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 将任意代码库转换为可交互的知识图谱,帮助开发者直观探索、搜索和提问以理解代码结构。它利用图谱和 AI 技术,能与 Claude Code、Cursor 等编程助手集成,适合需要快速掌握大型或不熟悉代码库的开发者进行代码理解和学习。
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 面向 AI 代理(如 Claude Code、Codex)的性能优化与能力增强系统。它通过技能、直觉、记忆管理和安全框架,帮助开发者系统性地构建更强大、更可靠的代理应用,适用于需要开发复杂 AI 代理系统的工程师。
OpenStock is an open-source alternative to expensive market platforms. Track real-time prices, set personalized alerts, and explore detailed company insights — built openly, for everyone, forever free.
Persistent Context Across Sessions for Every Agent – Captures everything your agent does during sessions, compresses it with AI, and injects relevant context back into future sessions. Works with Claude Code, OpenClaw, Codex, Gemini, Hermes, Copilot, OpenCode + More
中文介绍 为 AI 代理提供跨会话持久记忆的解决方案。它能捕获代理在单次会话中的所有操作,通过 AI 进行压缩摘要,并在未来会话中注入相关上下文,从而维持任务的连续性和个性化,尤其适用于需要长期任务跟踪的复杂代理场景。
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 分享基于 Claude Code 的 7-agent 系统,通过多代理协作自动化软件开发,实现「睡着也能发功能」的高效工作流,区分 AI 编码与单纯打字加速的差异。
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 提供 AI agents 的完整课程,涵盖理论、实践构建和生产失败经验,花数周时间提炼,帮助读者全面理解 AI agents 的工作原理和应用。
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 构建 Claude Research Agent,每天早上自动浏览互联网并在 5 分钟内提供关键信息摘要,节省时间避免信息过载,提高日常信息获取效率。
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 分享使用 Cursor 编辑器的经验,对比 Claude Code 的流行,提及个人每月支付 $200 的计划,提供工具使用心得和实际投资考量。
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
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 分享 AI 视频制作的入门指南,包括工具选择和个人实践,基于收到私信,提供初学者友好的 breakdown 和仍处于学习阶段的实用经验。
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 分析 AI 替代工作的趋势,指出这已开始,是现代经济最大转变的开端,大多数人尚未意识到,强调其紧迫性和对社会的深远影响。
Amid rapidly growing adoption of enterprise-level AI agents, there’s a disconnect emerging between ambition and execution. Although 85% of organizations say they want to be agentic within the next three years, 76% say their current operations and infrastructure can’t support that change. They cite a
Haven’t you heard? White-collar jobs are going away, decimated by AI. Waves of layoffs in the tech sector (most recently at Coinbase and Meta and Cisco) are said to presage what will soon come for all of us knowledge workers. But before you quit your job as a software developer or financial analyst—
Artificial intelligence has not so far produced a clean story of mass unemployment. Aggregate employment in developed countries remains broadly stable, and recent assessments have found limited evidence that AI has shifted the headline numbers. But a troubling change may be hiding beneath the surfac
**Harness engineering** is emerging as the key differentiator for coding agents, emphasizing the stack of **model + harness + eval loop** over just stronger base models. **DeepSeek** is building a harness team to optimize interaction and verification loops, while **Google's Gemini Managed Agents** a
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 谷歌I/O大会展示了AI驱动科学研究的路径正在发生转变。DeepMind CEO Demis Hassabis宣称我们正处于「奇点的山脚」,暗示AI将在科学领域加速超越人类智能。
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.
Abstract:This paper addresses the fuzzy shortest path problem in directed graphs, where edge costs are modeled as generalized fuzzy numbers with Gaussian membership functions. We interpret height as an indicator of information reliability. Based on this view, we introduce a weighted geometric mean to aggregate heights during the addition of generalized Gaussian fuzzy numbers. We employ a reliability-aware ranking that jointly considers the core, height, and standard deviation of fuzzy edge costs to determine the shortest path, thereby capturing their central tendency, reliability, and variability while keeping Dijkstra-level complexity per relaxation. The method yields routes that are not only cost-efficient but also supported by highly reliable information. To assess robustness, we construct a crisp baseline from the ranking and conduct Monte Carlo alpha-cut sampling--drawing...
Abstract:Modern intrusion detection systems generate thousands of alerts daily, but alert fatigue severely limits security operations effectiveness due to too many false positives or low-impact events. We address this by proposing a principled framework for alert prioritization based on subnormal Gaussian fuzzy numbers, explicitly modeling three sources of uncertainty: threat severity, detection confidence, and organizational risk attitude. Each alert is represented as a fuzzy number with the core indicating severity, spread indicating uncertainty, and height reflecting detection reliability. We apply ranking indices to prioritize alerts, allowing organizations to tune security posture through a risk-attitude parameter. Experimental validation on CIC-IDS2017 and NSL-KDD demonstrates greater robustness than baselines under detector degradation (0.9963 vs 0.8215 NDCGrel@100), with...
Abstract:Machine learning systems face diverse threats that undermine robustness, privacy, and fairness. Although many defenses have been proposed, each typically addresses a single risk in isolation. Real-world deployments, however, require these defenses to be composed to meet multiple guarantees simultaneously. The process of composing defenses is complex and not well understood, and its impact on performance and security remains unclear. We present Landseer, a modular framework for integrating machine learning (ML) defenses into the ML lifecycle and systematically evaluating their composition. Landseer encapsulates defenses as containerized modules, allowing existing and new techniques to be plugged in with minimal effort. Its evaluation engine automates experiments across multiple metrics, supporting the study of defenses both individually and in combination. In a preliminary...
With the rapid proliferation of generative models, such as diffusion models, digital watermarking has emerged as a crucial solution for identifying AI-generated images. Modern post-hoc watermarking schemes use neural networks to achieve an extremely low false-alarm rate while remaining robust to common image transformations. However, there is a lack of comparison between these modern methods and classic ones, particularly in real-world scenarios where robustness and security take precedence over achieving an extremely low false-alarm probability. In this paper, we propose a fair comparison of robustness and security between modern and classic post-hoc watermarking across various types of classic augmentations and recent sophisticated attacks. Our experiments show that, in a realistic scenario, classic watermarking outperforms modern techniques in terms of security while maintaining...
