Find the local LLM that actually runs and performs best on your hardware. Ranked by real, recency-aware benchmarks, not parameter count. One command, run it instantly.
In February 2026, a small OpenAI team shipped 1 million lines of production code. They didn't write a single line by hand. The AI agents wrote it. The humans designed the system that made the agents
Catching up with the agent-related research literature, one paper that definitely got my attention is "Evaluating AGENTS.md: Are Repository-Level Context Files Helpful for Coding Agents?." It looks
The most repeated sentence in AI coding this week is six words long, and almost nobody saying it can define it. One tweet had the entire timeline in a chokehold this week, so I ran /last30days on the
In February 2026, Nous Research released Hermes Agent: an open-source, self-hosted agent that doesn't live inside an IDE and doesn't forget when the tab closes. It runs as a daemon on your own box,
中文介绍 Nous Research于2026年2月发布Hermes Agent,一款开源自托管AI代理,作为守护进程运行,不依赖IDE且状态持久化。适合自动化后台任务,如代码生成,让用户睡觉时也能运行,提升效率。
Everyone is building with agents. Almost nobody talks about what is actually inside one. Not the model. The harness around it. I spent the last few months building one from scratch in Python every
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
OpenAI launches the Economic Research Exchange to study AI’s impact on jobs, productivity, and the economy. Applications are now open for selected research projects.
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.
Abstract:Deploying deep neural network (DNN) inference on low-end edge devices raises two key challenges: protecting model confidentiality against a potentially compromised edge system and enabling verifiable inference without incurring prohibitive overhead. Existing approaches either house partial models and inference software within trusted execution environments (TEEs), resulting in high cost and an application-dependent trusted computing base (TCB), or execute in untrusted environments, providing little security. In this work, we present VECODI, a framework for verifiable and confidential DNN inference on constrained edge devices. At its core, VECODI introduces SHANGRI-LA, a new execution abstraction on TrustZone-M TEEs that establishes a third runtime environment with privileges strictly between the Secure and Non-Secure Worlds. VECODI leverages SHANGRI-LA to execute untrusted...
Abstract:Android has adopted Kotlin alongside Java across apps and core system components. During this shift, we observe parallel implementations in the Android Open Source Project (AOSP) where the same component is implemented in both Java and Kotlin. In principle, their functional purposes are identical. In practice, subtle semantic divergences can appear. Such divergences are not vulnerabilities by themselves, but they provide useful clues that may reveal flaws in surrounding enforcement logic. To the best of our knowledge, this paper presents the first systematic study of Java-Kotlin parallel implementations in the Android framework and examines their security implications. We design and build ParaDroid, an analysis framework that identifies parallel methods at scale and compares their behaviors. ParaDroid normalizes code into a bytecode-level intermediate representation...
High-quality smart contract auditing datasets are crucial for evaluating security tools and advancing smart contract security research. Two major limitations of existing datasets are the manual-induced scalability bottleneck and the deficiency in data granularity and diversity. To address these limitations, we propose GiANT, an automated framework designed to curate smart contract auditing datasets by distilling vulnerability insights from real-world auditing reports. GiANT employs a divide-and-conquer strategy coupled with the Chain-of-Thought technique to extract structured vulnerability information from Code4rena reports, followed by an LLM-as-a-judge mechanism to perform rigorous quality assurance. To evaluate GiANT's effectiveness, we run it on 388 real-world audit reports and generate the GiAnt Corpus comprising 7,711 vulnerability findings across five severity levels. Manual...
Abstract:The transition to post-quantum cryptography (PQC) requires not only replacing vulnerable cryptographic primitives, but also refactoring the surrounding software logic. While existing PQC migration frameworks provide organizational guidance, practical code-level remediation remains largely manual and error-prone. This paper evaluates whether large language models (LLMs) can be trained to assist in the migration of pre-quantum cryptographic code fragments to post-quantum counterparts while preserving functional correctness. To this end, we introduce a reproducible experimental framework built around a synthetic dataset of 800 paired Python code fragments covering six cryptographic families and combined multi-primitive cases. Each pair is validated through category-specific functional tests, enabling both dataset quality control and objective evaluation of model-generated...
Abstract:Jailbreak prompts can bypass alignment guardrails in large language models (LLMs) and elicit unsafe outputs, making reliable deployment-time detection critical. Prior detection approaches largely rely on a fixed metric space, e.g., raw inputs, gradients, or hidden features, in which benign and jailbreak prompts are linearly separable. We show this assumption breaks under (i) pseudo-malicious prompts that are benign by intent but contain safety-related keywords, and (ii) adaptive attacks that explicitly optimize against the deployed detector. To overcome this limitation, we shift our focus from identifying a universal metric space to analyzing the more robust neighborhood structure of the underlying data manifold. We present Manifold Trajectory Kinetics (MTK), which treats an LLM as a kinetic system transforming inputs into outputs and detects jailbreaks by tracking how a...
Abstract:Cloud storage revolutionizes data management but raises conflicts between functionality and privacy. Public Key Encryption with Equality Test (PKEET), an advanced cryptographic technique, can enable multi-user searchable encryption (SE) through cross-key ciphertext comparison without shared keys. However, existing PKEET-based SE schemes lack ciphertext-file-level authorization, public verifiability, or SE-level support. This paper first proposes a novel PKEET scheme, AVPKEET (Authorized and Verifiable PKEET). It enables non-transferable and non-replayable authorization of ciphertext files, while supporting public verifiability, all without the need for trusted third parties. Then we propose an AVPKEET-based SE scheme, denoted as AVSE (Authorized and Verifiable SE), featuring one-time non-transferable tokens bound to users and nonces, batch operations, and fine-grained access...
Abstract:Machine learning-based intrusion detection systems (IDS) for RPL-based IoT networks often rely solely on routing layer features, which provide only a partial view of network behaviour. In this work, we investigate whether incorporating Transmit (TX) and Receive (RX) radio features alongside the standard RPL feature set can improve detection performance in an LSTM-based IDS. We evaluate the proposed approach across three different attack types, namely DIS-Flooding, Local Repair, and Worst Parent under varying network sizes. The results show that incorporating TX and RX improves the IDS's overall detection performance by up to ~4% in F1-score compared with using routing-layer features alone, with the most notable gain observed for the Worst Parent attack.
