Turn any PDF or image document into structured data for your AI. A powerful, lightweight OCR toolkit that bridges the gap between images/PDFs and LLMs. Supports 100+ languages.
The number that stopped me was not the $2 trillion valuation. It was $791 million. That is what SpaceX made in net income in 2024. A profitable, growing aerospace company with a genuine moat in launch
中文介绍 博主将 SpaceX 的 IPO 文件输入 Claude 进行分析,从 300 页文档中发现 2024 年净收入 7.91 亿美元,强调公司盈利能力和 AI 在金融文档分析中的价值,展示工具挖掘关键数据的案例。
How To Become An AI Engineer in 2026. Without a CS degree. Without a bootcamp. Without knowing what a transformer is today. Here's what nobody tells you: The companies hiring right now don't need
中文介绍 分享如何在 2026 年成为 AI 工程师,无需计算机学位、培训或先验知识。招聘公司更注重实践能力而非传统教育,提供从零开始的职业路径指导,针对市场需求变化。
Our YouTube channel has 125k subscribers and we've never made or uploaded a single video ourselves. This is a completely automated system. It is this very same strategy that made us the first app
Most agent frameworks today assume a desktop. One user, one machine, one process. The agent runs while the laptop is open, writes to a local filesystem, holds API keys in environment variables, and
中文介绍 探讨构建云代理基础设施与桌面框架的差异,指出当前代理多基于单用户单机环境,而云环境需处理多用户、持久化存储和 API 管理等挑战,分享实践经验。
We launched the goal mode (or /goal) as a way to help you have Codex drive towards a concrete outcome. When you set a goal Codex will continue to work until the goal is achieved, whether that takes
中文介绍 指南介绍 Codex 的 /goal 功能,用户设定具体目标后,Codex 会自动持续工作直至达成,无论任务复杂度或时间,优化 AI 辅助任务执行过程。
A few days ago I wrote that getting into a frontier AI lab mostly comes down to two things: proven research and trench engineering. The more I think about it, the less these feel like separate skills.
中文介绍 分享进入前沿 AI 实验室的笔记,强调 proven research 和 trench engineering 是关键技能,两者相辅相成而非独立,对 2026 年求职成功至关重要。
Legendary marketer David Ogilvy generated over $864 million for his clients. He was a British advertiser known as "The Father of Advertising." And in 1982, Ogilvy sent this 1-page memo to his staff:
中文介绍 将营销大师 David Ogilvy 的写作规则输入 Claude,构建 AI 写作教练。Ogilvy 曾为客户创造超 8.64 亿美元收入,展示 prompt 工程在优化内容创作中的应用。
After seeing several people receive PhD offers and then immediately land highly paid industry positions during spring recruiting, I started wondering whether going straight into industry might
On June 5, 404 Media reported that attackers had been using Meta’s AI customer support agent to steal Instagram accounts. Their approach was simple: They asked the agent to link the accounts to email addresses that they controlled, and the agent complied. One attacker broke into the dormant Obama Wh
**Anthropic's Mythos/Opus cycle** sparked mixed reactions with praise for **Claude Mythos**'s one-shot workflows and concerns over **Opus 4.8** benchmark regressions. **Opus 4.7** showed strong chemistry task performance, "making Claude a chemist." **Sakana AI** launched an **RSI Lab** focusing on r
Learn how Endava is using AI agents, ChatGPT Enterprise, and Codex to accelerate software delivery, automate workflows, and build an AI-native culture across the enterprise.
Most days in her chambers, Judge Maritza Braswell, a federal magistrate judge in Colorado, sifts through stacks of documents written by people without a lawyer. Many of them can’t afford to hire a lawyer, and others have cases too weak or too small to interest one. She reads each one carefully, mind
**NVIDIA** released **Nemotron 3 Ultra**, a fully open **550B MoE** model with **55B active parameters** and **1M context**, optimized for long-running agent tasks with up to **5x speedup** and **30% cost reduction**. It features hybrid Mamba/attention, LatentMoE, native MTP, and was pretrained on *
As autonomous LLM agents increasingly hold real credentials and operate infrastructure without a human in the loop, operators have no standard way to tell an agent that a resource is off-limits. Access controls either let the agent in (it has valid credentials) or hard-fail it (indistinguishable from any other client). We propose a third mode: a lightweight, published in-band deny signal -- the Recuse Signal -- that a server emits over a protocol's existing channels (an SSH banner, a PostgreSQL NOTICE) asking a connecting automated agent to voluntarily withdraw. This is a cooperative governance control, the robots.txt analogue for live access; it is explicitly not a security boundary. Its value is entirely empirical and, to our knowledge, unmeasured: do compliant LLM agents actually honor such a signal? We define the signal as an open mini-standard, implement two zero- or low-footprint...
Abstract:WebMCP is a newly emerging protocol that enables websites to expose tools directly to AI agents, bypassing traditional user interfaces and introducing new security risks. The dynamic exposure of agent-accessible tools in WebMCP expands the attack surface of web sessions, especially when third-party scripts are involved. In this study, we identify a new potential threat, termed Mid-Session Tool Injection (MSTI), in which attackers leverage third-party scripts to inject malicious tools during an active session. To better characterize this threat, we classify MSTI based on the stage and target of manipulation, distinguishing between Tool Hijacking and Tool Framing. Tool Hijacking modifies the set of tools visible to the agent through mechanisms such as the AbortSignal API or race conditions during tool registration. In contrast, Tool Framing influences the agent's perception of...
Abstract:The European Union will introduce the EUDI Wallet by late 2026, which allows users to hold digital credentials (i.e., representations of physical official identity documents) on their devices. This will allow users to securely and privately disclose identity attributes to websites. Although such a system has many benefits, it also introduces risks caused by poor credential disclosure decisions. In this paper, we (i) conduct a large-scale survey on credential disclosure with users and experts and (ii) evaluate the effectiveness and feasibility of our Credential Assistant that displays expert recommendations and user opinions. Our results show that users are likely to overshare (e.g., ~20% of users disclosed their official ID to news websites). This indicates that users struggle to protect their privacy, which will impact the usability of the EUDI Wallet and lead to privacy...
Abstract:Evasion attacks present a significant challenge to the robustness of machine learning (ML)-based classifiers, particularly in critical applications such as fraud detection and cybersecurity. Although existing defense mechanisms are effective in some settings, they often suffer from limited generalizability and do not systematically improve model robustness across diverse attack scenarios. To address these limitations, we introduce Robust Ensemble of Selectively Strengthened and Augmented Predictors (RESSAP), a novel framework that transforms a single classifier into an ensemble of robust classifiers. Each classifier in the ensemble is trained on a carefully selected subset of features, where feature selection is guided by a resilience metric that accounts for both feature importance and robustness. During inference, a random subset of these classifiers is used to make...
Abstract:Large code language models (CodeLLMs) can generate and rewrite programs, enabling functionality-preserving code mutation that may be used to create diverse malware variants and evade signature-based detection. A key security question is whether this mutation capability survives model compression, which would make deployment feasible under limited hardware budgets. We propose SecRL-Prune, a structured pruning framework for CodeLLMs that operates on feed-forward (MLP/FFN) channels. Starting from a pretrained teacher, it learns a layer-wise pruning policy with reinforcement learning using a teacher-student KL-divergence reward. To improve efficiency, we cache the teacher's top-P predictions once and compare the pruned student against this compact target, avoiding simultaneous teacher-student residency in GPU memory. We evaluate SecRL-Prune on HumanEval using pass@k for execution...
Abstract:As chatbots increasingly influence daily decision-making, their potential to produce misleading responses poses substantial risks to users. This paper investigates a critical cognitive vulnerability in LLMs: their tendency to uncritically trust external context when presented with fabricated evidence bearing markers of credibility. We introduce Ghostwriter, a two-phase attack framework that first repackages misleading statements with fabricated rationales, then instruct target LLMs to incorporate these viewpoints when responding to relevant queries. Experiments on BBQ, ToxiGen, and our specialized dataset reveal that commercial LLMs without external safety classifiers remain highly vulnerable, while even frontier classifier-guarded models (e.g., GPT-5.4) reduce but do not eliminate the attack. Building on this, we explore multiple defense strategies, among which a tailored...
