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Peter Steinberger, creator of OpenClaw, who now works with OpenAI. Yesterday he posted this: "You shouldn't be prompting coding agents anymore. You should be designing loops that prompt your agents."
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
tl;dr I've been testing Fable (Mythos) for the past week and it feels unlike any other model I've used. It feels, and is priced, like a next-generation model. It also has some real quirks. The Good
Most developers still prompt their coding agents by hand. They type, they wait, they read the diff, they type again. 9out of 10 builders have never written a single loop that prompts the agent for
Mythos-class models like Claude Fable 5 have changed the way many of us work at Anthropic. I want to share two tips for getting the most out of this class of models. Self-correction loops There’s been
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
tl;dr: As LLMs become more capable, benchmark performance is increasingly a function of test-time compute. In fact, we likely don't know what the capability ceiling is for modern LLMs because it's too
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,
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
Loop engineering is replacing yourself as the person who prompts the agent. You design the system that does it instead. A loop here can be thought of a recursive goal where you define a purpose and
When an AI agent fails in production, your observability tool shows you exactly what it did and almost nothing about how to fix it. You get a clean trace of the run, every model call and tool that
Twenty years ago, translation at Google began as one of our pioneering machine learning experiments to turn the science of language into the magic of human connection. That experiment has come a long
中文介绍 GoogleAIStudio宣布推出Gemini 3.5 Live Translate功能,提供流畅、自然的实时语音翻译,是其在语言AI领域长期探索的新成果。
For thirty years the internet has been built for one kind of actor. The next one is not a person. For thirty years, compute has been built for humans. It is shaped around human attention, human
As adoption of AI agents looks set to surge by as much as 300% in the next two years, leadership teams are carefully considering the implications of a hybrid human-AI workforce. Unlike existing enterprise-level automation that relies on manual input, AI agents are capable of autonomously coordinatin
At SXSW London last week I gave a talk called “Five things you need to know about AI,” in which I shared what I think are the biggest themes in AI right now. I pulled a few things from our first AI10 list, an annual guide to the most important trends in this buzzy world,…
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Abstract:Large language model (LLM)-powered content moderation systems have become a critical defense against harmful online content. However, these systems primarily operate on tokenized text and largely ignore the visual cues that humans naturally rely on when interpreting content. We show that this discrepancy creates a fundamental perceptual mismatch: content that is readily recognized as harmful by humans can become effectively invisible to automated moderation systems. To study this vulnerability, we introduce a class of Human-Perceptible Adversarial Attacks (HPAA), in which harmful expressions are embedded into otherwise benign text through visually salient typographic manipulations. Our key insight is that typographic features, including spacing, visual emphasis, and spatial arrangement, can be strategically combined to preserve human recognition of harmful content while...
Delegation-scoped execution is not identifiable from standard observables: audit logs and execution traces can be identical under multiple incompatible delegation assignments. This gap is especially acute in LLM-based agentic systems, where agents dynamically select tools, vary execution sequences across runs for the same instruction, and spawn cooperating sub-agents. These dynamics fragment and interleave traces, making delegation-scoped reconstruction from causal structure alone structurally underdetermined. Although individual actions are authorized and logged, existing audit, tracing, and security schemas lack the semantics to reconstruct what actions occurred under a given delegation across heterogeneous systems. We focus on delegation-scoped attribution and access/share footprint reconstruction, not intent inference or reasoning reconstruction. We present an agent-aware...
Abstract:Two-server secure inference allows a client to query a hosted large language model (LLM) without revealing prompts or embeddings. Recent GPU systems based on function secret sharing (FSS) make linear layers efficient, but fixed-point nonlinearities and helper operations remain a bottleneck because each operator is typically implemented as a bespoke protocol with its own comparisons, wrap-around corrections, and preprocessing material. We present FuseFSS, a compiler that replaces per-operator protocol design with a single compilation pipeline. For each scalar fixed-point operator, a compact specification lists its interval partition, low-degree arithmetic pieces, and required predicate bits. The compiler emits two batched FSS evaluations on the public masked value: one packed comparison that returns all predicate bits, and one vector interval lookup that returns the active...