Abstract:Cyber Threat Intelligence CTI attribution relies on identifying the Tactics, Techniques, and Procedures TTPs that distinguish one threat actor from another. This approach presupposes that each adversary leaves a recognizable operational fingerprint. This work investigates whether AI driven adversary emulation challenges that presupposition. We deploy agents from our Cybersecurity SuperIntelligence CSI framework, configured as five Advanced Persistent Threat APT groups, APT28, APT29, APT41, APT44, and Lazarus Group, against AI driven Defender agents across two cyber ranges provided by CYBER RANGES, equipped with defensive software Wazuh, Velociraptor, Elasticsearch and active AI driven defenders: an enterprise network and a military infrastructure. Across 20 experiments using two defender models, a binary pattern emerges: all 10 Enterprise range experiments resulted in...
Abstract:Agent-interoperability protocols such as A2A and MCP standardize what agents say to one another, but assume address-based transport over HTTP(S). Such transports protect message content, increasingly with end-to-end encryption. What they leave in the clear is the communication graph: which agent contacts which, when, and how often. In agent systems this graph is more consequential than a privacy framing suggests. Endpoints are often capability-labeled, workflows are structured and chained, and interactions are coupled to real actions, so an observer recovers more than past relationships. It can infer the pending workflow, the task being assembled and the action likely to follow. At machine speed, it can act on that inference before the workflow completes. The threat is therefore one of workflow integrity, not privacy alone: predictive leverage over autonomous action. We give a...
Abstract:AI coding agents such as Claude Code and Gemini CLI increasingly extend themselves with third-party skills: markdown packages bundling natural-language instructions, executable scripts, and tool permissions. Because a skill is at once code and agent-facing instruction, it introduces a supply chain dependency whose risk is neither pure code nor pure prompt. Detection tools have never been measured against verified ground truth spanning this hybrid space, leaving their effectiveness unknown and wild-only evaluations biased. We present MalSkillBench, the first runtime-verified benchmark of malicious agent skills: 3,944 malicious skills labeled along a three-dimensional taxonomy of 108 cells. Of these, 3,214 come from a closed-loop Generate-Verify-Feedback pipeline admitting only samples whose malicious behavior fires inside a Docker sandbox under system-call monitoring and an LLM...
Abstract:We continue the study of {\em fast} functions, computable by linear-size circuits, that share useful properties of random functions. Motivated by cryptographic applications, we generalize and improve on previous results in this area, obtaining the following results: - For any constant $t$, we construct a fast $t$-wise independent hash function with algebraic degree $\log_2 t$ (over $\mathbb F_2$), simultaneously optimizing both asymptotic circuit size and degree. - We simplify and improve a recent construction (ITCS 2026) of a family of fast codes with fast duals, both meeting the Gilbert-Varshamov bound. Unlike the previous construction, our construction has negligible failure probability, can accommodate general fields and rates, supports a systematic encoding, and admits fast universal encoders. - We strengthen the above to support stronger random-like properties, such as...
Abstract:Android malware analysis is currently facing increasing challenges in achieving robust classification and detecting stealth attacks. Modern threats employ advanced evasion strategies such as code obfuscation, dynamic loading, packing, and even steganographic manipulation of traditional static and dynamic features. These techniques reduce the effectiveness of signature-based systems and degrade the reliability of Machine Learning models that depend on explicit semantic indicators such as permissions, API calls, or control-flow structures. In this work, we propose \approachname, a memory forensics malware detection framework that shifts the analysis perspective from semantic program modeling to signal-based structural representation. Both static bytecode and early-execution memory snapshots are transformed into audio waveforms through direct binary-to-waveform mapping...
Security Digital Twins (SDTs) provide continuously updated virtual replicas of infrastructure for threat simulation, yet they rely on theoretical CVSS scores to assign lateral-movement probabilities -- creating the Contextual Reality Gap: risk is overestimated where unacknowledged mitigations neutralize exploits, and drastically underestimated where logic flaws bypass all memory-safety defenses. We present the Host Active Verification Engine (HAVE), an SDT extension that deploys a safety-constrained host agent to measure the empirical probability of compromise $\hat{p}$ via maximum-likelihood estimation over snapshot-isolated Bernoulli trials. A Wilson interval-width confidence weight $α_w$ propagates $\hat{p}$ into Monte Carlo simulations via a Bayesian blending rule formally related to the Beta-Binomial posterior. Evaluation across four vulnerability classes, three security tiers...
Abstract:Privacy deceptive patterns in web interfaces systematically manipulate users into disclosing personal data, yet existing defenses are fragmented, static, and increasingly vulnerable to manipulation by large language models. Moreover, data voids, areas of information scarcity within the web ecosystem, create fertile ground for adversaries to inject misleading content that can be scraped and learned by AI systems, thereby amplifying both deceptive design and model misbehavior. In this paper, we formalize a new threat model, AI grooming, where attackers exploit data voids to seed benign-looking but malicious samples that corrupt model reasoning and normalize deceptive practices. To address this threat in privacy deceptive patterns, we present DPAgent, an agentic and reasoning-aware framework that orchestrates four specialized agents to mitigate the AI Grooming threat via a...
Abstract:The deployment of embodied artificial intelligence via world-model-based robotics presents a transformative opportunity for blockchain infrastructure, establishing urgent demand for trustworthy data provenance, cross-organizational governance, and incentive-compatible sharing across decentralized ecosystems. Simultaneously, quantum computing advances recognized by the 2025 Nobel Prize in Physics and the Turing Award threaten the cryptographic primitives securing these data economies, creating an interdependent imperative: long-lived verification for embodied AI depends on crypto-agile architectures capable of withstanding quantum adversaries. This tutorial examines blockchain as the coordination layer bridging this dual transition, from financial substrate to foundational Cyber-Physical-Social Systems infrastructure that simultaneously secures against quantum cryptanalysis and...