Abstract:An estimated 5.3 billion mobile phones became electronic waste in 2022. Many of these devices can be repurposed and used in different contexts to extend their lifetime and to reduce ecological impacts. An often overlooked aspect of smartphone reuse is cybersecurity: these devices embed hardware-backed security mechanisms that rely on vendor-controlled provisioning and are designed for a fixed device lifecycle. In this paper, we investigate whether security mechanisms and guarantees remain effective when devices are repurposed outside their original ecosystem. We explore security features in a PinePhone, an open-hardware smartphone, and focus on three core security aspects: boot chain integrity, isolation provided by the Trusted Execution Environment, and the protection of hardware-bound secrets. Our experiments simulate realistic repurposing scenarios and highlight the...
Image safety classifiers serve as a critical component of contemporary content moderation systems on the internet. However, their resilience against user-style malicious image editing remains underexplored. Such behaviors are highly prevalent in daily scenarios but difficult to fully reproduce. To explore this vulnerability, we introduce RedEdit, a novel black-box red-teaming agent that formulates photo-editing evasion as a combinatorial search problem over edit-tool sequences. It adopts a Vision-Language-Model (VLM)-based proposer to generate semantically targeted candidate edits and a Monte Carlo Tree Search (MCTS) planner to prioritize promising edit paths while backtracking from ineffective ones. Together, the proposer and planner instantiate two key capabilities of human attackers, i.e., domain knowledge and iterative backtracking, respectively, to reproduce this practical threat...
Abstract:Cheating poses a significant threat to the Multiplayer Online Games (MOG) industry by degrading player satisfaction and undermining the fairness in competitive gaming. Despite efforts to develop mitigation techniques, cheating remains difficult to detect and prevent in practice. In particular, a class of cheats based on network flow disruption remains unsolvable. To find out how to detect such attacks we need access to representative labelled data. However, no such dataset exists. To address this gap, we leverage an experimental framework that combines a multiplayer online game with a plug-in capable of both reproducing cheating attacks and collecting logs at two levels: network and application-layer. This paper presents a dataset compiling records of game sessions played by both real players and automated game clients, with cheating actions explicitly logged. To the best of...
Abstract:Existing learning-based detectors for Solidity smart-contracts reduce vulnerability detection to syntactic pattern matching within single functions, yet many of the most consequential exploits (The DAO, Cream Finance) exist not in any individual function but in the relationship between functions and in the combination of conditions that made the attack feasible. Thus, we propose AttackPathGNN, a graph neural network (GNN) that reframes detection as reasoning over explicit attack paths. Two architectural choices distinguish it from prior GNN-based detectors: (1)a State Interference Graph that links every pair of functions sharing mutable storage through typed, weighted edges and through directed reentrancy-path edges defined by an explicit five-condition predicate; (2)conjunction pooling, a differentiable AND-aggregator over eight named exploit preconditions whose log-sigmoid...
Malware research primarily studies the results, the methods, and the impact. Even from an offensive security perspective, what is examined is the method, not the development strategy of the offender. This study investigates the behavioral signatures and coding patterns embedded in the malware source code. By analyzing a large corpus of leaked malware code and comparing it with carefully selected benign open-source software, we apply static application security testing and compute multiple software metrics. Based on cognitive psychology and criminological theories, our work interprets differences in code structure and quality as behavioral indicators, reflecting distinct motivational structures, risk tolerances, and development strategies of malware authors compared to benign software developers. Our findings reveal that malware code is generally smaller, less documented, and exhibits...
Service discovery is a fundamental process in wireless networks, enabling devices to find and communicate with services dynamically, and is critical for the seamless operation of modern systems like 5G and IoT. This paper introduces PriSrv+, an advanced privacy and usability-enhanced service discovery protocol for modern wireless networks and resource-constrained environments. PriSrv+ builds upon PriSrv (NDSS'24), by addressing critical limitations in expressiveness, privacy, scalability, and efficiency, while maintaining compatibility with widely-used wireless protocols such as mDNS, BLE, and Wi-Fi. A key innovation in PriSrv+ is the development of Fast and Expressive Matchmaking Encryption (FEME), the first matchmaking encryption scheme capable of supporting expressive access control policies with an unbounded attribute universe, allowing any arbitrary string to be used as an...
Abstract:Rule-based Intrusion Detection and Prevention Systems (IDPS) offer precise attack detection as well as mitigation, however their manually crafted, signature-driven rules limit adaptability to emerging and zero-day threats. Additionally, existing public datasets (e.g., CICIDS2017, UNSW-NB15) focus on traffic classification and provide little structured information to support automatic rule synthesis or prevention logic. To address this gap, we propose Generative Thread Intelligence (GenTI) \footnote{GenTI refers to the proposed framework, and GTI refers to the dataset.} an LLM-driven benchmark for automatic generation of IDPS rules targeting unseen attacks. The dataset (GTI) aggregates over 150k detection and prevention rules from Snort, Suricata, Emerging Threats, as well as 50k YARA, each annotated with protocol behavior, payload signatures, contextual relationships, mappings...
Abstract:The hardness of the Learning Parity with Noise (LPN) problem is a foundational assumption in cryptography, forming the basis of constructions ranging from symmetric-key primitives to public-key encryption and beyond. A central open question is whether the average-case hardness of LPN can be based on worst-case complexity assumptions, as has been achieved for the analogous Learning With Errors (LWE) problem. Existing worst-case-to-average-case reductions for LPN [BLVW19, YZ21] rely on statistical smoothing of linear codes, which inherently limits the resulting average-case hardness to noise rates as large as $1/2 - 1/\mathrm{poly}(n)$, which is insufficient for public-key applications. We explore a new approach towards obtaining such reductions: rather than requiring that random sparse combinations of the rows of the generator matrix of a code be statistically close to uniform...
Abstract:Service discovery is essential in wireless communications. However, existing protocols provide limited privacy protection, leaking sensitive device information and opening routes to network attacks. This paper proposes a private service discovery protocol, called PriSrv, which enables both service providers and clients to specify fine-grained authentication policies before establishing connections. PriSrv achieves this via a dual-layer matching architecture: an outer layer filters mismatched entities using public attributes, while an inner layer handles mutual authentication using selectively disclosed private attributes. As a core component, we introduce the primitive of anonymous credential-based matchmaking encryption (ACME), which enables dual-layer matching in a single step to achieve bilateral policy control, selective attribute disclosure, and multi-show unlinkability...
Abstract:We verify the 'extendedGCD' implementation in Go's standard library ('crypto/internal/fips140/bigmod'), which plays a crucial role in the generation of RSA key pairs. Even though the Go implementation is supposedly a direct port from BoringSSL's implementation, we uncovered two deviations that each break the algorithm's invariants: (1) the Go implementation deviates in the way coefficients are updated, and (2) it permits a larger input domain. We address both deviations; the first by fixing the Go implementation, which results in an on average 24% speedup, and the second deviation by porting an existing proof for BoringSSL and extending it to cover the larger input domain. We prove correctness and termination of the fixed Go implementation using Gobra, a deductive program verifier for Go. Where necessary, we used Lean to prove key lemmata on non-linear arithmetic, which we...
Abstract:Protecting proprietary RAG databases from unauthorized redistribution is challenging: existing watermarking methods either inject fabricated relations between real entities, polluting the knowledge base with misinformation, or embed fragile lexical patterns that adversarial paraphrasing easily removes. We propose SentinelRAG, a watermarking framework that embeds style-consistent but fictitious knowledge entries into the RAG database. Our key insight is that synthetic knowledge describing fictitious entities is unlikely to be retrieved by legitimate queries, yet can be reliably triggered through targeted probes known only to the data owner. Experiments on four datasets ranging from 2.9k to 8.8M documents demonstrate that SentinelRAG achieves statistically significant detection $p < 10^{-5}$ across all tested configurations at only a 0.1% injection rate. Compared to the...
Abstract:Autonomous spacecraft require rapid, lightweight, and reliable onboard detection of cyber-RF threats. Using the SPARTA attack model, we analyze the latency-accuracy trade-offs of TinyML-compatible classical models -- Random Forest, Logistic Regression, SVM, and MLP -- for detecting uplink jamming, Fake-NR spoofing, payload manipulation, ground-segment compromise, and unauthorized command injection. We present a physics-informed theoretical analysis of each model's computational complexity, VC dimension, Lipschitz continuity, and latency scaling, supported by empirical measurements on adversarial RF spectrograms generated via BandErasure, FakeNR, and NoiseBurst corruption modes. Results show that Logistic Regression achieves microsecond-level inference with only a 1\% accuracy drop relative to Random Forest, making it an effective TinyML baseline for onboard autonomy. The study...