Abstract:In this work, we propose BAIT (Boundary-Aware Iterative Trap), a three-step jailbreak framework that approaches malicious goals through internal disclosure. BAIT first asks the model to identify the protection boundary, then requires it to refine that boundary, and finally requests a detailed example. By expanding each step upon the model's previous responses, BAIT turns the model's own reasoning and consistency tendency into a disclosure pathway. Experiments on AdvBench, JailbreakBench, AIR-Bench, and SORRY-Bench demonstrate that BAIT consistently achieves strong attack success rates across top-tier large language models, significantly advancing conventional jailbreak baselines. Further analysis reveals that: 1) prevention-oriented framing significantly outperforms direct knowledge request; 2) the refinement step plays a critical role in disclosure escalation; and 3) the...
Abstract:As AI systems gain increasing autonomy and execution capability, the number of discovered security vulnerabilities continues to rise. However, many of these vulnerabilities are not fundamentally novel, but instead reflect recurring classes of weaknesses long observed in prior computing systems. Execution-capable AI agents are effectively unbounded, self-modifying programs that interact extensively with multiple layers of the computing stack. This broad interaction surface imposes a significant security burden on developers, who must reason about and secure complex cross-layer behaviors. Prior research has primarily focused on vulnerabilities in open-source agents and agent frameworks. In contrast, it remains unclear whether proprietary agent systems -- developed under stricter coding standards and formal review processes -- exhibit similar security weaknesses. In this paper...
Abstract:The Resource Public Key Infrastructure (RPKI) secures the Internet's routing system by defining a complex trust and validation framework for certificates, Route Origin Authorizations (ROAs), manifests, and Certificate Revocation Lists (CRLs). These mechanisms are specified across dozens of RFCs. This paper presents the first comprehensive analysis of the causal link between flaws in RPKI Requests for Comments (RFCs) and vulnerabilities in implementations and real-world deployments. We reveal how vague, conflicting, or underspecified requirements in 50 RPKI RFCs propagate into inconsistent implementation behavior and operational failures. We conduct the first large-scale, impact-driven evaluation of RPKI specifications. Our methodology combines differential fuzzing of major RPKI implementations with Internet-wide crawling and validation log analysis, enabling us to trace...
Abstract:Structured data is well handled by gradient-boosted decision trees (GBDT), which are usually trained on vertically partitioned features across mutually distrustful parties. High speed and interpretability make GBDTs popular in finance and healthcare, where neural networks may fall short. Enabling secure computation for GBDTs poses unique challenges, requiring secure record alignment for comparison. Relying on private set intersection (PSI) is a de facto approach. Mistaking PSI for a safety measure actually exposes which record identifiers (IDs) are shared between the datasets. Although circuit-PSI could help, it is costly for generic uses. New ideas are needed to efficiently train in a "dark forest". Aiming to hide the IDs, we initiate the study of anonymous GBDT training on split data held by two parties. Dual circuit-PSI in our design lets the parties alternate as receiver...
Abstract:In an era dominated by big data and machine learning, establishing valuable data collaboration has never been more critical. However, such collaborations must operate under regulatory and legal constraints. Two-party Privacy-Preserving Record Linkage (PPRL) emerges to assess the potential collaboration value and also ensure the privacy and security of the involved data. Nevertheless, the substantial computational and communication overheads associated with PPRL hinder its practical adoption in data markets with numerous potential collaborators. Therefore, we present the Screening-then-Linkage framework, which incorporates a lightweight Screening phase prior to the resource-intensive PPRL phase, i.e., PPRS, to mitigate the scalability issue of PPRL. We propose a circuit-PSI-based system, named Appraisal to realize a secure, effective, and efficient PPRS. To reconcile the...
Unmanned aerial vehicle (UAV) swarms are increasingly deployed in vast low-altitude applications, owing to their capabilities in distributed sensing, flexible communication, and autonomous coordination. Nevertheless, the open and highly dynamic operating environment of UAV swarms introduces serious security risks, including GPS spoofing, insider threats, and multi-hop intrusion. These threats are aggravated by limited on-board resources, frequently changing network topology, and the presence of intelligent adversaries. To tackle these issues, this paper proposes a cloud-edge-end collaborative defense framework for UAV swarms. Based on this framework, three complementary mechanisms are developed. First, a cooperative perception scheme is designed to resist GPS spoofing via interactive attack-defense game modeling. Second, a behavior-driven authentication method with trust evaluation is...
YARA rules are widely shared across threat intelligence communities to enable collective defence against malware. This practice implicitly assumes that removing metadata (e.g., author fields) sufficiently protects the identity of contributing organisations. To assess the validity of this assumption, we systematically evaluate how much can be inferred from YARA rule text alone. Specifically, using a corpus of 23,305 rules from three major public repositories, we train independent classifiers along four stylometric fingerprint dimensions: individual author, source repository, malware family, and temporal drift, using three complementary methods: lexical n-grams (Burrows' Delta), syntactic AST features (Caliskan-Islam), and fine-tuned CodeBERT. Our results demonstrate that repository origin is almost perfectly recoverable (up to 99% accuracy), individual authors can be re-identified well...
Abstract:Retrieval-augmented generation (RAG) increasingly underpins high-stakes applications, yet remains vulnerable to Confundo-style poisoning where adversarially optimized documents manipulate generated outputs. Existing defenses assume that detecting poisoned evidence prevents harm. We show this assumption is incorrect: models exhibit a monitoring-control gap -- they can detect contradictions in retrieved evidence yet still act on poisoned claims. We introduce the Cordon Principle -- no agent capable of final synthesis may access untrusted natural-language evidence -- and realize it through CORDON-MAS, a compartmentalized framework that enforces this principle architecturally by separating evidence extraction, cross-source audit, and answer synthesis into agents with asymmetric memory privileges. Across five BEIR datasets, CORDON-MAS reduces attack success rate by 92.4\% relative...
Abstract:Cross-slice attack attribution in 6G networks requires identifying causal propagation chains through shared infrastructure in under 100 ms. Existing methods struggle to satisfy this strict SLA without sacrificing accuracy, because shared resource contention creates spurious correlations that are indistinguishable from genuine causal links under standard Granger tests. We propose DA-GC, a certified causal attribution framework that integrates resource-conditioned Granger causality with an axiomatically derived Resource Contention Model (RCM) to systematically block resource-mediated confounding. On a 15-slice production-emulation 6G testbed with 1,100 attack scenarios, DA-GC achieves 89.2% attribution accuracy at 87 ms. This represents a 7.9 percentage-point improvement over the strongest baseline at 2.7x lower latency, alongside demonstrated cross-topology generalization and...