Selecting appropriate machine learning (ML) configurations for malware detection is a complex, multi-criteria problem. Model choice, feature engineering, and update mechanisms must jointly satisfy operational constraints that vary across deployment contexts. This paper proposes the Framework for Decision-making (FDM) to build ML-based malware detection systems. The FDM formalises this selection process using the Weighted Configuration Compatibility Score (WCCS), a multi-criteria scoring function mapping five operational parameters (platform constraint, resource budget, response latency, update frequency, and detection sensitivity) to ranked recommendations across nine configuration dimensions. To validate the framework, four experiments were conducted on three datasets (a private Windows API dataset, the public Malimg image benchmark, and an Android static API dataset). Key results...
Abstract:Bitcoin is permissionless and does not rely on any central administrator, which gives it strong censorship resistance. At the same time, it is important to incentivize miners to behave in ways that align with the interests of the system as a whole. This paper asks whether miners are individually incentivized to propagate blocks, one of the most fundamental processes in Bitcoin. Miners collectively maintain the blockchain by generating blocks and disseminating them across the network. If miners have an incentive not to propagate some blocks, this would indicate a fundamental flaw in Bitcoin's incentive design. Although prior work has studied how propagation delays affect forks and mining rewards, it has not fully characterized miners' incentives to improve block propagation under different tie-breaking rules. To address this gap, we derive analytical reward expressions for each...
Abstract:As malware illustrates a complex structure and behavior, detection of these has been a significant challenge in the domain of cybersecurity along with related services in daily life. So, it becomes crucial to have a reliable and adaptive solution to address the issue. Among the several detection methods developed over the years, one of the most reliable ones is studying and analyzing the structural and behavioral patterns of malware. These patterns of sophisticated malware can be obtained with the help of Function Call Graphs (FCGs). However, to effectively cover numerous groups of families of malware, it is required to have a sufficiently large dataset for the system to operate on. In order to ensure accuracy and robustness of the system, the dataset should comprise samples of different malwares and a benign application for secure execution of the detection process. This...
Abstract:Public social media posts can reveal private information through weak cues scattered across text, images, or metadata. Such leakage is often cumulative and cross-post: cues that appear harmless in isolation may jointly expose a user's home, workplace, or routine. However, current research lacks a unified benchmark for user-level multimodal privacy leakage and an evaluation metric that captures exposure severity beyond binary accuracy. To address these gaps, we propose SopriBench, a synthetic benchmark guided by leakage patterns abstracted from a private reference corpus of Rednote and Instagram accounts, covering 50 user profiles and 1,569 images with attributes, contextual sensitivity, granularity, leakage type, inference difficulty, and supporting evidence. We further introduce the Privacy Exposure Score (PES), which weights value granularity by contextual sensitivity...
Abstract:Modern infrastructure depends on externally maintained artifacts such as package-registry dependencies, CI/CD actions, container images, Terraform providers and modules, developer extensions, model artifacts, and AI tool servers. These artifacts are easy to fetch but difficult for institutions to admit, govern, and revoke. This paper proposes the Custody Envelope Threshold, an authority-scaled model of artifact admission. It argues that direct institutional admission is defensible only when object identity, ingress path, and revocation capacity are sufficiently closed relative to the execution authority delegated to the artifact. When this threshold is not met, institutions tend to proxy, policy-mediate, vendor-mediate, internalize, quarantine, or reject the artifact. The framework is operationalized as a four-condition ordinal instrument and connected to reference-monitor...
Abstract:Modern GPU applications increasingly interact with storage systems, network devices, vendor libraries, and GPU-resident services rather than executing only isolated compute kernels. This shift creates a need for operating-system-like protection around GPU services, where service metadata, device queues, memory-mapped I/O regions, and library-internal state should not be directly exposed to untrusted application kernels. However, today's CUDA programming model, by default, still gives each application direct ownership of its CUDA context, device pointers, runtime handles, module loading path, and kernel launches, leaving protected GPU services to build their own ad hoc interfaces and isolation mechanisms. This paper presents the initial design and prototype scope of AgileOS, a GPU operating-system layer for protected CUDA services. AgileOS virtualizes CUDA at the library...
Malware detection remains largely reactive: machine learning models trained on known samples degrade as threats evolve. Understanding evolutionary relationships among malware families can inform proactive defense, but traditional reverse engineering can take months to years to uncover such lineage relationships. We propose MalTree, a framework that applies bioinformatics inspired phylogenetic techniques (UPGMA and Neighbor-Joining) at scale to model malware evolution automatically using structural, behavioral, and image-based features. We introduce temporal validation using VirusTotal timestamps to assess whether inferred trees reflect actual evolutionary order. MalTree achieves 87% temporal consistency, indicating that inferred evolutionary relationships closely align with real-world emergence timelines. Our analysis shows that some families mutate over 10 times faster than others...
Abstract:As large language models (LLMs) are increasingly trained on scraped web corpora without authorisation, content owners require forensic methods to prove that their documents were included in a model's training set. We propose \textbf{SIGIL} (\textbf{S}ubtle \textbf{I}njection for \textbf{G}round-truth \textbf{I}nference of \textbf{L}LM training data), a framework that embeds imperceptible \emph{canary sequences} into protected text and code such that any LLM trained on those documents exhibits statistically detectable behavioural signatures when probed with targeted queries. SIGIL defines five canary strategies -- lexical-rare, lexical-phrase, syntactic, semantic, and code-pattern -- and a \emph{Membership Inference Score} (MIS) grounded in the Neyman-Pearson hypothesis testing framework with formal false-positive rate (FPR) control. Simulator parameters are calibrated against...