Abstract:Tool-using large language model (LLM) agents face two distinct security failures: unauthorized external actions and exposure of sensitive plaintext inside the runtime before any final output check can intervene. Existing defenses usually protect one boundary, either the planner/runtime or the action sink, and therefore do not by themselves secure both surfaces. We present SecureClaw, a dual-boundary architecture that places authorization at the effect sink and plaintext confinement at the read boundary. Sensitive reads pass through a trusted gateway that replaces raw values with opaque handles and, in the evaluated deployment, bounded summaries as an explicit declassification interface. Writes that change external state follow a PREVIEW$\rightarrow$COMMIT protocol in which only a trusted executor may commit the exact canonical request authorized by policy. The runtime can...
Abstract:Federated Learning (FL) allows a set of clients to collectively train a global model without sharing local training data. Giving the responsibility of the training to decentralized actors may lead to poisoning attacks: clients controlled by malicious third party potentially poison the training dataset to install a backdoor in neural networks. In FL, these backdoor attacks rely solely on algorithmic approach, however, recent advances in hardware faults threats (e.g, Rowhammer) have widen the overall attack surface. In the context of federated model adaptation, we introduce a novel category of backdoor attack against FL systems that relies on model poisoning based on hardware-fault attacks. More precisely, we propose a task-agnostic backdoor attack that is implanted during the FL training time by inducing hardware faults (bit-flips) in parameters of a single local model. The...
Abstract:Pharmacovigilance systems handle sensitive healthcare and drug-safety data, including adverse event reports and clinical observations. As quantum computing advances, classical public-key cryptographic systems such as RSA and elliptic-curve cryptography may become vulnerable, creating long-term risks for healthcare data that must remain confidential for many years. This paper presents an educational prototype of a post-quantum secure pharmacovigilance data pipeline. The system uses ML-KEM-768 for post-quantum key establishment, HKDF-SHA-256 for deriving an AES key, AES-256-GCM for efficient file encryption, and ML-DSA-65 for digital signatures and tamper detection. The pipeline supports multiple file formats, including TXT, CSV, JSON, and PDF, by treating files as raw bytes and preserving metadata for reconstruction at the receiver. The prototype includes separate hospital...
Abstract:Large language models can be fine-tuned to encode prompt-borne secrets into fluent, seemingly benign outputs. This creates a steganographic exfiltration risk that is difficult to detect with output-level steganalysis. Recent work proposes mechanistic detection using linear probes that recover the secret from internal activations. We show that this defense can be systematically evaded, but that detectability can be recovered through a targeted data-level intervention. First, we extend the detection setup to include a non-linear MLP probe. We then adversarially fine-tune steganographic trojans across five base models: Qwen3-8B, Llama-3.1-8B, Ministral-8B, Qwen3-14B, and Phi-4-14B. The resulting models retain $58$--$79\%$ exact-match secret recovery while evading both ridge and held-out MLP probes, with $1$--$8\%$ average capability degradation across six benchmarks. We then give...
Abstract:In the shuffle model of DP (Differential Privacy), a shuffler randomly permutes users' data to achieve high accuracy and privacy. Recent studies show that most existing shuffle protocols are vulnerable to collusion attacks by the data collector and users. They address this issue by introducing the augmented shuffle model that incorporates random sampling and dummy data addition into the shuffler. However, it remains open how to ensure the shuffler follows the protocol and does not collude with the data collector in this model. We address this trust issue by thoroughly exploring the augmented shuffle model with TEEs (Trusted Execution Environments). We first introduce a new privacy notion, FODP (Fully Oblivious DP), which strengthens DP to prevent various TEE side-channel attacks based on external/internal memory access patterns and control flows. We propose a general framework...
BCI-to-agent pipelines turn decoded neural activity into an authorization channel for tool-use agents, exposing a new attack surface we call \emph{brain-prompt injection}: signal-side perturbations, context-only injections, and adaptive dual-decoder attacks can all change the routed action while EEG-side or text-side monitors remain blind. Route safety in this stack depends on what the audit log can observe, not on decoder accuracy or agreement alone. We define a Route-Safety Audit Contract: a minimal log schema, denominator hierarchy, and endpoint specification, and prove an audit-schema separation theorem together with a C3 attacked-dependence decomposition; clean agreement and marginal robustness do not identify the joint term that controls C3 routing. As a calibration layer on top of the contract, we apply split-conformal calibration to a non-oracle EEG confirmation channel and...