Shared library hijacking attacks in the Linux ecosystem, including embedded Linux, are a significant concern. It fundamentally exploits the dynamic linker's library-resolution semantics rather than modifying trusted libraries directly. Prior research has extensively analyzed attack vectors exploiting environment variables, embedded search paths, and dynamic loader internals, demonstrating that hijacking is rooted in fundamental loader behavior rather than isolated misconfigurations. Existing defenses either harden or replace the loader, enforce control-flow integrity after libraries are loaded, or apply file-centric integrity mechanisms such as signatures and measurement frameworks. However, these approaches fail to address a critical gap: none verify whether the shared object actually resolved by the loader is the intended and trusted one. In this paper, we argue that shared library...
Abstract:The Resource Public Key Infrastructure (RPKI) has become essential to secure inter-domain routing. Despite its critical role, RPKI software remains largely untested beyond shallow parsing. Existing fuzzers, like AFL++ or libFuzzer, do not work well for RPKI as they assume a single, self-contained input per execution, while RPKI repositories contain hundreds of interdependent cryptographically linked objects. Existing fuzzers fail to handle this complexity and lack the ability for precise coverage attribution in multi-object repositories, breaking feedback-based exploration and thereby missing most severe vulnerabilities in RPKI validation. In this paper, we overcome these limitations through novel fuzzing techniques, including continuous sampling and using functions as side-channels for per-object coverage attribution in large input repositories. We further show how parsing...
Security risk analysis typically treats control effectiveness as a static input, yet controls degrade through configuration drift, depend on monitoring systems that may themselves be degraded, and compete for finite remediation budgets. The FAIR Controls Analytics Model (FAIR-CAM) provides the theoretical framework for these dynamics but has so far remained theoretical. We present the first agent-based model to operationalize the core FAIR-CAM dynamics, making control physiology computationally observable, and release the implementation as open source. The simulation implements eight agent types, a multiplicative defense-in-depth susceptibility formula, a three-source variance model, budget-constrained remediation, and a narrative causation engine that produces a complete causal trace for every loss event. In a hospital ransomware scenario (N=1,000 iterations), three organizational...
Abstract:Large language models (LLMs) are often fine-tuned on uncurated text datasets that adversaries can poison. Existing poisoning attacks primarily rely on fixed trigger phrases that defenses such as outlier detection, clean-data regularization, or online monitoring can neutralize. In this paper, we propose a data poisoning method that teaches an LLM an information hiding scheme reliably and stealthily through semantic associations between shared knowledge such as facts or concepts and attacker-chosen phrases. The induced hiding scheme can encode and decode arbitrary malicious instructions, thus revealing a new and subtle poisoning-induced vulnerability: covert control attacks. We precisely characterize covert control attacks and evaluate them across $5$ LLMs, $3$ backdoor defenses, and $4$ prompt injection defenses. With a small poisoned fraction, covert control attacks outperform...
Abstract:Fine-tuning Large Language Models with untrusted data exposes models to backdoor attacks, where poisoned samples cause targeted misbehavior. Existing sample-filtering defenses rely on clustering, which requires sufficient data and can fail at extreme poison ratios. We propose GradSentry ({Grad}ient {Sentry}), a backdoor sample filtering method based on the spectral entropy of per-sample gradients. Our key finding is that poisoned samples produce gradients with higher spectral entropy compared to clean samples. GradSentry captures output-altering backdoor signatures using per-sample gradient spectra, avoiding pairwise sample comparisons and clustering during feature construction. Importantly, our method is training-agnostic: it works for both parameter-efficient fine-tuning methods like LoRA and full-parameter tuning, as the gradient analysis operates independently of which...
Large language models (LLMs) now support automated software security tasks, including vulnerability discovery and proof-of-concept (PoC) generation. Existing benchmarks do not faithfully evaluate LLMs in real-world bug hunting scenarios because they rely on fuzzing harnesses, target-specific descriptions, or vulnerability-reproduction tasks. We present SEC-bench Pro, a benchmark for measuring agent bug hunting on critical, high-complexity software systems. This work discloses reports with concrete PoC inputs and links fixes into reproducible tasks through a three-phase pipeline for vulnerability collection, environment reconstruction, and oracle-based validation. We instantiate SEC-bench Pro with 183 validated vulnerabilities across V8 and SpiderMonkey, including a V8 subset with more than $1.5 million in cumulative Google Vulnerability Reward Program awards. These instances span...
Abstract:Tool-using agents increasingly operate in open-ended deployment environments, where they compose file systems, web APIs, code interpreters, and enterprise services at runtime. This creates a safety gap in tool composition: an agent can satisfy every per-tool permission check and still produce an unsafe end-to-end effect, such as reading a confidential document, summarizing it, and sending the summary to an external endpoint. We call this failure mode permission laundering. ChainCaps addresses it with a runtime rule: every value carries a sink-specific capability budget, and tool composition propagates budgets by intersection. A value can preserve or lose authority as it moves through a tool chain, but it cannot gain new authority through composition. We implement ChainCaps as a transparent MCP proxy that requires no changes to the agent or tool servers. On 82 tasks across five...
Abstract:LLM-based agents are increasingly deployed in high-stakes scenarios such as email management, financial transactions, and code execution, where they interact with the external world through tool calling. During execution, these agents must read external data sources (emails, webpages, files) that attackers can control; through indirect prompt injection, attackers embed malicious instructions in this data to manipulate agents into performing unauthorized operations such as transferring funds to attacker-controlled accounts. Existing defenses either perform tool-call-level value checking without tracking where parameter values originate, or analyze execution traces from a single perspective without a clean authorization baseline for comparison. We propose AuthGraph, a dual-graph alignment defense framework that constructs two complementary graphs: an injected reasoning graph...
Local Differential Privacy (LDP) has become the de facto standard for privacy-preserving data collection in large-scale systems, in particular for the purpose of estimating frequencies. However, the current research landscape lacks a systematic and principled way to compare LDP protocols. The parameter $\varepsilon$ of LDP is considered the measure of privacy, but it only bounds worst-case distinguishability. Other comparisons rely on utility-driven analyses, where mechanisms are ranked based on their ability to preserve data utility for a given privacy budget $\varepsilon$. Both such kinds of comparisons fail to account for the strength of protocols against diverse attacker models. In this paper, we propose a framework for analyzing LDP frequency estimation protocols through the lens of Quantitative Information Flow (QIF). By modeling LDP mechanisms as probabilistic channels, we...