The advancement of malware poses obstacles for cybersecurity, necessitating the development of advanced detection techniques. This paper proposes an approach to enhance malware detection through the use of a generative artificial intelligence model. Specifically, variational autoencoders (VAEs) are used with the random forest, XGBoost and sequential model machine learning classifiers. Generated synthetic malware samples are used to address the critical issue of data scarcity for new or less common malware types. This approach can be used to augment datasets to improve classifier robustness. The proposed methodology uses VAEs to create high-quality diverse synthetic datasets that closely mimic real-world malware data. The effectiveness of these augmented datasets is evaluated by comparing the performance of the machine learning classifiers when they are trained with the original data...
Abstract:We study optimal design of $\varepsilon$-locally differentially private mechanisms for binary hypothesis testing. Each observation is drawn from one of two known distributions $P_0,P_1$ on a finite alphabet of size $k$, privatized by a mechanism $Q$, and then used to infer which distribution generated the data. We measure testing utility using an $f$-divergence, including total variation, KL, and hockey-stick divergences, between the two induced output distributions. Previous work established structural properties of optimal mechanisms, but only yielded exponential-time algorithms. We prove a sharp structure: for every $\varepsilon$ and every $f$-divergence objective, after sorting the alphabet by likelihood ratio, there exists an optimal mechanism that partitions the sorted alphabet into contiguous blocks and applies randomized response to the block label. We call this class...
Abstract:Cloud-based coordination of multi-agent systems requires sharing state with a central server, creating a conflict between coordination and privacy. Fully homomorphic encryption (FHE) resolves this in principle, but its severe arithmetic constraints demand that every stage of the control loop be redesigned from first principles. We present an end-to-end encrypted control pipeline in which sensing, state estimation, state propagation, and consensus control all operate on CKKS-encrypted data using only addition, multiplication, and cyclic rotation. In order to overcome the computational challenges of FHE, we employ steady-state Kalman gains instead of solving for the matrices online and graph Laplacians are applied via the diagonal method at a cost proportional to the number of nonzero cyclic diagonals, accommodating ring, torus, and complete-graph topologies within a unified...
Abstract:Secure aggregation allows a server to aggregate users' local updates while preserving update privacy. Existing information-theoretic problems typically assume that correlated random keys are provided by a trusted third party (TTP) or generated via prescribed groupwise structures, while the communication cost for establishing such correlated keys is often ignored. Consequently, the fundamental limits under general key-distribution mechanisms remain unknown. In this paper, we study the $T$-colluding information-theoretic secure aggregation problem with $N$ users under a general two-phase framework consisting of a key distribution phase and an update aggregation phase. Unlike prior work, we model key distribution through user-to-user communication and allow arbitrary user-generated key-distribution mechanisms, eliminating TTP or prescribed structures. This enables a joint...
Speech anonymization is commonly evaluated using averagecase metrics such as the equal error rate, which can hide large disparities in re-identification risks across individuals. In this paper, we conduct a large-scale per-speaker privacy analysis using a linkability-based metric under a worst-case scenario. Nearly 5,000 speakers are evaluated across multiple anonymization systems, attacker architectures, and conversation lengths. While linkability scores are highly polarized at the speaker level, the sets of easy to re-identify and hard to re-identify speakers vary substantially across configurations. We show that no single factor explains speaker vulnerability. Instead, the re-identification risk emerges from the interaction between the attacker, the anonymizer, and the amount of available speech. These results challenge the notion of intrinsic speaker-level privacy risks and...
Abstract:Autonomous LLM agents can pursue hidden malicious objectives through sequences of individually benign actions, making sabotage difficult to detect using standard trajectory-level monitoring. Existing approaches either evaluate complete trajectories in a single pass or partition them into independently scored windows, limiting their ability to connect evidence across temporally distant actions. We propose TRACE, a monitoring framework for long-horizon LLM agent trajectories. TRACE operates through a TIJ (Triage-Inspect-Judge) loop that identifies high-signal regions, performs targeted inspection while maintaining accumulated evidence across reasoning steps, and synthesizes a trajectory-level verdict. We evaluate TRACE on ten task domains from SHADE-Arena against state-of-the-art baselines. TRACE achieves an aggregate F1 of 0.713 and recall of 0.844, with the largest gains on...
Our prior work introduced COVA, a synthetically generated multi-turn conversational smishing dataset of 3,201 labeled conversations, establishing baseline detection benchmarks across eight models. While XGBoost with TF-IDF features achieved the best performance, with 72.5\% accuracy and 0.691 macro F1, transformer models underperformed, which was attributed to input truncation and insufficient training data. We present COVA-X, an expanded dataset of 10,985 conversations spanning eight elder-targeted scam categories, produced by an improved generation pipeline addressing contamination, label mismatch, stage-direction bleed, and prompt-design failures from the first iteration. Retraining all classifiers on the expanded dataset yields the central finding of this work: Longformer now surpasses XGBoost on all evaluation metrics, achieving 79.71\% accuracy and 0.7786 macro F1 compared with...
Abstract:Diffusion transformers (DiTs) equipped with multimodal attention (MM-Attn) have become a dominant paradigm for image generation. However, preventing the generation of harmful content remains a critical challenge, particularly in image-to-image (I2I) editing tasks. Existing safety mechanisms are primarily designed for text-to-image (T2I) synthesis or U-Net-based architectures, which limits their effectiveness for unified safety mitigation in DiT-based frameworks. To bridge this gap, we propose Unified Visual Safety Regulator (UVR), a training-free safe generation framework that regulates unsafe semantics in generated images. UVR is grounded in an analysis of attention dynamics from the perspective of information flow in MM-Attn. We identify a task-independent start-up stage, during which unsafe semantics in output patches rapidly emerge and can be accurately localized, followed...
Automatic Speech Recognition (ASR) systems operating in real-time settings must process acoustic input under strict temporal constraints, where transcription decisions are inherently made on incomplete information. This causal constraint serves as an information bottleneck on attackers, significantly limiting attack performance. Our new Semantic Gambit attack breaks this causal limitation by augmenting the adversary with predictive context derived from a Large Language Model in real-time. Our experiments show that this form of augmentation can elevate the corpus-level Word Error Rate to 35.6% -- a three-fold increase over the current state-of-the-art. Ultimately, this work reveals how common, low-latency LLM tooling can be exploited to systematically subvert real-time ASR pipelines.