Abstract:With the rapid proliferation of IoT devices, security concerns have dramatically escalated and intrusion detection systems have become critical for protecting networked environments. This paper presents an improved CNN-LSTM based intrusion detection model that combines multi-class classification, dataset integration, and temporal feature learning to enhance detection performance in IoT networks. Using network traffic data, the proposed approach is evaluated on intrusion detection tasks and achieves an accuracy of approximately 97%. Experimental results demonstrate that the model effectively detects multiple attack categories while maintaining stable training and validation performance. The integration of convolutional and recurrent neural network components enables the framework to capture both spatial and temporal characteristics of network traffic, improving overall...
Abstract:Despite advances in safety alignment, large language models remain vulnerable to continuously evolving jailbreaks. Existing fine-tuned safety classifiers cannot adapt to these evolving attacks, while adaptive memory-based guardrails tend to over-refuse benign queries that resemble stored attacks. We propose Membrane, a self-evolving guardrail built on Contrastive Safety Memory (CSM): each cell pairs the conditions for blocking a harmful query with those for permitting a superficially similar benign request. Without retraining, Membrane evolves CSM by distilling each harmful interaction and its benign counterpart into a contrastive cell indexed by the underlying attack strategy, so that one cell generalizes across topical variants of the same mechanism. At inference, retrieved cells serve as grounding context for precise safety decisions. Across model-level safety on HarmBench...
Large language models (LLMs) are increasingly deployed through hosted APIs, making model extraction a practical threat to model ownership and service security. However, individual extraction queries often resemble benign requests, and existing evaluations often focus on single-query anomaly scoring or pure benign-versus-attacker user settings. We formulate model extraction monitoring as benign-calibrated traffic-window distribution testing and show that an embarrassingly simple detector is effective: embed incoming queries into a semantic space and test whether their aggregate distribution deviates from historical benign traffic. We instantiate the detector with maximum mean discrepancy (MMD), using only benign-vs-benign comparisons to set the decision threshold. We evaluate on fourteen attacker-normal query pairs from four extraction scenarios and compare with adapted PRADA, SEAT...
Abstract:Digital infrastructure is growing at a rapid pace in the United States, and as a result, exposure to advanced cyber threats to critical sectors including healthcare, finance, transportation, energy and government systems is growing. The traditional cybersecurity approaches, including signature-based intrusion detection systems, have become less effective against today's cyber attacks, as they are unable to detect unknown and changing attacks in real time. To overcome these constraints, this research suggests a smart cyber-defense system, which utilizes Artificial Intelligence (AI) and Machine Learning (ML) algorithms in the detection and prevention of cyber attacks in the U.S. digital infrastructure. This study uses the CSE-CIC-IDS2018 dataset, which is a realistic network traffic dataset, along with various cyber attack scenarios, including Distributed Denial of Service...
Abstract:The increasing penetrations of the critical infrastructure sector in the United States with intelligent digital technologies have greatly increased exposure to advanced cyber adversaries and operational vulnerabilities. AI-powered governance and automated decision-making systems are becoming a key part of the operation of critical infrastructure systems, including energy, healthcare, transportation, financial services, and communication infrastructure, in order to improve efficiency and strategic management. The growing cyber threat environment, such as Distributed Denial of Service (DDos) attacks, botnets, ransomware, and Advanced Persistent Threats (APTs) pose significant challenges to infrastructure resilience, cyber security reliability, and governance trustworthiness. In a changing attack landscape and dynamic network environment, traditional cybersecurity mechanisms can...
The increasing adoption of distributed infrastructure systems, cloud computing, Internet of Things (IoT) technologies, and edge-based architectures has significantly expanded the cybersecurity attack surface and introduced increasingly sophisticated cyber threats. Conventional centralized intrusion detection approaches often face challenges related to scalability, data privacy, communication overhead, and limited transparency in artificial intelligence-driven decision-making processes. To address these limitations, this study proposes a Cognitive Threat Intelligence and Explainable Federated Security Analytics framework for distributed infrastructure systems. The proposed framework integrates Federated Learning (FL), Explainable Artificial Intelligence (XAI), and cognitive cybersecurity analytics to enable collaborative and privacy-preserving cyber threat detection across distributed...
Abstract:The k-nearest neighbor query (kNNQ) is a core component of modern location-based services (LBS) and has been widely adopted in popular features such as ``people nearby''. However, its potential privacy risks have long been overlooked. In this work, we present the first two attacks against kNNQ, namely the geometric intersection location inference attack (GI-LIA) and the zero-order optimization location inference attack (ZO-LIA), revealing the inherent location privacy risks posed by kNNQ. To mitigate these privacy risks, we further propose DPRS, a differential privacy framework for kNNQ protection. The core idea of DPRS is to incorporate a rejection sampling mechanism within a constrained perturbation interval, thereby mitigating the distance distortion caused by excessive noise injection. In addition, we design a private interval construction algorithm to construct the...
Abstract:As large language models (LLMs) are widely deployed, identifying their vulnerability through jailbreak attacks becomes increasingly critical. Optimization-based attacks like Greedy Coordinate Gradient (GCG) have focused on inserting adversarial tokens to the end of prompts. However, GCG restricts adversarial tokens to a fixed insertion point (typically the prompt suffix), leaving the effect of inserting tokens at other positions unexplored. In this paper, we empirically investigate \emph{slots}, i.e., candidate positions within a prompt where tokens can be inserted. We find that vulnerability to jailbreaking is highly related to the selection of the \emph{slots}. Based on these findings, we introduce the \textit{Vulnerable Slot Score} (VSS) to quantify the positional vulnerability to jailbreaking. We then propose SlotGCG, which evaluates all slots with VSS, selects the most...
We introduce the Coverage Gap as a measurable distance between the observable public exposure of critical-infrastructure operators and their declared capability to coordinate vulnerability disclosure. We instantiate it against the 915 Chilean Operadores de Importancia Vital (OIVs -- Operators of Vital Importance) designated by the National Cybersecurity Agency (ANCI) under Ley 21.663 (Resolucion Exenta No. 87, 16 December 2025). Using a passive-only, OSINT-based method consistent with the principles of ISO/IEC 29147:2018 and Chile's computer-crimes safe harbour (Ley 21.459), we conduct a full-universe census of the foundational disclosure-capability layer (Layer 1, verifiable disclosure contact) across approximately 98.7% of the official catalogue. Only 16 of 915 OIVs (1.7%) publish a verifiable RFC 9116 disclosure channel; among operators of physical-world infrastructure -- energy...
Abstract:High-dimensional feature representations are widely used in machine learning-based cyberattack detection systems. However, they increase computational complexity and may hinder deployment in resource-constrained environments. In this paper, we investigate feature compression techniques for cyberattack classification by comparing two dimensionality reduction approaches: Principal Component Analysis (PCA) and Linear Predictive Coding (LPC). Compressed feature representations with varying dimensionalities are generated and evaluated across several classification models. Experimental analysis demonstrates that PCA preserves classification performance even under aggressive compression. On the other hand, LPC provides competitive predictive representations with slightly larger performance degradation. The results show that substantial reductions in feature dimensionality can be...
Abstract:LLM-driven automated penetration testing agents are typically evaluated against static targets that neither detect nor respond to attacks, so their behavior under intelligent defense remains untested. The causal consistency of multi-step attack chains likewise hinges on unstable LLM reasoning, and agent decisions remain opaque to human analysts. These three shortcomings, in realism, consistency, and auditability, are usually patched in isolation. We present ZERO-APT, a turn-based attacker-defender-judge framework that addresses them within a single architecture. For realism, ZERO-APT embeds a configurable LLM Defender that consumes Sysmon telemetry and detects attacks in real time, exposing the attacker to a live opponent rather than a passive target. For consistency, three architectural mechanisms move causal consistency from unstable LLM reasoning into enforced system...
Abstract:Bitcoin's block reward is scheduled to decline to zero, raising concerns about whether the network can remain secure once miners rely solely on transaction fees. This paper seeks to identify the conditions under which large-scale and persistent deviation from honest mining can arise. We analyze and compare the payoffs of honest and deviating miners in a sequential decision model, and identify a deviation threshold $G_t$ at which honest mining ceases to be privately optimal. Around the 2024 Bitcoin halving, we show that current mining behavior does not exhibit large-scale or structural deviation. However, when the block reward is removed, the $G_t$ criterion implies that deviation can arise even with a very small fraction of transaction fees. Finally, we evaluate three protocol-level mechanisms: Base Fee, Fee Floor, and an adaptive maximum block size rule, and show that their...