Abstract:The convergence of the 2026 European Union Safe and Sustainable by Design (SSbD) framework, Corporate Sustainability Due Diligence Directive (CSDDD), and Carbon Border Adjustment Mechanism (CBAM) introduce a severe governance bottleneck for advanced semiconductor manufacturing facilities ("Smart Fabs"). Regulatory compliance demands have surpassed the capacity of manual corporate reporting, creating a direct conflict between multi-stakeholder transparency and corporate data privacy. This paper addresses this challenge by introducing a zero-trust socio-technical orchestration framework that operationalizes a six-layer SSbD reference architecture within trustworthy industrial data spaces. We propose a shift from reactive automation to autonomous governance through "Professional Proxies"-role-based agentic workflows executing within hardware-isolated trust zones. Structured as an...
Abstract:EEG foundation-model releases are usually audited one endpoint at a time: raw-reconstruction, membership inference, identity linkage, or DP-SGD on the downstream head. We audit the same released embeddings under all four endpoints jointly, on BIOT, LaBraM, and EEGPT, and show that each single-endpoint audit clears releases that still leak spectral attributes. The decisive evidence is a cross-encoder transfer audit: a single ridge attribute decoder learned from one frozen encoder transfers, via a fitted linear bridge, to held-out-subject test splits of every other encoder, with subject-disjoint matched-control 95% CI lower bound at least 0.081 across all six BIOT/LaBraM/EEGPT directions. We prove a sufficient condition: two encoders sharing a nontrivial attribute-coordinate projector overlap beta admit a chained ridge bridge attacker with centered-gain lower bound...
Abstract:EnclaveScale is a distributed, hardware-assisted telemetry architecture providing post-extraction attestation, enabling operators to collaboratively model high-resolution generative AI power transients. Existing cryptographic techniques scale poorly for 10-Hz streaming or fail to authenticate origins, permitting malicious hosts to spoof sensor inputs. We implement and evaluate a post-extraction pipeline utilizing DCAP attestation, differential privacy noise injection, and Byzantine rejection across 32 GCP Confidential VMs, achieving 0\% post-extraction attack success rate. This edge-DP approach distils continuous GPU transients into discrete Markov-chain transition matrices, guaranteeing event-level differential privacy. To mitigate pre-ingestion vulnerabilities, we propose an SPDM-authenticated first-mile layer. While current platforms lack attested I/O, emerging hardware...
Abstract:The prosperity of text-to-image (T2I) models has fostered a vibrant share-and-play ecosystem centered on Low-Rank Adaptation (LoRA) plugins, which allow users to customize and share model capabilities with ease. This democratization, however, comes with a hidden but severe security risk. Malicious users could share and distribute seemingly benign LoRA plugins that contain hidden functionalities to poison the model-sharing market, like Civitai or Liblib, severely undermining the user trust that underpins this collaborative ecosystem and threatening the safety of countless downstream applications. Despite these risks, plugin poisoning in the real-world T2I ecosystem remains underexplored. This paper introduces PoisonLoRA, the first systematic study of LoRA plugin supply-chain risks that exploits the trust and characteristics within the T2I ecosystem. We identify two primary...
Abstract:Large language models fine-tuned on instruction-code pairs may memorize and subsequently leak sensitive training data. Existing differentially private (DP) code generation methods primarily protect code snippets while assuming prompts are public, which fails in realistic scenarios where prompts may also contain sensitive information. When prompts cannot be explicitly learned or used during generation, code synthesis suffers from severe utility degradation as well as reduced diversity and fidelity. To address these challenges, we propose PrivCode-Plus, the first work to explore DP code generation where both prompts and code snippets are considered sensitive in LLM fine-tuning. PrivCode-Plus introduces a two-stage DP framework with a Privacy-Free Latent Conditioning module, enabling effective DP fine-tuning and data synthesis without direct access to sensitive prompts or code...