Proof-of-work (PoW) blockchains rely on computational expenditure to secure a ledger supporting a native cryptocurrency. In existing systems such as Bitcoin, this expenditure is intentionally useless: the computation secures consensus but produces no external economic output. An emerging alternative -- proof of useful work (PoUW) -- enables the same computation to simultaneously secure the blockchain and generate economically valuable output. However, PoUW is often criticized on economic grounds: if the work is useful, attackers might be "paid to attack," potentially weakening security. We develop a competitive-equilibrium model of a PoUW blockchain in which compute can be allocated across pure mining, pure useful work -- instantiated as machine-learning inference -- or "duplex" work that produces both with computational overheads. We provide a complete closed-form characterization of...
Quantum encrypted cloning shows that an unknown quantum state can be distributed into multiple encrypted copies without contradicting the no-cloning theorem: each copy is unusable on its own, but can be redeemed together with a suitable quantum key. Recent work has related canonical encrypted-cloning protocols to particular forms of quantum secret sharing. Here we take the converse perspective: instead of mapping a given encrypted-cloning protocol into QSS, we use QSS access structures as a design library from which encrypted-cloning schemes can be extracted. The criterion is access-structural. A QSS scheme supports a quantum encrypted-cloning structure whenever it contains a family of qualified sets with a non-qualified common intersection. The common subsystem is interpreted as the key, while the non-common parts are interpreted as encrypted clones relative to that key. Thus quantum...
Abstract:Governments worldwide are increasingly regulating digital platforms to reduce online harms, particularly those affecting children. However, access restrictions can alter user behaviour and introduce new privacy and security risks. The UK Online Safety Act (OSA), passed in October 2023, illustrates this trend: it extends age-assurance and safety requirements to social media, search, and pornography services, and rolled out in phases. Ofcom's illegal content enforcement duties came into force in March 2025, and mandatory age verification for adult content took effect in July 2025. This phased rollout enables real-time observation of behavioural responses to regulation. To address this, we analyse Reddit discourse across VPN and UK Politics communities and conduct a privacy-policy risk analysis of 69 unique VPN services. We find that each of these three milestones produced...
Biosignals-free shared-autonomy control of upper-limb prosthetic hands aims to enable natural and low-effort manipulation without relying on EMG or other physiological signals. Recent imitation-learning-based approaches have shown promising results, but their scalability is limited by the cost and variability of collecting large amounts of real-world human demonstration data. In this work, we present a scalable simulation framework that automatically generates diverse reach-to-grasp demonstrations from a wrist-mounted virtual camera. The framework combines physically feasible grasp synthesis, natural reaching trajectories retargeting, and reach--grasp--lift execution in procedurally generated indoor environments. It records wrist-view observations, proprioception, and actions to build a large-scale demonstration dataset for imitation learning. Through extensive simulation benchmarks...
LiDAR-based 3D Multi-Object Tracking (MOT) typically relies solely on geometric information, which is often insufficient to distinguish between targets during prolonged occlusions or in crowded human-populated environments. While integrating RGB-based Re-Identification (ReID) offers a theoretical solution for preserving identity context, existing approaches often rely on computationally expensive parallel detectors that hinder real-time robot responsiveness. This work presents a systematic study of image-based ReID in online 3D MOT, utilizing a lightweight projection-based framework to decouple geometric and appearance modeling for mobile robots. A comprehensive analysis of feature extraction architectures is conducted, employing lightweight CNNs and Vision Transformers, and evaluating various multi-modal data association strategies to balance computational latency with robust...
Most vision-language-action (VLA) models map observations directly to actions without explicit intermediate planning, which limits performance on long-horizon tasks where early mistakes compound. We propose Coarse-to-Control, a plan-execute VLA that introduces planning natively in the action-token space. The key idea is to let the policy first predict a compact sequence of coarse action tokens that summarize the intended future trajectory, and then generate executable action tokens conditioned on this plan. Because both planning and execution share a unified discrete action vocabulary, the plan stays close to the control manifold and provides directly actionable guidance rather than an abstract hint that must be translated back to motor commands. Experiments on LIBERO, SimplerEnv-WidowX, and real-world manipulation tasks show that action-token planning consistently improves over direct...
Language-guided UAV agents must execute long-horizon semantic instructions while producing smooth, physically feasible continuous flight commands, yet existing Vision-Language Navigation (VLN) benchmarks typically use discrete or coarse actions and existing UAV Vision-Language-Action (VLA) tasks focus on short, atomic maneuvers. To address this gap in UAV task settings, we introduce \textbf{FLIGHT}, a \textbf{F}ine-grained \textbf{L}ong-horizon \textbf{I}nstruction-\textbf{G}uided benchmark for \textbf{H}ybrid UAV navigation and reasoning \textbf{T}asks, which combines multi-stage instructions with dense 6-DoF trajectory annotations across two dataset splits: Fine-grained VLN and Long-horizon Flow. To endow the UAV agent with the capability of real-time in-flight reasoning over task execution status and mission planning, while simultaneously accommodating high-frequency, real-time...
Robots that operate over extended periods should not merely visit space; they should progressively understand it. Yet most 3D scene graph pipelines treat perception as a post-processing stage over a fixed dataset, decoupling scene representation from the decisions that determine what is observed in the first place. We present SCOUT, an online semantic exploration framework that closes this loop by coupling active traversal with probabilistic scene graph construction. Given a prior 2D occupancy map and posed RGB-D observations, SCOUT incrementally builds an uncertainty-aware 3D scene graph whose nodes maintain fused geometry and posterior beliefs over open-vocabulary object labels, while edges encode structural relations such as on, inside, belong, and next to. These beliefs are fed back to an uncertainty-guided traversal planner, which selects viewpoints by balancing expected semantic...