Security misconfigurations remain a leading cause of OS-level compromise, and manually keeping systems compliant with standards like Defense Information Systems Agency (DISA) Security Technical Implementation Guides (STIGs) is a tedious and expensive process. Existing compliance automation tools can reduce some of this burden, but they depend on static, pre-written corrective actions. In this paper, we introduce SHIELDS, a multi-agent system that uses large language models (LLMs) to approach OS hardening as an iterative, feedback-driven process. Instead of applying fixed remediations, SHIELDS continuously proposes fixes and refines them based on feedback from target system execution and validation scans. We evaluate the system across multiple virtual machine configurations using six contemporary LLMs ranging from 20B to 400B parameters, and find that SHIELDS successfully remediates up...
Abstract:The safety, security, and reliability of microelectronic systems depend on a trustworthy, secured supply chain and design flow. Globally distributed supply chains or unintentional design weaknesses leave the door open for attacks on the hardware level. These scenarios encompass counterfeiting, hardware trojans, or on-device attacks. For these, hardware reverse engineering (RE) results play a pivotal role. The ongoing publication of new RE-involved attacks motivated the development of the common RE scoring system (CRESS). The system enables a general classification of RE-involved scenarios for a common, consistent rating. In this work, the originally qualitative system is extended to a quantitative system. We performed an extensive interview study with experts in the field. The interview results allowed us to derive weights that measure the severity of different RE-involved...
Abstract:Privacy regulations such as the General Data Protection Regulation (GDPR) impose strict requirements on how personal data is stored, processed, and audited. While key-value stores (KVS) are widely used in latency-sensitive applications, their simple data model and untrusted cloud deployment environments make GDPR compliance particularly challenging. Existing approaches require invasive code modifications, impose high performance overheads, or overlook the integrity of compliance mechanisms themselves. This paper presents GDPRuler, a trusted middleware system that enables verifiable GDPR compliance for KVS on untrusted clouds without modifying their codebase. GDPRuler deploys a trusted GDPR monitor inside a Confidential Virtual Machine (CVM), which enforces GDPR policies, manages compliance metadata, and maintains tamper-evident audit logs. A declarative policy language...
Abstract:Decentralized Finance (DeFi) services are usually constructed by composing a variety of smart contracts. While composability is a key driver of the success of DeFi, it also creates security risks: adversaries may exploit interactions between newly deployed contracts and the pre-existing ones to inflict economic losses. We introduce MEV non-interference, a formal security notion for DeFi composability requiring that the maximal extractable value from a set of newly deployed contracts is not increased by interactions with the existing blockchain state. To support this notion, we define local MEV, a novel measure of economic attacks that focusses on the loss of a given set of victim contracts. We study two adversarial models, with bounded and unbounded wealth, and establish sufficient conditions and locality principles that enable modular reasoning about secure composability. We...
Abstract:Producing a labeled vulnerable code at scale is a recurring obstacle for learning-based vulnerability detection: mined corpora carry substantial label noise, and existing LLM-based augmentation propagates these inaccuracies because it transforms vulnerable seeds rather than synthesising vulnerabilities from a specification. A complementary route is to start from safe code and ask an instruction-tuned LLM to inject a specified CWE (which would shift the labeling burden from open-ended detection to bounded binary confirmation) but safety-aligned code LLMs systematically refuse such prompts. This paper is a preliminary feasibility study of abliteration, a low-rank weight edit that orthogonally projects out the refusal direction in the residual stream, as a tool to remove this barrier. We use Python and CWE-89 (SQL injection) as a case study, evaluating the Qwen2.5-Coder-Instruct...
Abstract:Security teams routinely simulate attacks against their own systems to check whether their monitoring would catch a real intruder. These Breach-and-Attack-Simulation (BAS) tools surface findings, but the security information and event management (SIEM) systems that watch production need detection rules -- and today a human bridges that gap by hand, reading each finding and writing the corresponding Sigma rule (a vendor-neutral detection format). We show this translation can be partially automated when probes are drawn from a locked corpus, so each finding carries a stable identifier back to the originating probe. We describe a deterministic synthesis function that maps each finding to a starter Sigma rule through a small template library (N=23, indexed by categories from the OWASP LLM and Web Top 10), with a back-reference to the originating finding and its MITRE ATT&CK...
Abstract:Public benchmarks enable fair and reproducible evaluation of LLM reasoning, but they become fragile for deep research agents that actively search the web during inference. Such agents may retrieve public benchmark metadata, question context, or even ground-truth answers via web search. This gives rise to Search-Time Contamination (STC), where external retrieval bypasses intended reasoning and inflates measured performance. We systematically study STC in deep research agent evaluation. We define three contamination types with increasing severity, namely Benchmark Metadata Leakage, Question-Context Leakage, and Explicit Answer Leakage, and develop detection algorithms to identify them and quantify their impact on agent performance. Evaluating modern deep research agents on six public benchmarks, we find that STC is widespread and can inflate performance by up to 4%. Our findings...
Recent computer-using-agent (CUA) red-teaming papers report prompt-injection attack success rates (ASR) of 42-98%, but these headline numbers cluster on retired models and on the most-vulnerable model in each paper's panel. We ask whether those techniques, reproduced as hand-crafted templates, still work against current frontier CUAs. We release CUA-HandCrafted, a public benchmark of 793 episodes spanning 24 multi-step web tasks, 56 attack templates, 8 attack families, and 4 system-prompt configurations. Against Claude Sonnet 4.6 and GPT-5.4 we measure 0/140 multi-step attack success (Clopper-Pearson 95% upper bound 2.60%); a prompt ablation shows this resistance lives in the model weights. Yet it does not generalize: on a sister coding-agent benchmark (SkillBench), the same weights fall to hand-crafted skill-injection at up to 100%. We argue that the literature's high ASR is largely...
Abstract:Automatic speech recognition (ASR) systems have become widely used for multilingual speech-to-text transcription. Their robustness to adversarial attacks has become an important topic for the community. Existing adversarial attacks directly add adversarial noise to the speech audio. However, prior work has shown that existing adversarial attacks face two limitations: they often transfer poorly to black-box ASR systems and are increasingly mitigated by defenses tailored to input-space perturbations. In this work, we propose a Clean-Referenced Feature-Vocoder Attack, a surrogate-based black-box attack that moves the adversarial search space from raw waveforms to self-supervised learning (SSL) representations. To address the transferability limitation, we perturb more generalizable acoustic-phonetic representations rather than low-level waveform samples, reducing dependence on...
In this paper, we study multi-objective submodular maximization (MOSM) subject to a cardinality constraint under differential privacy (DP). Specifically, we aim to select a set of at most $k \in \mathbb{Z}_{+}$ elements to maximize the minimum of $d > 1$ monotone submodular functions while satisfying $\varepsilon$-DP. Although extensive studies have been conducted on both differentially private single-objective submodular maximization on sensitive data and non-private MOSM, to the best of our knowledge, there has not yet been any prior work on MOSM with DP. We propose two novel algorithms: the first extends the classic greedy algorithm and the second employs a truncation technique, both of which are integrated with DP mechanisms for privacy protection and achieve approximation guarantees for MOSM. Finally, we conduct numerical experiments on two submodular maximization applications...
Abstract:Large Language Models (LLMs) have transformed natural language processing, but they remain vulnerable to Prompt Injection (PI) and Jailbreak (JB) attacks. In addition, benchmark evaluations may be affected by contamination and partial information leakage, compromising performance estimates. This work presents GuardNet, a guardrail system based on an ensemble of shallow neural networks (BiLSTMs) with approximately 47 million parameters. We investigate the hypothesis that robustness in adversarial scenarios depends more on the diversity of example coverage and threshold calibration than on model scale. The results indicate that GuardNet achieves competitive performance compared with lightweight detectors and high efficiency at low latency, although larger LLMs such as Mistral-7B and Llama-3.1-8B still achieve superior performance in terms of F1 score and AUROC on the blind...
Abstract:Classically testing for the presence of anti-commuting operators on a quantum device is a critical tool underpinning recent progress in classical verification of quantum computation. While such tests can be based on cryptographic assumptions, known constructions rely on highly structured assumptions, e.g. trapdoor claw-free functions. In this work, we seek to explain this state of affairs by constructing strong cryptography from (certain forms of) classical tests of anti-commutation. In particular, we formulate the notion of a test of non-commutation (ToNC), an interactive protocol between a quantum prover and classical verifier in which the prover's final-round response is obtained by measuring one of two binary observables $P_0,P_1$ depending on the verifier's challenge bit $c$. We prove that, for a broad range of parameters, ToNC implies classical-communication key...