Abstract:Evaluating and mitigating a generative system's susceptibility to jailbreak attacks is critical to its safe deployment. Given the number of deployable systems, full per-configuration evaluation and optimization is impractical. In this paper, we formalize the behavioral geometry of a population of models that, by leveraging previously evaluated and defended models, supports both efficient susceptibility prediction and effective defense transfer across a population. We apply the framework to 79 models spanning 24 providers and to 100 system configurations of a single base model. Simple methods that use the behavioral geometry reach an AUPRC of $0.94$ for susceptibility detection with $\approx98\%$ fewer probes relative to a full evaluation. Using the behavioral geometry to select which model to transfer an optimized defense from outperforms same-provider assignment ($+2\%$, $p =...
Metric Differential Privacy (mDP) generalizes differential privacy by allowing privacy guarantees to be expressed with respect to an arbitrary distance metric over secrets. While mDP has been adopted in geo-location protection, most existing mechanisms perturb each location record in isolation and do not model how contextual information (e.g., recent mobility history) affects the utility of the released data. This mismatch is particularly pronounced for vehicle mobility traces, where service quality often depends on temporally correlated locations. In this paper, we propose Context-aware mDP (C-mDP), a framework for vehicle location privacy that incorporates contextual dependencies into both the utility model and the privacy notion. C-mDP treats the protected secret as a context-augmented record and enforces metric indistinguishability over this augmented domain. We formulate optimal...
Abstract:Software-Defined Networking (SDN) provides flexible and programmable network management; however, its centralized control architecture remains highly vulnerable to Distributed Denial-of-Service (DDoS) attacks, particularly Carpet-Bombing DDoS attacks that distribute malicious traffic across multiple targets to evade conventional detection mechanisms. In this paper, a Retrieval-Augmented Generation (RAG)-based framework is proposed for real-time detection and mitigation of Carpet-Bombing DDoS attacks in SDN environments. The proposed framework combines interface-level traffic features representation, semantic embedding generation, FAISS-based similarity retrieval, and Large Language Model (LLM)-driven contextual inference to classify traffic behavior without requiring conventional supervised model training or retraining. To evaluate the effectiveness of the proposed framework...
Abstract:AI agents increasingly run untrusted code on developer machines: shell commands generated by language models, third-party scripts retrieved at runtime, and tool plugins of unknown provenance. Existing isolation mechanisms impose tradeoffs that fit this workload poorly: containers and microVMs add privilege, image-management, and startup costs, while ad-hoc process controls and wrappers (e.g. chroot, ulimit) provide weak guarantees and little syscall-level control. Sandlock is a lightweight Linux process sandbox organized around a simple split: static, input-independent policy is compiled into kernel-enforced rules, while a narrow supervisor handles runtime-dependent decisions and virtualized effects. This split lets Sandlock enforce filesystem, network, IPC, and syscall policies without root, cgroups, images, or mandatory namespaces. It also supports dynamic network decisions...
Abstract:LLM agents process trusted instructions, retrieved records, and tool observations through a common generative channel. This conflates data flow with authority: an untrusted string can affect a secret-bearing response or an action proposal even when no application policy authorizes that influence. We introduce AgentSecBench as an empirical instantiation of a formal security framework for this problem. The framework defines three games-instruction-integrity, retrieval-confidentiality, and capability-integrity-under a common notion of intent-to-execution noninterference with permitted leakage. It represents an application policy as a projection onto authorized observations and capabilities, distinguishes prompt annotations from enforcing projections, and measures both adversarial advantage and whether a defense closes the relevant model-visible channel before generation. The...
Abstract:LLM-based agents are increasingly used for cybersecurity tasks, but most existing systems rely on fixed, human-designed scaffolds that struggle to adapt across diverse targets and failure modes. We introduce \textsc{CyberEvolver}, a self-evolving cybersecurity agent framework that iteratively revises its own scaffold based on experience from failed execution attempts. Self-evolution in cybersecurity is challenging because the space of possible scaffold changes is largely unstructured, execution feedback is sparse and often obscured by the environment, and low-diversity updates can cause errors to compound over repeated iterations. \textsc{CyberEvolver} addresses these challenges with a four-layer evolvable agent architecture that decomposes scaffold optimization into structured components, a trace-to-diagnosis mechanism that converts noisy execution logs into actionable...
Abstract:The rapid proliferation of Internet of Things (IoT) devices has created an urgent demand for adaptive, resource-efficient Intrusion Detection Systems (IDS) capable of handling dynamic and evolving cyber threats. This paper investigates AOC-IDS, a state-of-the-art autonomous online IDS published at IEEE INFOCOM 2024, which employs an Autoencoder (AE) with Cluster Repelling Contrastive (CRC) loss and an autonomous Gaussian-based decision module. We first successfully replicate AOC-IDS on the UNSW-NB15 benchmark, achieving 89.39% accuracy in close agreement with the published 89.19%. We then identify four key limitations: class imbalance, unreliable pseudo-label generation, limited generalization, and computational overhead for IoT deployment, and propose targeted improvements for each. Our XGBoost-BalSamp method achieves 95.45% accuracy on UNSW-NB15, a gain of 6.26% over the...
Abstract:Safety alignment in large language models (LLMs) and multimodal large language models (MLLMs) is commonly assumed to operate as a near-binary threshold mechanism. We challenge this assumption by revealing that safety behavior is governed by an instability region where small perturbations induce stochastic refusal decisions rather than deterministic outcomes. We develop a multi-metric diagnostic framework combining external and internal signals to characterize this instability. Through systematic experiments, we identify a characteristic diagnostic signature: inputs in unstable regimes exhibit elevated output uncertainty yet decreased internal safety activation, a decoupling phenomenon that explains why detection-based defenses fail against sophisticated attacks. Building on this framework, we introduce Furina, a jailbreak attack that deliberately induces this signature through...