Non-prehensile object manipulation skills are important for real-world robot interactions, enabling highly dynamic tasks such as balancing a glass on a tray or the controlled sliding of items on a table. Among such tasks, those characterised by high-speed manipulation requirements and general sensitivity of the resulting hybrid dynamics are particularly hard to accomplish. Within these, juggling can be seen as a highly challenging maneuver to be solved. The key to robotic juggling is achieving dynamic stabilisation of an underactuated object. Since the object does not possess the ability of self-correction, its stability is entirely dependent on the forces applied to it. This creates a system that is sensitive to control inputs, where timing is critical to continuously counteract deviations and maintain the desired behavior. We develop a systematic method to control a...
Abstract:The object manipulation capabilities of quadruped robots is an open research challenge. While previous studies have focused on low-level policy learning, task execution still relies on expert-designed high-level trajectories. Autonomous selection of both an affordable interaction point on the target object and an affordable robot base pose removes the need for pre-designed trajectories. This study proposes a three-level hierarchical reinforcement learning (RL) framework that utilizes pose affordances to guide the navigation policy, while the navigation policy drives the locomotion policy. In addition, the pedipulation policy is guided by interaction-point affordances, enabling object-centric pose alignment of the quadruped robot and effective end-effector manipulation planning. We train the proposed framework in the IsaacSim ecosystem and evaluate it in both simulation and...
Abstract:The ISO 26262 standard defines functional safety for road vehicles through risk assessments based on Severity, Exposure, and Controllability, grounded in a human-driven vehicle paradigm. In the context of autonomous vehicles (AVs), the absence of a human driver necessitates revisiting these principles. This paper decomposes the Controllability placeholder into two auditable evidence dimensions of ISO 26262 by introducing two measurable sub-concepts: Transferability and Predictability. Transferability extends Controllability to capture AV systems' ability to hand off control to dedicated fallback safety mechanisms, while Predictability captures how easily external agents can anticipate AV behavior. Predictability is formally defined from human-robot interaction-inspired principles, and a mathematical framework is provided to quantify it. A designed-versus-achievable gap is...
Abstract:Designing high-performance legged robots requires jointly optimizing morphology and control. Model-free Reinforcement Learning (RL) offers an alternative to model-predictive control for developing robust controllers without explicitly specifying robot dynamics. Thus, we have seen theuse of RL to train controllers and evaluate designs for robot morphology optimization. While RL has shown success inlocomotion, using it in the co-design inner loop is expensive due to repeated policy training. Universal policies conditioned on morphology offer a promising alternative, but suffer from behavioral diversity collapse, converging to a single strategy that performs sub-optimally across designs. On the other hand, end-to-end Mixture-of-Experts (MoE) architectures fail due to a collapse in its representation. We propose Gaussian Evolutionary Specialists (GES), a framework that decouples...
Abstract:Modern imitation-learning policies for robot manipulation often represent actions as fixed-resolution action chunks, which are simple and effective but expose limited geometric and temporal structure before execution. This paper studies Spline Policy (SP), a structured representation that replaces action chunks with spline parameters while keeping the policy backbone unchanged. The predicted spline can be decoded as a compact continuous trajectory, queried at different temporal resolutions, constrained or edited in parameter space, and passed to downstream controllers. For quadratic spline outputs, the same representation can also be converted into a state-dependent vector field through an analytical distance-field construction. Under the regularity and projection assumptions of this construction, the induced dynamics do not increase the distance to the generated spline...
Abstract:Vision-Language-Action (VLA) models have shown strong potential for robotic manipulation, but real-time deployment on edge hardware remains challenging. In this work, we identify VLM visual and context tokens as a major source of deployment latency: for GEMM-dominated projection operators, computation grows linearly with the number of input tokens when model dimensions are fixed. Motivated by this observation, we propose RhinoVLA, a deployment-oriented VLA model co-designed with the Huixi R1 edge SoC. RhinoVLA adopts a token-efficient Qwen3-VL backbone and a continuous Action Expert, reducing the VLM-side token and computation burden while preserving pretrained multimodal capability. To support cross-robot learning, RhinoVLA further introduces a unified interface that combines View Registry, 72D physical state-action slot space, and robotinstance LoRA, allowing heterogeneous...
Abstract:Vision-Language Navigation in Continuous Environments (VLN-CE) requires agents to follow natural-language instructions while navigating in real-world-like environments. Most VLN-CE approach\-es adopt a three-stage framework: a waypoint predictor proposes navigable waypoints, and a navigator selects the best waypoint, with a low-level controller executing the movement to it. However, this decoupled paradigm often leads to unreachable waypoints or inconsistencies between planning and control. In this work, instead of predicting isolated waypoints, we introduce a novel paradigm called Trajectory Waypoint, which grounds each candidate waypoint in an executable trajectory. To realize this, we design a Trajectory Waypoint Predictor formulated as a TSDF-guided diffusion policy, which steers trajectory generation away from obstacles, inherently ensuring the reachability of the...
第一作者: Christian Bianchi · 方向: VLA 通用模型 · 来源: cs.RO
策略适应元学习权重空间LoRA生成免微调
Abstract:Vision-Language-Action (VLA) models are emerging as a promising paradigm for robotic manipulation, enabling general-purpose policies trained from large corpora of demonstrations and action labels. However, adapting these models to new tasks still typically requires task-specific demonstrations, action annotations, and additional fine-tuning, making deployment costly and difficult to scale. We propose WIZARD, a weight-space meta-learning framework that sidesteps task-specific fine-tuning by generating task-specific LoRA parameters for a frozen VLA policy. Given only a language instruction and a short demonstration video, WIZARD predicts the corresponding adaptation weights in a single forward pass, without target-task action labels or test-time optimization. During meta-training, WIZARD learns to map task evidence directly to expert LoRA updates, capturing relationships between...
Abstract:Autonomous robotic systems are being proposed for use in hazardous environments, often to reduce the risks to human workers. In the immediate future, it is likely that human workers will continue to use and direct these autonomous robots, much like other computerised tools but with more sophisticated decision-making. Therefore, one important area on which to focus engineering effort is ensuring that these users trust the system. Recent literature suggests that explainability is closely related to how trustworthy a system is. Like safety and security properties, explainability should be designed into a system, instead of being added afterwards. This paper presents an abstract architecture that supports an autonomous system explaining its behaviour (explainable autonomy), providing a design template for implementing explainable autonomous systems. We present a worked example of...