Abstract:We demonstrate that widely deployed Large Language Model (LLM) inference stacks harbor a steganographic channel that requires no modification to model weights, sampling code, or output distributions. The channel exploits a structural property of deterministic decoding: pseudo-random number generators (PRNGs) used in inverse-transform sampling produce a seed-dependent sequence of token-level probability intervals that can be reconstructed from the generated text alone. A sender encodes a secret message in the PRNG seed before generation; a receiver reconstructs the intervals and recovers the seed, and thus the hidden payload, by exhaustive search over the seed space. We formalize two operational modes. In the known-prompt setting, sender and receiver share the prompt, enabling exact interval reconstruction and perfect seed recovery via forced alignment. In the unknown-prompt...
Abstract:Privacy risks in text-only Large Language Models (LLMs) are well studied, particularly their tendency to memorize and leak sensitive information. However, Multi-modal Large Language Models (MLLMs), which process both text and images, introduce unique privacy challenges that remain underexplored. Compared to text-only models, MLLMs can extract and expose sensitive information embedded in images, posing new privacy risks. We reveal that some MLLMs are susceptible to privacy breaches, leaking sensitive data embedded in images or stored in memory. Specifically, in this paper, we (1) introduce MM-Privacy, a comprehensive dataset designed to assess privacy risks across various multi-modal tasks and scenarios, where we define Disclosure Risks and Retention Risks. (2) systematically evaluate different MLLMs using MM-Privacy and demonstrate how models leak sensitive data across various...
Abstract:Tool-using LLM agents interact with the world through actions that persist state in artifacts (e.g., workspace files or logs). Consequently, jailbreak defenses must reason about cross-step composition rather than isolated text. Yet most existing attacks and defenses, including ``multi-turn'' jailbreaks such as Crescendo and Tree of Attacks,still assume a single contiguous conversation visible to the defender. This assumption breaks down in real agent pipelines, where enforcement is fragmented across tools, modules, and time, and where artifact provenance is often not tracked. We operationalize a deployment failure mode for tool-using LLM agents, the \emph{provenance gap}, and study reproducible triggers for it: \emph{Context-Fractured Decomposition} (CFD), a family of cross-context multi-step jailbreaks that preserve benign-looking intermediate artifacts from an early...
Abstract:Modern enterprises face an accelerating onslaught of API-targeted threats amid a rapidly expanding attack surface. Record volumes of software vulnerabilities continue to accelerate dramatically, with 28,818 CVEs disclosed in 2023 (a 38% jump from 2022) and 40,009 CVEs in 2024 (another 38% increase), while the average time-to-exploit (TTE) of new flaws shrank to mere days (approximately 5 days in 2023, down from 32 days in 2021). At the same time, API usage dominates web traffic and has become a primary vector for breaches - 99% of organizations experienced API security incidents in the last year, with 22% suffering actual data breaches via APIs (based on industry vendor research). This paper proposes a comprehensive "security-first" framework for API pipeline development, leveraging Zero-Trust Architecture principles within DevSecOps practices to counter these trends. We...
Abstract:Retrieval-augmented generation (RAG) systems often serialize user queries, retrieved documents, metadata, system labels, and task instructions into one natural-language prompt. We study a source-authority boundary failure in this design: attacker-authored retrieved text can impersonate metadata, provenance, authority, or disclosure-policy signals that appear control-relevant to the model. We call this pattern Document-Authored Control-Signal Impersonation (DACSI). DACSI is a non-imperative, metadata-like payload subclass within indirect prompt injection. Its central lesson is simple: document-authored labels are data, not policy. Command-style injection asks the model to ignore, override, or violate policy; DACSI asks whether untrusted document text can be misattributed as an authorized control signal when RAG prompt rendering collapses trusted and untrusted text into the same...
Abstract:Agent benchmarks score submissions with outcome verifiers that are typically hand-written and brittle, leaving them open to reward hacking. We audit 1,968 tasks across five terminal-agent benchmarks and find 323 (16%) hackable by frontier models given only the task description. This corrupts both leaderboard rankings and RL training signal, yet the standard response is manual and reactive. We introduce the hacker-fixer loop, a method for building exploit-resistant verifiers without per-task manual patching. The loop alternates three LLM agents: a hacker tries to pass the verifier without solving the task, a fixer patches the verifier to reject each discovered exploit, and a solver confirms the patched verifier still admits legitimate solutions. The loop iterates: each patch reshapes what the verifier rewards, surfacing the next exploit. We further add verifier access, and let...