Abstract:The known stylistic biases in LLM judges, such as a preference for verbosity or specific sentence structures, present an underexplored security vulnerability. In this work, we introduce BITE (BIas exploraTion and Exploitation), a black-box adversarial framework that learns semantics-preserving edits to mislead an LLM judge and artificially inflate the scores it assigns. We cast the selection of stylistic edits as a contextual bandit problem and use a LinUCB policy to adaptively choose edits that maximize the judge's score without access to model parameters or gradients. Empirically, we test BITE across a diverse range of LLM judges and tasks, including both pointwise and pairwise comparisons on chatbot leaderboards and AI-reviewer benchmarks. BITE achieves an attack success rate exceeding 65% and raises scores by 1-2 points on a 9-point scale, all while preserving semantic...
Abstract:LLM-driven agents are capable of selecting external tools to complete users' tasks. However, attackers could compromise such process, steering agents toward inappropriate/wrong tools and enabling malicious actions. Most existing attacks primarily manipulate the tool metadata, which is easily detectable by auditing and may lose effectiveness as modern agents increasingly adopt memory modules to refine tool selection policies through accumulated experience. This paper proposes MemMorph, the first attack that bias tool selection by poisoning the agent's long-term memory. Rather than explicitly dictating the tool invocation decision, MemMorph injects a small number of crafted records that are disguised as technical facts, incident reports, and operational policies. These poisoned records reshape the agent's contextual perception and decision-making process, leading it to...
Abstract:Counterfactual tuning (CFT) has emerged as a promising paradigm for Large Language Model (LLM) unlearning by training models to generate alternative fictitious knowledge in place of undesired content. However, in this work, we find that this paradigm still underperforms other paradigms in some aspects, and identify two previously overlooked pitfalls underlying this gap: (1) knowledge conflict, where mutual inconsistencies within counterfactual corpora induce conflicting gradients that disrupt parameter optimization, and (2) hallucination spillover, where fitting false targets instills a persistent fabrication bias, inflating hallucination rates on unrelated domains. To systematically diagnose these issues, we introduce RWKU+, an extended benchmark equipped with novel trade-off metrics and gradient-level diagnostic tools. Our work further discusses the limitations and overhead...
Abstract:Prompt injection poses a critical threat to the safe deployment of large language models, yet existing detection approaches are typically evaluated under limited settings that do not reflect real-world operating constraints. In this work, we present a deployment-aware evaluation of prompt injection detection using a multi-model and multi-regime experimental framework. We compare lexical, semantic, structural, and transformer-based detectors across multiple out-of-distribution settings, repeated data splits, and both ranking and thresholded deployment metrics. We introduce interpretable structural signals that capture hierarchy overrides, system prompt spoofing, role redefinition, and evasion patterns, and assess their contribution both within sparse models and in combination with strong encoder baselines. Our results show that detection performance is highly regime-dependent...
Reliable watermarking of panoramic imagery is fundamentally challenged by arbitrary 3D rotations. As panoramas are defined on the sphere, they naturally transform under the action of $SO(3)$, rendering conventional planar representations and augmentation-based robustness strategies inadequate and devoid of theoretical guarantees. To address this, we formulate panoramas as spherical signals and leverage $SO(3)$ representation theory to derive provably rotation-invariant descriptors. While spherical harmonic coefficients transform equivariantly under rotations, the natural invariant constructions are typically limited to zeroth-order statistics which eliminate directional information and severely constrain embedding capacity. In this work, we introduce a principled third-order invariant construction by coupling higher-order $SO(3)$ irreducible representations via tensor products and...
Abstract:FuzzPilot is a controller for AFL++ that moves expensive reasoning out of the mutation hot path. When coverage plateaus, it snapshots the corpus, prepares candidate mutation recipes, evaluates them in short isolated AFL++ micro-campaigns, and promotes only recipes with positive validation reward. Recipes are JSON data, not generated code: a native custom mutator consumes operator weights, byte ranges, corpus-selection rules, and dictionary tokens. Candidate recipes can come from local rules or from a language-model agent, with Ghidra-derived constants and decompiled context as target hints. This preprint reports a deliberately narrow cJSON evaluation. We compare vanilla AFL++ and the full FuzzPilot agent over five 14,400 s repetitions per arm. cJSON is saturated: baseline AFL++ reaches the exposed 269-edge ceiling at a median of about 2,500 s. The experiments therefore do not...
Recent defenses for safeguarding open-weight large language models (LLMs) are intended to prevent adversarial usage. Underlying these defenses is an assumption that new harmful behavior is learned through fine-tuning rather than elicited by jailbreaking the model. Yet, pretrained LLMs already encode substantial harmful knowledge across many domains, which raises an important question: can an adversary jailbreak safeguarded models, to achieve harmful usage without fine-tuning at all? In this paper, we show that open-weight safeguards are susceptible to simpler strategies that, despite being well known, have not been systematically evaluated against these safeguards. Specifically, we evaluate two low-cost attacks--abliteration and prefilling--that do not rely on gradient-based optimization. Across three harmfulness evaluation benchmarks (BeaverTails, HarmBench, and AdvBench), these...
Abstract:Trusted Execution Environments (TEEs) protect confidentiality and integrity of trusted applications by creating an isolated environment for executing code. Prior work has shown that users may feel more comfortable sharing data when they know it will be protected by a TEE, especially if they understand what a TEE is. In this study, we evaluated text-based explanations introducing TEEs to non-experts. We analyzed existing TEE explanations to develop candidate explanations and evaluated them via vignette scenarios with 966 crowdworkers. The explanations that enhanced understanding most were non-technical ones that highlighted specific threats that can be prevented by a TEE. Surprisingly, even the explanations that enhanced understanding had little effect on willingness to use the TEE-enhanced technology. These results provide insights into ways to communicate technical security...
Abstract:Large language models are increasingly used as orchestrators of external tools via the Model Context Protocol (MCP), but MCP is built for software services with megabytes of memory and does not descend to the microcontrollers that dominate the long tail of physical devices. Recent work (IoT-MCP) ports MCP to edge gateways at 74 KB peak memory; this still excludes the smallest commodity MCUs and, critically, does not address the safety problem of giving an unreliable caller (an LLM that may hallucinate or be prompt-injected) direct control of physical hardware. We present the Device Context Protocol (DCP): a sub-50-byte typical frame (6-byte header + CBOR payload + optional 16-byte HMAC), a manifest schema in which capability scoping, range and type checks, dry-run evaluation, and units-as-types are protocol-layer primitives, and a host-side Bridge that rejects malformed or...