Abstract:Simulation is central to robot learning, yet the sim-to-real gap remains a major this http URL approaches often tackle visual or dynamic gaps separately, overlooking how these individual mismatches accumulate and propagate throughout the robot's state this http URL this paper, we introduce QuadVerse, an integrated framework that uses reconstructed scenes as a calibration substrate for aligning visual perception, physical interaction, and actuator this http URL captured RGB videos, we reconstruct geometry-constrained 3D Gaussian Splatting (3DGS) scenes that support batched photorealistic ego-view rendering and collision-ready semantic mesh extraction. The meshes further enable contact calibration by initializing spatially varying friction priors and refining them through trajectory-based posterior this http URL address remaining actuator discrepancies, QuadVerse trains a...
Abstract:World Action Models (WAMs) offer a promising approach to embodied intelligence, yet existing methods rely heavily on video prediction as action priors and lack adaptive multimodal reasoning, limiting their effectiveness on long-horizon, complex tasks. We observe that WAMs require different multimodal reasoning modes under different execution contexts: textual reasoning is essential during task transitions to guide high-level action prediction, while visual reasoning is critical during fine-grained manipulation for precise control. Motivated by this observation, we propose \textbf{AdaWAM}, a world action model with adaptive multimodal reasoning abilities. AdaWAM integrates a lightweight dynamic router that autonomously triggers textual or visual reasoning as needed during task execution. Experiments on both simulated and real-world embodied tasks show that AdaWAM substantially...
Abstract:Reinforcement learning has become the prevailing approach to humanoid locomotion control: policies transfer reliably from simulation to hardware and recover gracefully from disturbances. Motion quality, however, still lags behind: task-only rewards often converge to stiff, asymmetric gaits, while motion imitation methods improve appearance but become more sensitive to external disturbances because reference signals can oppose the transient poses needed to regain balance. We propose Predictive Style Matching, in which an offline predictor maps the robot's lower-body state history and velocity commands to interpretable upper-body joint and gait targets that shape the rewards during training. Because the targets are state-conditioned rather than time-indexed and the predictor is used only at training time, the deployed controller inherits the proprioceptive interface and...
Abstract:Multi-operator control of robot teams requires not only access to the same mission information, but also mechanisms for maintaining shared awareness and preventing conflicting interventions. Building on our previous HORUS interface (Holistic Operational Reality for Unified Systems) we present a mixed-reality interface that extends single-operator multi-robot supervision to collaborative multi-operator use. The system supports two complementary modes: a co-located shared workspace, in which operators observe and manipulate the same mini-map in the same physical location, and a private-workspace mode, in which operators work on the same mission through independently placed local workspaces. The architecture combines registration-driven scene construction, lightweight shared-session synchronization, and per-robot control leases to support collaborative monitoring, tasking, and...
Abstract:3D visuomotor policies offer a promising direction for complex robotic manipulation, as depth maps and point clouds provide rich geometric information for spatial reasoning. However, their success often depends on large-scale real-world demonstrations, which are costly and time-consuming to collect. To this end, existing methods commonly use demonstration generation strategies to improve data efficiency by applying object-centric transformations to human-collected demonstrations, such as varying object poses or scales. While effective for local variation, these transformations largely preserve the original scene structure and skill sequence, limiting their ability to synthesize diverse scene-skill-object combinations for complex tasks. In this paper, we propose Task-Edit, a novel demonstration generation framework that generates diverse trajectories from a task-centric editing...
Abstract:Vision-language-action (VLA) models have advanced rapidly across backbones, training recipes, and data scale, yet the action decoder, which converts the backbone's hidden state into a continuous control signal, has barely changed and remains a single-point predictor across the majority of current VLAs. Whether implemented via autoregressive token bins, L1 regression, or flow-matching denoising, the resulting decoder treats the action space as unstructured, leaving the geometric proximity of neighboring actions unexploited during training. To advance this, we introduce ActionMap, a voxel heatmap action head that drops into an existing VLA in place of its native action decoder. For each new action, the head predicts a voxel heatmap over the action space, where each voxel directly stores the probability of the corresponding action. Across LIBERO simulation and real-world Franka...
Abstract:Task planning often suffers from severe efficiency bottlenecks when robots must reason over long-horizon action sequences under complex logical constraints, including object affordances, spatial relationships, and sequential action dependencies. Recent neuro-symbolic methods improve planning efficiency by learning object-importance scores to prune task-irrelevant objects, but they typically rely on fixed offline supervision generated from full search spaces. This creates a train-test mismatch: at deployment, the planner operates in pruned search spaces induced by the model's own imperfect predictions, leading to exposure bias and degraded planning performance. To address this challenge, we formulate object-importance learning for task planning as an imperative learning-based bilevel optimization problem. The upper level optimizes a neural scorer, while the lower level solves a...
Abstract:Assistive robots operating under shared autonomy must balance user control with autonomous assistance. Because robot actions depend on internal intent inference that is not directly observable, mismatches between inferred and intended goals can undermine coordination and trust. We investigate how interface-level transparency, including feedback modality (visual vs. auditory) and information richness (sparse vs. rich), shapes interaction in a vision-based shared autonomy system. In a user study with N=25 participants across two assistive manipulation tasks, we evaluate how these designs influence coordination and trust. Providing feedback significantly improves intent alignment and reduces corrective intervention, indicating that making the inferred goal legible accelerates convergence in shared control. Participants preferred visual over auditory feedback, while preferences...