Abstract:Internet censorship affects over four billion people, and deployed circumvention systems share a common weakness: their endpoints are fixed and discoverable, so a patient censor can enumerate and block them. Moving-target circumvention systems instead rotate endpoints across commercial cloud address space faster than censors can react, but the field lacks a theory of when rotation works, leaving rotation intervals and pool sizes to intuition. We give the first formal account of moving-target censorship resistance by modeling the censor-defender interaction as a continuous-time timing game over a combinatorial address-domain space, generalizing FlipIt to a collateral-bounded adversary. We prove a sustainability frontier separating configurations a censor can defeat from those it cannot, and show that under the Great Firewall's 2024 shift to blocking QUIC and TLS by domain, raw...
Abstract:The aim of steganography is to hide secret information inside ordinary media so that the existence of communication is hidden rather than encrypted. In audiovisual context, the availability of audio and video streams creates an opportunity to split a payload across these two modes thus, reducing the embedding burden on any single carrier. This paper evaluates whether such split-payload audiovisual steganography can help evade unimodal and multimodal steganalysis under synchronized and asynchronous embedding settings. We create audiovisual samples where the hidden message is divided between the audio and video tracks, and then test how well different detectors can identify them. The single mode detectors performs close to random guessing, thus showing the benefit of this hiding mechanism, while the multimodal model initially appears more effective. However, further checks show...
Abstract:Structured Cyber Threat Intelligence (CTI) is increasingly used for adversary emulation, detection evaluation, and cyber range design. However, these workflows still require a target System Under Test (SUT) whose environment is not fully described by public CTI. We measure how much of that environment can be derived from MITRE ATT&CK Structured Threat Information Expression (STIX) bundles. Using the ATT&CK Enterprise, Mobile, and Industrial Control Systems datasets, with CAPEC and FiGHT as comparison datasets, we evaluate platform coverage, software specificity, vulnerability evidence, and deployment compatibility. Platform annotations are common, but software references rarely include versions or Common Platform Enumeration (CPE) identifiers. In Enterprise, 97.6% of software objects lack both, and campaign-level Common Vulnerabilities and Exposures (CVEs) remain sparse. Our...
Abstract:The additive noise mechanism is a foundational tool for differential privacy (DP) of $T$-dimensional real-valued vector queries. The Gaussian mechanism, utilizing Gaussian noise, is the mostly widely used such mechanism, due to its simplicity and strong privacy guarantees. In this work, we provide justification for this choice, showing that as the dimension $T\to\infty$, no additive-noise mechanism can asymptotically improve on the Gaussian mechanism's privacy--utility tradeoff for the strong privacy settings typically this http URL also develop a new family of \emph{Spherical Generalized Gamma} DP mechanisms, which contains both the Gaussian mechanism and the recently studied $\ell_2$ mechanism (Joseph \emph{et al.}, ICML 2025). We identify members of this family that outperform both the Gaussian and $\ell_2$ mechanisms in certain low-dimensional settings, and show tight...
Abstract:Age verification is rapidly emerging as a central regulatory instrument for protecting minors online, with several jurisdictions mandating its deployment for access to adult and pornographic content. This regulatory direction raises significant privacy concerns, as it risks binding sensitive content access to identity-related attributes. It also introduces security risks, since age-verification mechanisms are often outsourced to third-party providers with limited transparency into the robustness of their verification processes. In this work, we conduct, to the best of our knowledge, the first exploratory security assessment of regulation-mandated age-verification mechanisms deployed by adult websites. Rather than treating age verification as a purely regulatory question, we empirically examine whether current deployments provide security guarantees commensurate with the...
Abstract:Data agents integrate LLM-driven reasoning with relational data access, executable analytical tools, and multi-step workflow orchestration, making them increasingly central to enterprise analytics. This integration introduces new security vulnerabilities across data resources, database execution, and agent reasoning, recombining concerns from database security and general-purpose LLM-agent security into failure modes that neither line of work captures on its own. To address this gap, we present a systematic security study of data agents. Our contributions are threefold. First, we develop a layered vulnerability framework that identifies eight data agent-specific risks across interpretation, execution, and policy layers. Second, we introduce an attack taxonomy organized by adversary goal, tactic, and technique, covering three goals, seven tactics, and fourteen techniques, and...