Abstract:Urban decarbonization requires scaling rooftop solar across millions of fragmented producers, yet cities face a fundamental tension: energy data is easily manipulated, and economic incentives often reward speculation rather than actual infrastructure deployment. We present SolarChain, a platform that resolves both problems by anchoring digital accountability to the thermodynamic limits of solar energy conversion. Using real-time meteorological data, geospatial coordinates, and first-principles calculations of solar yield, the system establishes a hard physical boundary for every panel's maximum possible output; any reported generation exceeding this limit is automatically rejected before entering the shared ledger. This trustless verification enables a peer-to-peer marketplace with programmatic reward structures that continuously reinvest value into equipment maintenance and...
Vision-Language-Action (VLA) models are increasingly expected to not only complete robot tasks, but also follow human instructions about how those tasks should be executed. However, existing robot datasets usually pair trajectories with coarse goal-level language, leaving execution-critical details such as active arm, approach direction, and contact region unspecified. This limits steerable policy learning and robotic video understanding. We introduce FineVLA, an open framework for action-aligned fine-grained VLA supervision. The framework includes: (1) a data construction tool that unifies 972,247 trajectories across 85K tasks from 10 open-source robot datasets and builds FineVLA-Data, a human-verified dataset of 47,159 fine-grained trajectories; (2) a held-out benchmark with 500 videos, 10,816 atomic facts, and 1,030 VQA questions; (3) a robotics-specialized VLM annotator for...
Learning from demonstrations is effective for robotic manipulation, but collecting sufficient task-specific data remains a major bottleneck. Under distribution shift, small errors compound, performance degrades, and expert time is often spent on redundant, low-value corrections instead of the few critical failure cases.
第一作者: Alberto Garzás-Villar · 方向: 具身智能 · 来源: cs.RO
05/26 17:51
触觉反馈力量生成训练虚拟现实康复具身认知
Robotic haptic devices combined with virtual reality offer novel opportunities to train fine force generation, an essential yet overlooked component of post-stroke rehabilitation. This study proposes that manipulating the rendered dynamics of tangible virtual objects can be leveraged to train precise force control while engaging the somatosensory system. We conducted an experiment with fifty healthy participants who performed a curling-inspired task in which they had to stretch a virtual spring to generate a target release force to propel the stone to a predefined location on the ice sheet. During training, the spring's force-elongation relationship was modeled as either a linear or non-linear function, i.e., a Gaussian or antisymmetric Gaussian (AS-Gaussian) function with zero derivative at the release target force. Results indicate that the AS-Gaussian group consistently achieved...
Mobile robots can fail before they collide: a velocity that is safe now may commit the robot to a passage that moving obstacles will soon close. We study this predictive near-miss commitment problem and propose Risk-Sensitive Conjectural Scenario Planning (RCSP), a planning layer that evaluates candidate commands against plausible short-horizon obstacle futures. RCSP maintains a lightweight belief over local motion conjectures, samples future interactions, penalizes high-risk tails, and executes through a local safety check. In controlled MuJoCo bottleneck tasks, the RCSP planner reaches the goal without collisions and yields higher secondary safety and path-quality point estimates than a non-adaptive predictor, with additional latency. In ROS2/Gazebo, adding the local safety layer to a standard Nav2 stack reduces dynamic near-miss failures. On official DynaBARN/Jackal transfer, tuned...
Accurately estimating object mass and friction is fundamental to achieving reliable and adaptive robotic manipulation. Although interactive perception provides a powerful mechanism for inferring such properties, most existing approaches depend on specialized hardware such as force/torque sensors, tactile arrays, or multi-camera motion-capture systems, limiting scalability and deployment. This paper presents PhyPush, a physics-guided Transformer framework that estimates an object's mass and friction coefficient using only kinematically derived end-effector velocity from a single push. This typically requires data available on standard robotic arms. The model incorporates constraints from Newton's second law and the Coulomb friction model through a physics-guided loss, improving physical consistency and generalization to unseen objects and surfaces. Across diverse simulation and...
Abstract:Motor thermal management is often overlooked in the context of electrically-actuated robots, particularly legged robots, but motor overheating is a key factor that limits long-duration locomotion especially under payload conditions. This paper integrates a whole-body thermal model of a quadruped robot into the reinforcement learning pipeline to update motor temperatures, and proposes a two-stage training framework for motor thermal management. In this framework, a nominal policy is first pre-trained as a locomotion baseline capable of traversing diverse terrains. A residual policy is then trained on top of the nominal policy to provide corrective actions based on the robot's thermal state, ensuring high performance under low-temperature conditions and preventing motor overheating under high-temperature conditions. Simulation results demonstrate that the proposed policy...
Abstract:Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a concept known as shared intelligence. Additionally, humans are characterized by physical bodies and cognitive abilities that are optimized in response to their environment, a phenomenon referred to as embodied cognition. Designing humanoid robots that collaborate safely and effectively with people requires unifying these principles. Here we propose an architecture that integrates shared intelligence and embodied cognition to enable robots to physically collaborate with humans, where robot hardware and control are optimized for human metrics, using representations of the human body and motion intelligence. The ultimate goal is to achieve a form of shared embodied intelligence. Specifically, our...
Abstract:Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling solutions-organisms like mantis shrimps and fleas utilize latch-mediated spring actuation (LaMSA) systems that achieve rapid movements through a decoupled energy storage and release mechanism. Despite extensive studies of LaMSA, replicating such rapid, asymmetric actuation within simple, compact structures remains challenging. In this work, we introduce a bioinspired, soft bistable actuator with an integrated latch mechanism that enables asymmetric energy input and release using a single motor. Coupled with fin structures, this design facilitates efficient underwater propulsion and maneuverability. Experimental results demonstrate stable periodic flapping...
Abstract:Learning from Demonstration~(LfD) should capture not only how a task is executed, but also its high-level task structure that explains the demonstrated behavior. As robots become more autonomous, such task representations must be inspectable, reusable, and human-interpretable. To address this, we study how to represent and learn robotic tasks with inductive logic programming~(ILP) by decomposing a complex task into a series of simpler learning objectives at different abstraction (ontological) levels. The system infers symbolic rules from demonstrations and prior (domain) knowledge, and reuses learned rules when learning higher-level task structure. We evaluate the approach in a synthetic block-assembly scenario and show that the learned abstractions are interpretable and support strong generalization to harder, held-out tasks with unseen objects. These results provide...