Abstract:Differentially private stochastic gradient descent (DP-SGD) has become the standard framework for privacy-preserving machine learning, yet its reliance on a fixed gradient clipping threshold to limit sensitivity remains a significant practical limitation. Adaptive clipping algorithms such as AdaClip shift and scale the gradient prior to clipping and adding noise so that the clipped gradient yields a more informative descent direction. The shift and scaling parameters are selected adaptively based on the empirical mean and variance. However, in existing adaptive clipping algorithms, these empirical estimates have not been also used for momentum to accelerate training itself. On the other hand, DP-Adam is an algorithm that exploits Adam-like momentum updates based on the gradient mean and variance to accelerate training, but does not exploit these estimates for adaptive...
论文介绍 该论文针对差分隐私随机梯度下降中固定梯度裁剪阈值的局限性,提出了 DP-MacAdam 算法。它将自适应裁剪机制与 Adam 式的动量更新相结合,利用梯度的均值和方差等估计量来同时自适应地调整裁剪参数并加速训练过程。该方法旨在提升隐私保护机器学习在实践中的训练效率和模型性能。
Point clouds are a primary sensory representation for robotic perception, underpinning LiDAR-based autonomous driving, simultaneous localization and mapping (SLAM), and navigation. Within these pipelines, Farthest Point Sampling (FPS) is the most well-known downsampling operator, as its uniform coverage preserves the geometric structure on which downstream perception relies. However, the large time complexity of classical FPS scales poorly with the million-point-per-second rates of modern 3D sensors, making it a dominant latency bottleneck that conflicts with the real-time and limited onboard compute budgets of robotic systems. Therefore, we propose RadiusFPS, an FPS acceleration framework based on spherical voxel pruning that preserves the standard FPS update rule under the same initialization and tie-breaking policy. By indexing the point cloud with spherical voxels, RadiusFPS...
Vision-Language-Action (VLA) models leverage the rich world knowledge of pretrained vision-language models (VLMs) to enable instruction-following robotic manipulation. However, the structural mismatch between VLM semantic spaces and embodied control policies often hinders the learning of precise perception--action mappings. To address this challenge, we propose \textbf{AffordanceVLA}, a unified framework that introduces structured affordance forecasting as a task-oriented intermediate representation to establish a more precise and robust perception--action mapping. Specifically, we progressively model manipulation priors through three complementary components: 1) \textbf{Which2Act} for object-centric grounding via visual latent prediction to suppress distractions; 2) \textbf{Where2Act} for 2D interaction localization via affordance map estimation; and 3) \textbf{How2Act} for 3D...
End-to-end Vision-Language-Action (VLA) models have shown promise in UAV navigation. However, existing approaches typically rely on historical observations to directly predict actions, often struggling in dense urban environments where severe occlusions and sharp turns result in drastic viewpoint transitions. We argue that the ability to "imagine" future states -- inherent in World Models -- is critical for robust decision-making under such partial observability. To address this, we construct a challenging Urban Canyon Traversal Benchmark, specifically designed to evaluate spatial understanding in scenarios characterized by severe occlusions and drastic viewpoint transitions. To this end, we propose WorldFly, a novel world-model-based VLA framework that employs a dual-branch coupled flow matching mechanism to jointly generate future video predictions and navigation actions, thereby...
Bimanual dexterous tool use remains challenging for robots due to high-dimensional hand configurations and complex hand-tool-object dynamics and contact. Most existing control policies depend on future configuration references provided from demonstrations, while future action-conditioned world models require slow online planning over high-dimensional action sequences. A significant challenge is generating a dynamically consistent future reference trajectory without relying on privileged states from demonstrations or slow counterfactual planning. We propose DexFuture, a hierarchical system that couples a high-level Future-State Visuomotor Target Predictor with a low-level Target-Conditioned Structured Dexterous Policy. Conditioned on egocentric RGB, proprioceptive and geometric history, the high-level predictor constructs structured hand-tool-object visuomotor embeddings and uses a...
Reusable robot skills are becoming the basic units through which embodied agents turn open-ended instructions into long-horizon physical behavior. We argue that, while foundation models have collapsed the cost of creating these skills, the cost of trusting them has not. Existing skill-evolution loops refine skills through execution feedback, unit tests, environment reward, or LLM self-critique, but these signals provide only trace-level evidence: they show that a skill worked on sampled executions, not that skill-induced plans satisfy temporal safety contracts under untested conditions. We introduce VASO, a framework for verification-guided self-evolution of LLM-generated robot skill contracts. In VASO, each skill is represented as a semantic contract with two coupled interfaces: a formal interface that aligns robot states, observations, and control commands with logical propositions...
Abstract:For a humanoid robot to be deployed in the real world, the choice of command space (i.e., the interface between task planning and whole-body control) is crucial. Existing whole-body controllers typically demand dense kinematic or spatial references that planners struggle to synthesize from task semantics. We instead propose a compact, explicit interface that is intuitive, general, modular, and expressive enough for diverse manipulation skills. To this end, we introduce HANDOFF, a single humanoid whole-body controller that follows this interface and is distilled via multi-teacher KL distillation under a context-conditioned gating scheme into a mixture-of-experts student from three complementary specialists: whole-body motion tracking with safety-filtered data, locomotion, and fall-recovery. On the Unitree G1, HANDOFF matches state-of-the-art velocity tracking and offers one of...
Abstract:Robot manipulation alternates between low-risk transit phases that call for fast execution and high-risk contact stages that demand slow, precise motion. Yet existing Vision-Language-Action models (VLAs) only inherit a single fixed speed from training demonstrations. Prior efforts to accelerate VLAs through model compression, KV-cache reuse, or reinforcement learning only shift the policy from one fixed speed to another, and leave deceleration almost unexplored. We observe that the magnitude of each predicted action already governs how fast the robot moves, opening a direct route to controllable execution speed. We turn this observation into TempoVLA, a single VLA whose execution speed is controlled by an explicit condition. TempoVLA combines two coupled components. (1) A data-side Variable-Speed Trajectory Augmentation (VSTA) that re-times demonstration to any target speed by...
Abstract:Leveraging prior knowledge from pretrained policies, foundation models, or human operators offers an efficient alternative to learning robot skills from scratch. However, these agents often provide actions that are suboptimal, noisy, or misaligned with task-specific expert behavior. We propose GLOVES, a family of flow-based adaptation methods that correct non-expert actions by transporting them toward an expert action distribution. Rather than replacing agentic control with full autonomy, GLOVES performs selective action-level adaptation, improving task success while preserving agent intent. The learned flow also provides a natural in-distribution scoring mechanism through reverse flow evaluation. We use this signal as an intervention gate: actions that appear consistent with the expert distribution are passed through unchanged, while anomalous or out-of-distribution (OOD)...
第一作者: Robert Ramirez Sanchez · 方向: 机器人操作 · 来源: cs.RO
轨迹分割速度提升视觉语言下采样机器人操作
Abstract:Humans often take longer to demonstrate a task than a robot would need to execute it. Rather than learning to replicate the demonstration at the same pace, many industrial and practical applications require robots to perform tasks as quickly as possible. In this paper, we investigate several hypotheses for learning policies that operate faster-than-demonstrations. Our experiments show that the most effective strategy is to downsample recorded demonstrations and train the robot's policy on this accelerated data. However, uniformly downsampling an entire trajectory can be problematic. Some parts of a task can be safely sped up (e.g., unconstrained motion), while others demand slower, more precise motion (e.g., object interactions or fine manipulation). To address this challenge, we introduce VOLT, a vision-and-language trajectory segmentation method that reasons over video...
Abstract:Successful robot automation requires accurate global localization to support repeatability, task planning, goal specification, and safe operation. However, reliable localization in GNSS-denied environments remains an open problem. Overhead aerial imagery offers a promising solution, but existing approaches primarily target structured urban environments and have been rarely demonstrated in unstructured natural terrain. Limitations of the state-of-the-art include a reliance on models trained for specific environments, as well as difficulty handling repetitive geometries and featureless landscapes commonly found in natural outdoor areas. To overcome these challenges, we present Meridian, a method for matching high-level metric-semantic primitives across aerial images and ground robot RGB-D camera data that achieves accurate global localization and generalizes well across diverse...
Abstract:Triaxial MEMS accelerometers are widely used for inertial sensing, navigation, and sensor fusion, but existing calibration methods often rely on costly reference setups or nonlinear iterative optimization, limiting their efficiency and applicability to low-cost or self-calibrating systems. We present attitude-aided linear accelerometer calibration (ALAC), a method that operates on any platform providing orientation information, such as turntables, robotic arms, or inertial measurement units. ALAC constructs a combined error matrix (CEM) to represent sensor errors in a unified calibration model and enables linear least-squares estimation. The bias and gravity vector are jointly estimated, implicitly accounting for platform misalignment, and matrix decomposition of the CEM recovers scale, non-orthogonality, and alignment rotation parameters. Under static gravity, calibration is...