Abstract:Forensic analysis of web server logs demands both accurate detection and human-readable explanations that can satisfy legal requirements. We present CEF-Log, a context-enhanced few-shot chain-of-thought prompting strategy for Large Language Models that addresses this dual requirement. CEF-Log embeds expert investigative methodology through a structured five-step reasoning template, enabling the model to learn \textit{how} to analyze logs rather than \textit{what} patterns to memorize. Experimental evaluation demonstrates that CEF-Log achieves an F1-score of 0.99 on the CSIC 2010 dataset using only four examples while providing a $10\times$ improvement in sample efficiency compared to other prompting-based methods. We also introduce ForenWebLog, a new dataset that incorporates real-world attacks and multi-step attack sequences for comprehensive evaluation. Qualitative analysis...
Abstract:Privacy-preserving Personalized Federated Learning (PFL) enables clients to collaboratively train personalized models without exposing raw data, but exchanged model updates remain vulnerable to inference attacks from honest-but-curious servers. Homomorphic Encryption (HE) addresses this by allowing server-side aggregation directly on encrypted updates, with the CKKS scheme being particularly suitable due to its native support for approximate floating-point arithmetic. However, no prior work has examined how to configure CKKS for PFL deployments, leaving practitioners without principled guidance on parameter selection that directly affects privacy, precision, and computational cost. This paper presents pFedCKKS, a generic framework integrating CKKS into PFL, and provides the first systematic parameter selection guide for practitioners. We derive the full CKKS parameter...
Abstract:Mobile phone overuse and attention fragmentation have become pressing societal and public health concerns. Cyberpsychology research highlights addictive engagement loops driven by intermittent rewards, persuasive design, and habit formation. In this article, we use current evidence on mobile-phone addiction and propose "Digital White Spaces" (DWS), a socio-technical framework that combines privacy-preserving monitoring, AI-driven detection of addictive loops, device-mode interventions, and physical signal-limited zones to minimize digital stimulation and internet addiction.
Abstract:This paper reads six engine-level measurements together -- 1.1 host attack surface, 1.2 information leakage, 1.3 defense-in-depth stackability, 1.4 public CVE history, 1.5 patch cadence, and 1.6 upstream fuzzing posture -- to describe how five AI-sandbox products isolate guest code from the host kernel. No single axis is a sufficient basis for a comparative judgement; the cross-axis reading is the load-bearing analysis. Three high-level findings: (1) engine classes (microVM, userspace kernel, OCI container) separate cleanly on every architectural axis, but products within a class do not; (2) product pin policy is the dominant operator-facing variable -- engine-side patch latency aggregates to ~0 days for coordinated disclosures, while downstream lag spans 0 days to 471+ days to "opaque" to infinity; (3) fuzzing investment splits into three tiers, and the strongest combination...
Abstract:Text-centered prompt-injection defenses assume that the malicious signal is visible in one of the inspected text views. We study a reproducible LLM01-style indirect prompt/content-injection failure mode where that assumption breaks: a payload caught in plain English slips past the same detector when it is transported as structured float parameters and reconstructed only as fragmented telemetry. Across 14,400 attacked real-model trials on three commercial LLM APIs from different providers, the IFS-derived float-array carrier preserves 94.3% leakage ASR under the strongest dual-layer text-classifier defense evaluated in the main matrix: a Prompt Guard 2 + TF-IDF ensemble; the same carrier-level pattern also replicates with a fine-tuned roberta-base detector. We emphasize leakage ASR because downstream systems may act on quoted or reproduced markers even when the model refuses...