Abstract:Vision-language-action (VLA) models provide a promising foundation for general-purpose robotics. However, their successful deployment in real-world scenarios requires the ability to continually acquire new skills while retaining previously learned behaviors. While pioneering research has studied the continual learning of VLA models in narrowly simulated environments, this challenge remains largely unexplored under realistic conditions. To address this limitation, we construct a real-world continual learning dataset comprising four sequential manipulation tasks, spanning rigid-object pick-and-place, contact-rich pressing, and deformable-object folding. Using this dataset, we conduct comprehensive experiments and find that VLA models suffer significant catastrophic forgetting when continually learning from heterogeneous real-world demonstrations. We then systematically evaluate...
Abstract:The distance at which a mobile robot reacts to a person strongly impacts various qualities of the human-robot interaction. In this paper, we focus on the navigation of a mobile delivery robot platform in a residential indoor hallway environment. Social navigation methods typically focus on avoiding uncomfortable human-robot interactions, such as when a robot encroaches on someone's personal space. Since personal space has been shown to be in the range of just a few meters, social navigation methods typically focus on deconflicting and resolving these short-range interactions. In this work, however, we demonstrate that by extending the reaction distance to over eight meters, far beyond the typical interaction distance, we can improve the human's perception of the robot's motion. We introduce the Proactive Lane-Changing (PLC) motion pattern and a navigation system that leverages...
Abstract:RGB-based imitation learning requires many demonstrations to generalize to unseen objects or scenes, motivating research into intermediate representations to improve generalization for robotic manipulation. Visual foundation models enable one-shot extraction of keypoints to provide such representation. However, it remains unclear how to integrate them into imitation learning optimally and when they outperform alternative representations. We combine approaches from previous works on keypoint imitation learning (KIL) and investigate several design choices to provide practical guidelines. Using over 2000 real-world rollouts, we also assess the generalization capabilities of KIL to unseen objects and scene variations. KIL achieves a 75% overall success rate across five tasks, significantly outperforming the RGB baseline (47%) and performing on par with S2-diffusion (73%). Finally...
Abstract:This paper presents L-Learning, a novel data-driven control framework for robotics that integrates Lyapunov stability theory with Lagrangian mechanics to enhance trajectory tracking performance. While traditional control methods often suffer from performance degradation in dynamic and uncertain environments, data-driven approaches, while more adaptable, are frequently limited by high sample complexity and a lack of rigorous stability guarantees. L-Learning mitigates these challenges by explicitly learning the system's energy function from data, thereby optimizing performance while ensuring closed-loop stability intrinsically. Characterized by superior control accuracy, theoretical stability guarantees, and high sample efficiency, L-Learning represents a promising solution for practical robotic applications.
Abstract:Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from simulation to the real world (sim-to-real) remains a formidable challenge due to the domain gap. This paper presents HyperSim, a holistic framework spanning from synthetic data generation to policy training and seamless real-world deployment. To systematically bridge the sim-to-real gap, HyperSim is realized through three core pillars: high-fidelity environment synthesis, adversarial trajectory generation, and sim-and-real co-training. Collectively, these modules address domain discrepancies by enhancing visual fidelity, expanding data coverage, and enforcing domain-invariant representations. We rigorously validate HyperSim through a large-scale...
Abstract:Most existing embodied intelligence methods formulate perception, reasoning, planning, and control within a unified parameterized policy. Yet these capabilities are inherently hierarchical and heterogeneous, making them difficult to reliably learn and modularize within a single model. We propose a capability externalization approach that decouples heterogeneous capabilities into independently optimized tools, dynamically invoked at inference time. To this end, we introduce Embodied Tool Protocol (ETP), a standardized protocol for embodied tool registration, discovery, invocation, and execution, and curate 100+ validated tools spanning perception, cognition, reasoning, and execution as the tool base. Building on this, we construct EmbodiedToolBench to evaluate both whether tool augmentation improves embodied performance and how well current models use tools across...
Abstract:We present a provably safe sampling-based motion planning algorithm for robotic systems affected by random disturbances of unknown distribution. We consider systems with linear or linearizable dynamics evolving in workspace with arbitrary-shaped obstacles subject to state and control constraints. Safety requirements are formulated as chance-constraints. Our approach leverages data from trajectories of the system to learn a Wasserstein ambiguity tube, i.e., a sequence of ambiguity sets, which contains the trajectory of the system's state distribution with high confidence. This ambiguity tube is then used in a probabilistically complete algorithm to grow a sampling-based motion planning tree that respects the constraints of the problem. We show that learning several lower-dimensional ambiguity tubes instead of a single high-dimensional one effectively reduces the conservatism...
Abstract:We present the stochastic decoupled policy gradient (SDPG), a lightweight visual reinforcement learning (RL) method that trains diverse visuomotor control policies end-to-end within a few hours on a single NVIDIA RTX 4080 GPU. SDPG estimates policy gradients via random perturbations of trajectory rollouts, requiring orders of magnitude fewer batch-rendered environments and substantially reducing compute and memory overhead. On visual MuJoCo benchmarks, SDPG consistently outperforms baseline methods in training time, memory usage, and rewards. Finally, to support future research, we introduce a suite of realistic visual robotics benchmarks spanning dexterous manipulation, challenging locomotion, and demonstrate effective sim-to-real transfer on physical hardware.
Abstract:Safe reinforcement learning (RL) for robotic systems requires policies that improve task performance while satisfying state and input constraints during both training and deployment. Control barrier functions (CBFs) provide a principled mechanism for enforcing forward invariance through minimally invasive safety filters, but their use in model-free RL is limited by the need for accurate dynamics and hand-designed barrier certificates. We propose Robust Koopman-CBF SAC, a safety-filtered actor--critic framework that learns a finite-dimensional Koopman predictor from data, constructs affine CBF constraints in the lifted space, and enforces them through a quadratic-program safety layer. To account for finite-dimensional Koopman approximation error, the CBF condition is tightened using a projected residual margin estimated from held-out rollout data. The critic is trained on the...
Abstract:Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different inclination and friction properties however poses unique challenges. To address these challenges, this paper presents an asynchronous decentralized task and motion planning approach for transporting rectangular boxes of varying mass over flat, uphill and downhill terrain. Such a decentralized approach alleviates communication, synchronization and consensus needs and mitigates single point of failure issues. Our approach, called R2P2 or Roles with Rules and Proportional-control Primitive, assigns roles (e.g., push, support and prevent) to robots based on rules cognizant of the mode of manipulation needed (box rotation vs translation); this is...