Abstract:Touch sensing is beneficial for solving a wide variety of manipulation tasks. While there exists a wide range of tactile sensors with different properties, exploiting the fusion of multiple heterogeneous tactile sensors to improve manipulation learning remains underexplored. We present Multi-Resolution Tactile Sensing (MiTaS), a representation framework that leverages multiple tactile sensors operating at different temporal resolutions in order to solve complex contact-rich manipulation tasks. We propose a novel architecture using modality-specific convolutional stems and transformer-based fusion that effectively fuses information from an RGB camera stream, a vision-based GelSight Mini sensor and a high-frequency event-based Evetac sensor. This multi-sensor representation then conditions a flow-matching policy for solving downstream tasks. Experimental results across five...
Abstract:Vision-Language-Action (VLA) policies remain brittle in long-horizon and high-uncertainty control, where one-pass action decoding provides limited inference-time deliberation. Explicit chain-of-thought can increase reasoning depth, but introduces token latency and an indirect text-to-action interface. We propose MPCoT, a reward-guided multi-path latent reasoning framework that initializes $M$ hypotheses, refines them for K weight-tied steps, and softly aggregates them before action decoding. A training-only path-preference objective evaluates candidate action branches with expert-action consistency, world-model/VLM-based progress, and success feedback to align the latent path scorer with downstream execution quality. MPCoT preserves the original 8-step action interface, generates zero reasoning tokens, and exposes configurable inference controls (K,M). Under matched protocols...
Abstract:A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robot. In contact-rich, dynamic manipulation, even small motion discrepancies can result in failure to track reference motion, since they disrupt the timing and modes of contact. Common remedies, such as domain randomization or system identification, either produce overly conservative task policies or require data that must be recollected for each robot or payload. We introduce the Torque Adaptation Module (TAM), a learned module that adapts the torque commands sent to the robot to match the behavior of an ideal robot. TAM operates between the low-level controller that tracks the policy's actions and the robot's torque interface. It includes a history encoder that embeds proprioceptive history into a...
Abstract:Egocentric human video offers a scalable alternative to robot data for pretraining, yet models pretrained on such video consistently underperform those pretrained on robot data. We attribute this gap to a missing signal, the active perception behavior in egocentric videos, where humans continuously reposition their viewpoint during manipulation, inducing camera motion that standard pipelines treat as noise. To address this, we present ActiveMimic, a pretraining framework that recovers synchronized camera and wrist trajectories from a single body-worn RGB camera, models camera motion as a viewpoint action, and jointly learns active perception and manipulation from in-the-wild egocentric human video before adapting to a target robot. Empirically, real-world experiments across tasks with diverse active perception demands show that ActiveMimic consistently surpasses baselines...
Abstract:As underwater robotics research increasingly addresses complex 3D perception and autonomous navigation, the fidelity of sonar simulation has become a key factor in algorithm development. Current simulation frameworks typically rely on geometry-driven rendering, approximating 3D sonar as an underwater equivalent to LiDAR, which fails to account for fundamental acoustic phenomena such as refraction, multi-path interference, and phase-dependent signal formation. This paper proposes a modular architecture for realistic 3D sonar simulation that integrates GPU-accelerated graphics engines with physically grounded acoustic propagation principles. We implement a volumetric 3D sonar model within the NVIDIA Isaac Sim environment, modeled after the Water Linked 3D-15 sensor, and integrate it into a comprehensive underwater simulation framework. The system is validated through a...
论文介绍 本文针对水下机器人3D声纳模拟中几何驱动方法忽略基本声学现象的问题,提出了一种模块化架构。该架构集成GPU加速图形引擎与物理声学传播原理,在NVIDIA Isaac Sim环境中实现了体积3D声纳模型,模拟了折射、多径干涉等现象,旨在提高模拟的保真度。
Abstract:This paper presents a distributed conversational framework for human-robot collaborative manipulation that integrates local language and vision-language models (VLMs) with a Robot Operating System 2 (ROS 2)-based execution stack. Language understanding, visual grounding, orchestration, and motion execution run as separate ROS 2 nodes, enabling flexible deployment across distributed hardware while maintaining a responsive control loop. From free-form user commands, the system generates structured action requests for pick, place, and handover. It uses a VLM to return image-space targets, which are converted into metric robot-frame goals using depth and calibration. A web dashboard exposes intermediate intent and grounding overlays (pixel, depth, and robot-frame) and requires explicit operator confirmation before any motion is executed. Experiments on a Franka FR3 platform...
Abstract:Intra-vehicular robots in spacecraft help reduce astronaut workload and improve mission efficiency. Recent research focuses on using deep learning methods to achieve the acute control required for operations in these complex environments. However, objects exhibit unpredictable, unconstrained drift without gravitational damping. These factors demand robustness against complex multimodal action distributions. Diffusion policies (DP) can model these complex actions, but their iterative sampling process consumes too much energy for the limited power budgets of spacecraft. We therefore propose a low-energy intra-vehicular robotic manipulation framework, L-SDPPO, in which the Spiking Diffusion Policy (SDP) is optimized with a reinforcement learning (RL) algorithm. Furthermore, to address the insufficient perception of dynamic spatiotemporal features in microgravity, we propose the...
Abstract:As robotic systems become more sophisticated, the growing complexity of their motion planning models and the longer training times pose substantial challenges. Evolutionary algorithms such as the Sample-efficient Cross-Entropy Method (iCEM) have recently demonstrated promising potential for low-level real-time planning by leveraging efficient knowledge reuse strategies to improve performance. Although effective in many control tasks, iCEM's performance can be constrained in more complex scenarios, particularly those requiring stacking, sliding, and shelf placement. In this work, we propose a novel iCEM+TL framework that explicitly leverages Transfer Learning (TL), where key iCEM parameters are transferred from simpler upstream tasks to guide more complex downstream tasks. Additionally, we applied Reward Redesign (RR) through task decomposition for stacking objects and shelf...
第一作者: Antonio Alvarez Valdivia · 方向: 导航与运动 · 来源: cs.RO
软机器人藤机器人尖端安装快速生长传感器集成
Abstract:Soft, growing vine robots extend through tip eversion, a mechanism that enables navigation through cluttered environments. However, integrating cameras and other sensors at the tip is uniquely challenging because the material forming the tip is constantly renewed as the robot grows. This continual material turnover, combined with friction between internal layers, added tip weight, and fabric constriction, complicates sensor and tool mounting. These limitations hinder the deployment of vine robots for inspection and search tasks, where rapid growth while carrying tip-mounted sensors is essential. In this work, we present a triangular roller tip mount that reduces internal resistance during growth by rolling rather than sliding against the robot body. The design was refined through iterative failure analysis, enabling, for the first time, consistent eversion on a TPU-coated...
Abstract:Learning dexterous manipulation requires demonstrations that preserve fine hand-object interactions while remaining executable at deployment. Existing pipelines either lose deployable dexterity through retargeting or embodiment conversion, or rely on robot-specific teleoperation that is costly to scale and often lacks intuitive, contact-aware control for dexterous data collection. We present RealDexUMI, a wearable universal manipulation interface built around a shared dexterous end-effector module that integrates a lightweight dexterous hand, in-hand vision, and fingertip tactile sensing. A palm-side isomorphic teleoperation glove maps human finger inputs to robot-hand joint commands, enabling real-time, retargeting-free, intuitive, and precise hand control. The shared hand and sensing modules yield zero-gap end-effector data, with matched in-hand observations, tactile...
Abstract:We propose world-language-action (WLA) models as a new class of embodied foundation models. WLA takes textual instructions, images, and robot states as inputs to jointly predict textual subtasks, subgoal images, and robot actions, conjoining the \emph{world modeling interface} to learn from extensive egocentric videos as in the world-action model (WAM) and the \emph{language reasoning} capacities to solve complex long-horizon tasks as in vision-language-action (VLA) models. At the core of WLA lies an \emph{autoregressive (AR)} Transformer backbone, instead of a bidirectional diffusion Transformer as in WAMs, to predict the \emph{next state}, comprising the \emph{semantic-level} textual intention and complementary \emph{fine-grained} physical dynamics. The physical dynamics are supervised by the world modeling objective based on a dedicated World Expert, and are leveraged to...