Abstract:Robots performing long-horizon visual manipulation observe high-dimensional images, but successful plans depend on action-relevant facts: what can be done now and what changes afterward. A useful planning representation should discard irrelevant visual details while preserving action applicability and effects. Classical task planners exploit this structure through symbolic operators with preconditions and effects, but obtaining such representations from raw visual experience remains challenging. We study a visual task-planning setting in which a robot receives only image transitions: the current image, executed high-level action, and the resulting image. At test time, given a start image and a goal image, the robot must produce a sequence of high-level actions that reaches the goal. To address this problem, we introduce STRIPS-WM, a framework for learning image-grounded...
Abstract:Aquatic robots have expanded human access to underwater environments, yet many underwater spaces contain obstacles that can disrupt open-water locomotion. In "hydro-cluttered" environments, water is interspersed with rigid and flexible clutter, making body-obstacle contact unavoidable. Operating in these spaces requires robots that can regulate and exploit contact, but this regime remains difficult to model or simulate. Building on recent advances in mechanical intelligence in terradynamically capable limbless robotics, we develop principles for 3D aquatic locomotion using AquaMILR, an elongate limbless robot that combines bilateral cable-driven actuation, programmable body compliance, distributed depth regulation, corrosion-resistant enclosures, and onboard power and electronics for untethered field operation. Systematic robophysical experiments reveal that programmable body...
Abstract:Off-board control of mobile robots from cameras embedded in the environment offers a practical path to scalable autonomy, moving sensing and compute off the robots. We extend this idea from the single-robot case to coordinated fleets in a real warehouse, driving multiple robots with only a distributed CCTV network and edge compute. The system operates entirely in image space over an uncalibrated, pixel-wise topological camera graph, enabling wide-area operation with flexible camera placement. A hierarchical planner selects a camera sequence per robot and plans its image-space motion through each view, coordinating robots with a prioritised-then-joint strategy and treating overlapping camera regions as shared resources held by one robot at a time to prevent collisions and deadlocks. We validate the approach in a real warehouse with four robots and 30 cameras across six 27 m...
Abstract:Visuomotor manipulation policies trained via large-scale behavior cloning have achieved strong semantic scene understanding, yet often fail to reliably execute correct low-level actions under distribution shifts. For example, even in a simple pickup task with identical scene layouts, camera viewpoints, and illumination, performance can degrade substantially when the object is placed at unseen locations. We argue that this gap arises from insufficient action understanding, namely the inability to interpret the robot's base-frame action coordinate system in image space. To address this issue, we introduce AxisGuide, a lightweight guidance method that bridges semantic scene understanding and action-coordinate interpretation. Using camera parameters and end-effector poses, AxisGuide renders the robot base-frame axes in each camera view and augments RGB observations with a small...
Abstract:Human video datasets used for cotraining robot manipulation policies largely consist of curated demonstrations where motions are orchestrated to resemble robot behavior and 3D hand poses are captured with specialized hardware. A more plentiful source of data is everyday Internet video, but it is an open question what factors enable transfer from such videos to robots. We investigate this using a new dataset of 532 human videos with 28 hours of high-quality triangulated hand labels and natural motions. We find that hand pose quality affects transfer, but even with accurate hands, the inherent motion gap hinders transfer unless the vision and policy networks specialize to each embodiment. Our cotraining recipe yields consistent improvements, with an absolute success rate gain of $29.7\%$ in the low-robot-data regime across six manipulation tasks.
Abstract:Robot manipulation of physical puzzles is important for automatic assembly and disassembly tasks. However, to enable robots to solve physical puzzles, manipulation skills need to be learned, which requires large training datasets, the generation of which is often time consuming and tedious. To overcome this problem, we propose the Physical Robot Manipulation Puzzle Generation framework (PhyRoGen), which leverages procedural content generation (PCG) for automated generation of synthetic datasets of manipulation puzzles. PhyRoGen is a general-purpose puzzle generator, which can generate physical puzzles with interlocking object dependencies, where one articulated object must be manipulated before another can be moved. Based upon PhyRoGen, we define six concrete generators which we use to generate 24 physical puzzles. By using a benchmarking framework, we are able to solve all...
Abstract:Generalist robot intelligence is often framed as a policy-scaling problem: collect more robot demonstrations, train larger Vision-Language-Action (VLA) models, and expect broader generalisation. In this position paper, we argue that this framing is incomplete. The central bottleneck is not only policy learning, but the absence of mechanisms that convert the world's abundant unstructured behavioural data into grounded robot supervision. Human motion, internet video, simulation rollouts, and interactive demonstrations contain rich information about tasks, goals, contacts, failures, and physical constraints, yet most of this information is not directly usable by robot policies because it lacks embodiment-specific action labels, task semantics, and reward structure. We identify four missing components for the next generation of robotics: data interfaces for autolabelling...
Abstract:Visual-language action (VLA) models enable robots to predict actions directly from observations and language instructions, but their performance depends on large-scale, high-quality data and is limited by the scarcity of real-world robot action datasets. To facilitate VLA model learning with abundant unlabeled human videos, Latent Action Models (LAM) learn latent action representations from visual dynamics to provide additional supervision for VLA learning. However, LAM and VLA are typically trained separately, leaving LAM ungrounded during VLA training and VLA models constrained by frozen LAM representations. To address these issues, we propose Latent Action Representation Alignment (LARA), a plug-and-play framework that jointly optimizes LAM and VLA via representation alignment. This enables reciprocal benefits where LAMs learn with action trajectories to avoid spurious...
Abstract:Long-horizon robot manipulation tends to fail gradually: one bad step degrades the state, and the policy spirals into a basin from which it cannot recover. The failure is often visible before it happens. We introduce AEGIS (Activation-probe Early-warning, Gated Inference Switching), a selective escalation method that uses a lightweight probe on a weak policy's frozen activations to detect high-risk steps while there is still time to act. When the probe flags a step, control switches to a stronger separate policy, but only for the steps that need it. On LIBERO-Spatial, AEGIS recovers 10.1% of the trajectories the weak policy alone loses, versus 4.6% for budget-matched blind escalation and 5.1% for a random-trigger placebo. These gains are significant under one-sided exact paired McNemar tests with Holm-Bonferroni adjustment over three pre-registered contrasts: +5.4pp over blind...
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