Abstract:Industrial automation is at a pivotal moment, as Physical AI is driving a transition from rigid, hand-engineered automation systems toward more flexible and adaptive systems. This shift has created a growing demand for large-scale, real-world robot demonstration data, making teleoperation an increasingly important mechanism for data collection. However, high-quality teleoperated demonstrations remain difficult to obtain in practice, as novice operators often produce episodes that are task-successful but suboptimal for downstream use due to inefficient motion, repeated corrections, or operation near robot joint limits. We present a Data Quality Assessment and Feedback (DQAF) framework that closes the loop in teleoperation by providing immediate post-episode feedback grounded in semantic task progress and robot telemetry. The framework extracts quality relevant signals such as...
Abstract:Small aerial robots are particularly well-suited for search and rescue in confined and hazardous environments due to their agility, low cost, and ability to traverse through cluttered spaces that are inaccessible to larger platforms. However, enabling autonomous navigation in complete darkness remains a significant challenge, because small aerial robots cannot easily accommodate perception systems that demand substantial payload, power, or computation. In this work, we present a lightweight perception approach that combines a monocular event camera, a coded aperture lens, and an infrared dot projector to enable navigation in such conditions. The projected pattern, when imaged through the coded aperture, produces depth dependent blur signatures that implicitly encode scene geometry. We train a convolutional neural network to decode these signatures into dense depth maps using...
Abstract:Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor robot (e.g., a drone) assists by transmitting information about its locally observed environment under bandwidth constraints. We propose a framework that enables the sensor to jointly select its transmitted map points and navigation actions online, while also predicting unexplored regions of the environment. To this end, we present $\beta$-Sparse Gaussian Processes, a novel and robust variational sparse Gaussian Process model for task-aware inducing point selection. Furthermore, we develop an action-selection strategy that balances task relevance with exploration. Simulations on Mars and Earth maps show that the framework can reduce path cost...
Abstract:In greenhouse tomato production, automated harvesting requires accurate detection of ripe tomatoes, ripeness classification, and precise picking-point localization for robotic end-effectors. This paper proposes YOLO26-RipeLoc Lite, a lightweight deep learning architecture based on YOLO26 for simultaneous detection, ripeness classification, and center-point localization of greenhouse tomatoes. The model introduces three modifications: (1) a Lightweight Feature Pyramid Network (LFPN) with depthwise separable convolutions for efficient multi-scale fusion, (2) a Ripeness-Aware Attention Module (RAAM) with dual pooling and a learnable ripeness bias vector for enhanced color-texture discrimination, and (3) a Compact Detection Head (CDH) with shared convolutions and an integrated center-point regression branch for direct grasp planning. The model is evaluated on a custom dataset of...
Abstract:Cognitive science remains split between cognitivism - which accounts for recursion and language but cannot ground formal symbols in meaning - and 4E approaches - which ground cognition in the body but rarely specify the body's architecture in enough detail to support generativity. We argue the impasse stems from an incomplete account of the embodied agent's architecture, and propose one: the Sensation Modulating Network (SMN), the cognitive agent conceived as the whole body, organized at every anatomical scale by opponent dynamics, built from Sensation Modulators that sense and act through one substrate, paired into Coordinated Action Zones routed by a body-wide broadcast network. Three commitments give the SMN its purchase. Haltability - the recruitment of antagonistic affordance into co-activated equilibrium - provides the architectural locus that object-directed...
Abstract:Semantic mapping methods are increasingly used as intermediate scene representations for downstream robotic reasoning and manipulation, yet their evaluation is still largely tied to fixed benchmark datasets with limited coverage of manipulation-relevant corner cases. In this work, we extend OSMa-Bench toward controllable benchmarking with prompt-generated synthetic indoor scenes. Our pipeline automatically generates scene descriptions, synthesizes corresponding environments with SceneSmith, and adapts the resulting assets into an OSMa-Bench-compatible simulation format. This adaptation requires a nontrivial intermediate layer, including semantic normalization, material and texture repair, shader fallback policies, floor handling, navigation setup, and controlled lighting configuration. A key advantage of the proposed setup is that the original scene-generation prompt is known...
Abstract:Contactless diagnosis of musculoskeletal disorders can potentially improve population health as well as robot behaviours in collaborative settings. However, current diagnosis methods require an in-person physical examination in which a trained physician senses, through contact, the force applied by various muscles. Simulation tools exist, but their use for diagnosis with real data is under-explored. In this paper, we propose an algorithm for identifying which upper-limb muscle group is fatigued. Our algorithm compares the realworld free-space motion of the subject with that of a simulated musculoskeletal model, and is therefore contactless: preventing the need for invasive sensing or in-person assessment. Our algorithm simulates various fatigue conditions using a physics-based musculoskeletal model and extracts diagnostic motion features from both real and simulated data...
Abstract:Model-based reinforcement learning (RL) can be effectively supported at scale through the use of world models. However, in practice, scaling such approaches remains fundamentally limited. A commonly recognized challenge is model bias and error compounding, which degrade long-horizon predictions. Beyond these issues, we identify a more critical yet underexplored bottleneck: a structural misalignment between search and value learning in existing world model approaches. In particular, policy improvement often relies on value functions induced by a separate, non-search policy, resulting in training inconsistency and ultimately suboptimal learning. To address this limitation, we propose Model-Based Diffusion Policy Optimization (MBDPO) in world models, a framework that unifies search and policy optimization through diffusion policy representations, thereby unlocking the potential...
Abstract:Large Language Models (LLMs) have brought huge improvements to Artificial Intelligence (AI), which can be applied to general-purpose tasks. However, their application to textual or spoken medical consultations is still an open research problem. This paper proposes MeDial-Speech, a novel speech dataset for training and evaluating Med-AIs that can carry out consultations with patients. It was collected in realistic environments from robot-patient and doctor-patient dialogues, contains 111+ hours of speech data (without data augmentation), and covers four health conditions: Lewy body dementia, heart failure, shoulder pain, and angina. In addition, we propose a dialogue benchmark via sentence selection (with 20 options) to evaluate three state-of-the-art LLMs: GPT-5 mini, DeepSeek-V3, and Claude Sonnet 4. Experimental results reveal that Claude Sonnet 4 is the best in sentence...
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