Abstract:Embodied intelligence is moving from laboratory demonstrations toward industrial deployment, with the logistics industry serving as a key application scenario. Learning-based policies offer a promising path beyond traditional perception-planning-control pipelines, but their scalability depends on how embodied data can be collected, organized, and reused. This research studies a data-centric framework for industrial embodied intelligence by constructing a logistics data flywheel. Our framework converts daily operations into reusable data assets, uses World Models to generate reliable supervision for long-tail parcel manipulation, and feeds deployment feedback back into policy improvement. As an initial result, \textit{WM-DAgger} introduces a World-Model-based data aggregation framework that synthesizes out-of-distribution recovery data for robust imitation learning. Building on...
Abstract:In this work, we propose an agentic gamification framework for hazard-informed learning of robot safety policies through synthetic scenarios. We model scenario generation as an adversarial game between two agents: a Red Team that explores the space of potential failures by constructing hazardous situations, and a Blue Team that incrementally refines safety policies to prevent them. This iterative process enables efficient discovery of high-risk edge cases that are unlikely to be captured through random simulation or manual enumeration. By combining classical risk modeling with adversarial scenario generation and modern learning paradigms, this work provides a scalable pathway for embedding safety into Physical AI systems operating in complex real-world environments. The paper describes ongoing work. The contribution is a problem formulation and a proposed solution architecture.
Abstract:Humanoid robots hold great promise for operating in human-centered environments, yet ladder climbing remains one of the most challenging tasks due to sparse footholds and handholds, complex whole-body coordination, and sensitivity to perception and control errors. We present \textbf{LadderMan}, a unified system that enables humanoid robots to robustly climb diverse ladders and perform manipulation under such constrained conditions. Our climbing policy is built on a scalable two-stage learning pipeline, where we use hybrid motion tracking to learn multiple climbing experts from a single reference motion, and distill these experts into a unified depth-based visuomotor climbing policy via hybrid imitation and reinforcement learning. To enable real-world deployment, we leverage vision foundation models to bridge the sim-to-real gap in depth perception. Building on the learned...
Abstract:In this paper, we present a robotic ultrasound acquisition system that integrates stereo vision, touch-based feedback, and expert-informed strategies to perform autonomous and adaptive abdominal scans. The system records freehand motion and force data from expert radiologists, creating a framework to capture transducer motion, applied forces, and anatomical scanning strategies. This expert data is replayed to replicate characteristic scans with the robot, forming a foundation for further autonomous capabilities. Using stereo vision, the system generates three-dimensional topography maps of the patient's abdomen, which are refined through stiffness measurements at key points to delineate the rib cage boundary. These combined techniques enable the robot to execute two distinct scanning paths: an upward-angled sweep beneath the rib cage to visualize structures near the upper...
Abstract:Vision-language-action (VLA) policies operate in a closed loop in real-world robot tasks: a robot observes the scene, executes an action chunk, and conditions its next decision on the resulting observation. However, most existing world models for robot action evaluation are limited to open-loop prediction along pre-collected action trajectories. This prevents them from supporting closed-loop VLA evaluation, where each action chunk must be conditioned on the observation generated by the previous execution. To address this gap, we propose PiL-World, a chunk-wise world model designed for policy-in-the-loop VLA evaluation. Given the current observation and the action trajectory rolled out by a VLA policy, PiL-World generates multi-view future observations that are consistent with the VLA rollout and match the image inputs required by the policy. By alternating between VLA...
Abstract:Robotic Cellular Warehousing Systems (RCWS) give rise to multi-agent pickup and delivery (MAPD) processes in which robots sequentially collect multiple stock-keeping units (SKUs) for each order. Unlike classical MAPD formulations that assume static tasks, real warehouse operations often involve dynamic order evolution, where new SKUs may be appended to an order while it is being executed. Motivated by this practical requirement, this letter formulates the Dynamic Multi-Agent Pickup and Delivery problem considering internal order evolution for the first time. Building on the token passing paradigm, we propose two event-triggered online replanning algorithms. The first, Dynamic Token Passing, performs localized replanning upon order updates through add-order decomposition and priority-based token scheduling while preserving collision-free execution. The second, Cooperative Token...
Abstract:Embodied AI systems are increasingly expected to reason and act over extended horizons in physical environments. This growing capability brings safety to the foreground, because failures in the physical world can harm people, damage objects, and disrupt workplaces. Although safe embodied AI has attracted substantial attention, the literature remains fragmented across planning, policy design, and runtime execution. Long-horizon robotic manipulation is a particularly revealing anchor domain for this problem because semantic misgrounding, subtask-level error propagation, execution drift, and contact-rich physical risk can accumulate within the same closed-loop system. This survey therefore provides a structured review of safety in long-horizon robotic manipulation from an embodied AI perspective. We organize the literature by intervention locus, covering planning-time...
Abstract:Autonomous driving requires reasoning about how ego actions shape the evolution of the surrounding world. However, most end-to-end methods rely on direct state-to-action mappings, capturing correlations without explicitly modeling action-conditioned dynamics. Conversely, continuous-latent world models often lack compositional structure for causal reasoning across counterfactual futures. We introduce Discrete-WAM, a unified latent vision-action world policy that represents future visual states and ego actions as aligned discrete tokens, enabling compositional causal reasoning across alternative futures. Built upon this unified discrete alignment, Discrete-WAM establishes a shared discrete diffusion framework with unified generative tasks, jointly formulating world modeling, world-action policy, and hierarchical decision-enabled policy, supporting compositional generalization...
Abstract:The estimation of odometry in legged robots depends on the assumption that the velocity of the foot with respect to the world remains zero during the stance phase. Feedback for the main body velocity is derived from the kinematic serial chain of the feet making accurate leg phase detection is a critical subproblem. A considerable number of studies employ ground reaction force sensors mounted at the tip of the foot to classify, yet these sensors may not be universally available for all legged robots. Additionally, these sensors are often unresponsive to unaccounted disturbances, such as slippage, while the foot remains in contact with the ground. In this study, we propose a self-supervised representation learning framework for contact detection that utilizes the standard sensor set of joint encoders without reliance on force sensor augmentations. We employ learned...
Abstract:Post-training Vision-Language-Action (VLA) models into policies that can be reliably deployed on real robots remains a major bottleneck. SFT and DAgger exploit failure signals only indirectly, and reward-based RL is bottlenecked by the difficulty of real-world reward design and of training reliable critics. We present FlowPRO, a reward-free offline reinforced fine-tuning framework for flow-matching VLAs. Algorithmically, we propose RPRO (Robotic Flow-matching Proximalized Preference Optimization), a preference-optimization objective tailored to the flow-matching action head of VLA models. RPRO pairs a contrastive optimizer with an explicit proximal regularizer that anchors the absolute magnitude of the implicit reward, thereby eliminating the reward-hacking failure mode of plain Flow-DPO. On the data side, a teleoperated intervention-and-rollback paradigm produces naturally...
Abstract:Learning from demonstratins (LfD) is usually performed over Euclidean spaces, while the robot state, e.g. orientation, naturally evolves over curved spaces. Therefore, to ensure natural, complex motion generation, we investigate learning from demonstrations over Riemannian manifolds that are capable of encoding both position and orientation data. Here, geodesic paths provide for natural motion between two arbitrary points within the manifold. We propose to numerically estimate geodesics via neural ordinary differential equations, mitigating large computational overhead of existing approaches. Finally, these geodesics can be decoded back into the original task space before deploying on the robot. In this extended abstract, we discuss the architecture of our framework, provide some initial insights from our simulation experiments, including comparison to other geodesic...
Abstract:This work addresses sequentially grasping multiple objects with a single dexterous hand without releasing those already held. Most dexterous grasping methods commit all of the hand's degrees of freedom to a single object, underutilizing its dexterity and leaving no redundancy for subsequent grasps. The proposed solution, MoDex, is a diffusion policy that predicts the next gripper pose directly from observations, conditioned on an opposition space and point cloud. The opposition space condition specifies which fingers participate in the current grasp, enabling the gripper to use only a subset of its available degrees of freedom while reserving the remaining degrees of freedom for subsequent grasps. To facilitate sim-to-real transfer, MoDex is trained in two stages: first through imitation learning on expert demonstrations, and subsequently through reinforcement learning...
