt-level variations that induce the same optimal action behavior. To operationalize this theory, we propose QuoVLA, a quotient-space framework for VLA that compresses pretrained VLM latents into action-sufficient representations. Specifically, QuoVLA...
Abstract:Classical noisy-label theory predicts that downstream performance under weak supervision is bounded above by the labeler's accuracy, implying a sharp crossover: once a gold-trained classifier matches the labeler, weak labels stop helping and start hurting. The prediction is theoretical; what is missing is a benchmark calibration that turns it into an instance-level statement for modern foundation-model labelers. We provide such a calibration for BiomedCLIP-generated weak labels on three medical-imaging benchmarks (PCAM, ISIC, NIH-CXR) and six downstream architectures spanning an 11x parameter range. The crossover predicted by theory appears at ng~100 on PCAM, 20-50 on ISIC, and 250-500 on NIH-CXR; weak labels above the crossover degrade AUC by up to -0.10. The location is architecture-invariant for four of five pretrained architectures, and a within-family DenseNet sweep (2.5x...
Abstract:Vision-Language-Action (VLA) models exhibit remarkable action generation for embodied intelligence, but their heavy compute make deployment on edge platforms impractical. Aggressive, sub-4-bit weight quantization is the natural solution, yet existing post-training quantization (PTQ) methods suffer severe performance degradation in this regime. To address this, we introduce ActQuant, an action-guided mixed-precision PTQ framework that operates in two stages: (1) an inter-tensor bit allocator that assigns each weight matrix a single bit-width based on how much it contributes to predicting the agent's actions; (2) an intra-tensor scale optimizer tunes per-block quantization scales using action-aware curvature, so that dynamic range is concentrated on the weights most influential for control. To deliver the on-device benefits of our aggressive quantization, we further introduce...
Abstract:Vision-Language-Action (VLA) models are increasingly deployed on real robots, where each predicted action is executed and each failure carries a safety cost. They reach high success rates on clean inputs but collapse under small adversarial perturbations. A $16/255$ PGD attack on OpenVLA-7B drops LIBERO success from above $95\%$ to under $5\%$. Empirical defenses recover some robustness at a cost in clean accuracy, but the literature does not say whether the trade-off has a theoretical floor. We prove that it does. For any VLA policy with discrete actions, the sum of capability (mutual information between policy action and oracle action) and robustness (mutual information preserved under adversarial perturbation, net of trivial channel leakage) is upper-bounded by a policy-independent budget: task entropy plus adversarial channel capacity. The proof is two applications of the...
Abstract:AI-enabled military systems are a fixture of modern military conflict. Applications vary from autonomous drones for surveillance and attack to AI-supported target selection. The importance of AI for modern conflict shows also in public disputes between governments and technology companies over the conditions for military access to frontier AI. Both military uses and government attempts at enabling and steering them happen before a backdrop of public opinion, yet we still know little about how people think about military AI. Drawing on a preregistered survey of 9,000 respondents in nine countries, including China, Germany, and the United States, we examine whether support for military AI is shaped primarily by general attitudes toward AI, principled opposition to lethal autonomy, or foreign-policy and geopolitical orientations. Across six military AI scenarios that vary in...
Opposition leader asks PM to declare which small businesses will receive a carve out from ‘broken promises and higher taxes’. Follow today’s news live Get our breaking news email, free app or daily news podcast ‘This is very good value for money for Australia’: Bowen defends COP role Chris Bowen, wh
US Central Command claims targets also included boats trying to lay mines, rattling ceasefire, while Iranians meet with Qatari prime minister in Doha Israel escalates strikes in Lebanon as Netanyahu vows to ‘crush’ Hezbollah At the beginning of the war Israel’s security elite warned that Benjamin Ne
Outrage as leaked documents reveal mining giant’s backsliding on commitments to slash emissions Adam Morton: Big Mining gets a $4bn tax break to use fossil fuel. It’s a strange way to tackle emissions Read more from the BHP files investigation here Get our breaking news email, free app or daily news
A 48-year-old and 35-year-old will be interviewed by police after their arrests at two separate locations in north-east Victoria Follow our Australia news live blog for latest updates Get our breaking news email, free app or daily news podcast Two men have been arrested in connection to Porepunkah s
Iranian officials went to Doha on Monday for the negotiations, hours before the U.S. military announced the strikes it said were intended to protect troops. Israel’s leader said his country plans to intensify attacks against Hezbollah, Iran’s ally, in Lebanon.
This blog is now closed – our live coverage continues here Ebrahim Rezaei, the spokesperson of the Iranian parliament’s national security and foreign policy commission, has said that time is working against the US and warned that Iran does not respond well to threats. In a post on X, he wrote: Durin
Three years after riots tore apart Manipur, the state remains in disarray. Barbed wire and armed checkpoints made it difficult for Times reporters to cross, even before the recent clashes.
Negotiators from Iran travelled to Qatar on Monday, with the fate of the country’s nuclear programme and access to frozen assets under discussion Middle East crisis – live updates The US has launched strikes on southern Iran in a test of the seven-week long ceasefire, as both sides played down hopes
The European Central Bank must raise interest rates next month even if there’s a quick resolution to the conflict in the Middle East, Executive Board member Isabel Schnabel told Reuters.
A Samsung Electronics Co. union representing workers outside the ultra-profitable semiconductor division asked a Korean court to block voting on a tentative deal that would distribute about 40 trillion won ($26.6 billion) in bonuses to chip employees.
Australian Prime Minister Anthony Albanese is facing mounting public and political pressure following last week’s federal budget, which included proposed changes to negative gearing and the capital gains tax (CGT) discount. Policy Institute of Australia CEO Amy Auster warns the tax changes could fai
Nisa Leung, Founding Managing Partner at Aulis Capital, discusses the investment opportunities in the healthcare sector. She speaks with Haslinda Amin from the sidelines of the JPMorgan Global China Summit in Shanghai. (Source: Bloomberg)
中文摘要 Aulis Capital 创始管理合伙人 Nisa Leung 在上海摩根大通全球中国峰会期间讨论医疗保健行业的投资机会,分析市场趋势和增长潜力。
Oil rebounded as fresh US military strikes in Iran clouded the outlook for an interim deal between Tehran and Washington to reopen the Strait of Hormuz, with the talks set to continue for several more days. Bloomberg's Garfield Reynolds has the latest. (Source: Bloomberg)
GSR Ventures Management Co., an early investor in Chinese social media app RedNote, is seeking investors for a new fund, according to people familiar with the matter.
"Bloomberg: The Asia Trade" brings you everything you need to know to get ahead as the trading day begins in Asia. Bloomberg TV is live from Tokyo and Sydney with Shery Ahn and Haidi Stroud-Watts, getting insight and analysis from newsmakers and industry leaders on the biggest stories shaping global