第一作者: Vinicius M. Gonçalves · 方向: 导航与运动 · 来源: cs.RO
李群向量场导航距离计算路径跟踪嵌入式计算
Abstract:Vector-field-based methods are widely used for robot control and are often applied to the path-tracking problem. Some vector field approaches require repeatedly computing the distance between the robot configuration and the curve, as well as the corresponding closest point. Recently, vector fields have been extended to Lie Groups. In this case, this computation can be expensive, especially when performed at high control frequencies on embedded platforms. This paper proposes a method for efficiently computing the distance between a point and a curve represented as what is called a G-polynomial curve, which is a curve representation that generalizes polynomial curves to matrix Lie groups. The proposed approach exploits the structure of these curves to reduce the problem to a small number of polynomial root-finding computations. Simulation results show that the method...
Abstract:Inverting a robotic task requires more than reversing symbolic state transitions or rewinding motor trajectories. In robot manipulation tasks, symbolic inverse plans often fail to fully restore the effects of forward executions under continuous interaction dynamics. We present a hybrid framework for inverse manipulation that derives inverse-skill objectives from STRIPS-like operators automatically extracted from demonstrations through soft geometric predicates. For each extracted operator, we construct an inverse restoration objective that preserves preconditions, restores delete effects, and negates add effects. A task planner first attempts to satisfy this objective using available action primitives. Unresolved symbolic predicates then induce a residual operator learning problem solved through Reinforcement Learning (RL). We evaluate the framework on the ManiSkill3 PushCube...
Abstract:Robotic arms capable of traversing arbitrary spatial paths, especially in highly obstructed workspaces, are highly desired across several industries. Quaternion-joints have recently empowered a specific class of robotic arms -- cable-driven redundant manipulators -- beyond its prior capabilities. Specifically, quaternion-joints reduce the number of required motors per degree of freedom, paving the way for more compact this http URL ongoing challenge is that the complexity of the kinematic model of quaternion joints challenges a priori decisions on manipulator configurations and imposes higher computational demands on the control system and its non-linearities amplify all discrepancies between design and physical artifact arising from fabrication imprecision. Here we show a that a 4-segment, 8-joint manipulator can achieve a broader workspace than extant configurations, at...
Abstract:Robotic manipulation of textiles remains challenging because continuous deformation and self-occlusions hinder the robust visual perception required to estimate the cloth's state. To address the lack of annotated real-world data, we developed a Blender-based synthetic pipeline exporting auto-annotated keypoints, and combined manually labeled renders with real-world data to train a wrinkle detector. We present a perception framework integrating a CNN for permutation-invariant keypoint detection and a YOLOv8-OpenCV pipeline to extract grasping points from structural wrinkles. A proposed bimanual algorithm uses this system to stretch fully folded garments via wrinkles, transitioning to keypoint-based ironing once corners emerge. The keypoint model achieves a Mean Position Error (MPE) of 1.7615 pixels. The perception system transfers to physical fabrics without fine-tuning...
Abstract:Open-vocabulary 3D functionality segmentation enables robots to localize functional object components in 3D scenes. It is a challenging task that requires spatial understanding and task interpretation. Current open-vocabulary 3D segmentation methods primarily focus on object-level recognition, while scene-wide part segmentation methods attempt to segment the entire scene exhaustively, making them highly resource-intensive and time consuming. Balancing segmentation performance in terms of granularity, accuracy, and speed remains a challenge. As one step towards alleviating this, we introduce T-FunS3D, a task-driven hierarchical open-vocabulary 3D functionality segmentation method that provides actionable perception for robotic applications. Our method takes as input the 3D point cloud and posed RGB-D images of an indoor scene. We construct an open-vocabulary scene graph by...
Abstract:Diffusion-based vision-language-action (VLA) models often inherit the image-generation view: actions are generated by iterative denoising. We argue that VLA action generation has a different condition-target structure: the policy is conditioned on rich observations, language, and state, but predicts only a compact, low-dimensional action chunk. Under this asymmetry, strong one-step action generation should not necessarily require the advanced one-step methods developed for image synthesis. We keep standard velocity prediction and add no teacher model, distillation stage, or auxiliary objective; in our main recipe, we simply bias the training time distribution toward high-noise states. We first isolate the effect in a controlled MNIST grid-to-sequence task, then test it with extensive robot-policy experiments. Across standard LIBERO, LIBERO-Plus, and LIBERO-Pro, one-step...
Abstract:Existing robot planning systems rely on appearance-based reasoning, where visual observations are encoded into latent spaces organized around object appearances (e.g., recognizing a "cart" based on how it looks). However, planning requires reasoning about task-relevant functionalities of objects (e.g., whether an object is "movable"), which appearance-based latent spaces do not capture. As a result, existing approaches struggle to generalize to novel robot-object interactions. We address this limited generalizability through affordance reasoning, enabling planning based on task-relevant object functionalities instead of appearance alone. We introduce A4D, which maps visual observations into a shared latent space structured around affordances (e.g., "movable"). By projecting visual observations into this functional latent space and measuring their proximity to affordances, A4D...
Abstract:World-action models (WAMs) jointly generate future video and robot actions through iterative diffusion, achieving strong performance on manipulation benchmarks but requiring tens of denoising steps, a cost that precludes real-time control. Step distillation has emerged as the natural remedy, but off-the-shelf methods break down in the joint video-action setting because video and action streams use different SNR-shifted noise schedules and reach training with substantially different marginal noise distributions, an asymmetry that single-modality distillation methods cannot accommodate. We introduce \textbf{Flash-WAM}, a modality-aware step-distillation framework inspired by consistency distillation that selects the consistency function for each modality to match its noise regime: a linear-gradient-scaling parametrization for the action stream's low-noise regime, paired with a...
Abstract:Global-scale video moderation faces a dual challenge: the need for fine-grained multi-modal reasoning and the demand for interpretable outputs to support downstream enforcement. Traditional moderation systems often rely on fragmented black-box classifiers that are difficult to maintain and lack transparency. In this paper, we present UNIVID, a UNIfied VIsion-language model for video moDeration. Unlike standard classification models, UNIVID generates policy-aware captions that serve as an interpretable intermediate representation, enabling human-verifiable decisions and multi-task reusability. While existing open-source and commercial VLMs often suffer from safety-guardrail refusals and lack fine-grained policy alignment, we develop a specialized training data recipe that combines expert human-refined labels with synthetic data to align the model with our safety guidelines. By...
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The Defense Department has increased the counterintelligence threat assessment to its highest level, and Israel is believed to have eavesdropped on American negotiations with Iran.
The US defence secretary was speaking in Normandy, 82 years after allied forces launched their operation to liberate Nazi-occupied north-western Europe.
Nearly 40,000 fans came out to hear the rapper formerly known as Kanye West in the Netherlands on Saturday, even as other European countries had canceled his concerts.
Long seen as the cool, coifed wife of the president, she emerged as a political player in her own right, as well as a relentless champion of charities.
Widow of French ex-president Jacques Chirac was a steely behind-the-scenes operator known for her charity work Bernadette Chirac, the formidable widow of the former French president Jacques Chirac and a driving force behind his political rise, has died at the age of 93. As France’s first lady for 12
Young Indians frustrated by unemployment and exam scandals are rallying behind an unusual symbol: the cockroach. NPR's Diaa Hadid reports from New Delhi.
Armenia is trying to move closer to Europe and the West, a move that's creating tension with Russia. Journalist Lucy Martirosyan reports from Yerevan ahead of an important election.
A wave of optimism over South Korean stocks is giving way to growing caution, as some investors hedge positions and pare back crowded trades on concerns that the rally has run too hot, too fast.
Delta Airlines President Peter Carter speaks at the International Air Transport Association (IATA) on Middle East, Rhiad flights and premium travel. (Source: Bloomberg)
Delta Airlines President Peter Carter speaks at the International Air Transport Association (IATA) on consumers "insatiable appetite" for premium travel. (Source: Bloomberg)
JetBlue CEO Joanna Geraghty speaks at the International Air Transport Association (IATA) on potential consolidation saying "never say never". (Source: Bloomberg)
A euro-zone interest-rate hike in the coming week is set to place the European Central Bank at the vanguard of global tightening caused by the Iran war.
The International Air Transport Association (IATA) Director Willie Walsh speaks on how the cost of jet fuel will provide an incentive for refineries to increase production. (Source: Bloomberg)
The International Air Transport Association (IATA) Director Willie Walsh speaks on the stagflation & challenges for the industry air transport industry. (Source: Bloomberg)
Credit heavyweights like DoubleLine Capital LP and Oaktree Capital Management are buying debt now that can perform well if the artificial intelligence boom turns into a credit bust.
中文摘要 信贷巨头DoubleLine Capital和Oaktree Capital Management正购买债务,以在AI繁荣转为信贷崩盘时获得良好表现。