Abstract:Synthetic data is increasingly promoted as a privacy-preserving substitute for releasing sensitive tabular records, yet its central adversarial threat ("reconstruction", the recovery of an individual's hidden attribute values from a synthetic release and a handful of known quasi-identifiers) has been studied only in scattered, hard-to-compare settings. We present the first systematization of reconstruction (equivalently, attribute inference) attacks on de-identified and synthetic tabular data. We contribute a taxonomy that organizes attacks by the structure they exploit; the most systematic empirical evaluation to date, pitting fourteen attacks against nine synthetic data generation (SDG) methods across five benchmark datasets; and a set of new attacks that fill gaps in the taxonomy, one of which (CoBP-RA) is the strongest attack we measure. Crucially, we introduce a...
Abstract:University Academic Management Information Systems (ACMIS) are high-value targets for a wide spectrum of security threats including brute-force login attacks, payment fraud, privilege escalation, insider data theft, and academic integrity violations. Traditional rule-based intrusion detection systems are inadequate because many malicious activities are structurally indistinguishable from normal operations. This paper presents an AI-based security agent for ACMIS that combines supervised anomaly detection, behavioural analytics, and a natural language processing chatbot for secure password recovery. The agent monitors five operational layers: authentication, authorisation, financial transactions, user behaviour, and system health, and responds through a four-tier risk escalation framework. A modular architecture allows the core engine to be extended to other institutional...
Abstract:Federated learning aims to protect data privacy by collaboratively learning a model without sharing private data among clients. Unlike traditional parameter-based FL methods that exchange model weights or gradients during training, emerging logit-based FL approaches share model outputs (logits) on public data. This strategy promotes model heterogeneity, reduces communication overhead, and enhances clients' privacy. However, the potential privacy risks associated with these logit-based methods have been largely overlooked. This research presents the first theoretical and empirical analysis of a hidden privacy risk in logit-based FL methods - the risk that a semi-honest server (adversary) may learn clients' private models from logits. To quantify and address this threat, we develop the Adaptive Model Stealing Attack (AdaMSA) by leveraging historical logits during training...
Proof of Reserves (PoR) enables centralized crypto exchanges to demonstrate that on-chain reserves are sufficient to cover customer liabilities. However, existing approaches, including Merkle-tree-based proofs and zero-knowledge PoR systems, remain difficult for everyday users to verify in practice, resulting in limited participation and weakened transparency. We introduce LPOR, a layered, usability-focused PoR framework that separates lightweight user-side checks from auditor-level cryptographic verification, enabling non-technical users to verify inclusion and publicly recompute total liabilities with minimal friction. By lowering verification barriers, LPOR increases user participation and substantially improves the probability of detecting omitted liabilities. We evaluate its scalability and omission detectability at a multi-million-user scale.
Abstract:In sixth-generation (6G) networks, billions of cyber-physical systems (CPSs) - autonomous vehicles, smart grids, industrial robots, and remote-surgical equipment - will run over ultra-reliable low-latency slices, collapsing the gap between a remote breach and physical harm to milliseconds, a budget perimeter firewalls and centralised security operations centres cannot meet. This survey reframes 6G CPS security as a closed-loop, AI-native pipeline that senses at the multi-access edge computing (MEC) tier, using minute-scale call-detail records (CDRs) for baseline learning and sub-millisecond RAN/Open-RAN (O-RAN) telemetry for the latency-critical path. It decides locally with compressed deep models, mitigates network-wide via SDN, NFV, and O-RAN controllers, and retrains through federated learning (FL) and digital-twin (DT) replay. We formalise a per-slice, tail-bounded latency...
Abstract:Leading commercial endpoint detection and response (EDR) products have shifted from operator-configured rule sets to multi-component systems where autonomous AI components operate alongside, and increasingly in place of, operator-deployed policies. Autonomous defense agents using commercial EDR as their hardening tool are no longer tuning a passive tool, but a black-box autonomous system capable of making vendor-specific decisions. We present the first evaluation framework for autonomous defense agents hardening commercial EDR. We instantiate it in a Game of Active Directory (GOAD) lab with this http URL's NodeZero as the autonomous pentester and Microsoft Defender XDR as the EDR. We run a sample benchmark of defense agents with two large language model (LLM) backbones (Claude Sonnet 4.6 and Cisco Foundation-Sec-8B). We report three lessons learned that neither simulation nor...
Abstract:Recently, with the impossibility of eradicating the vulnerabilities of information systems, we must prepare for the occurrence of the security incident by the multi-layer defense called the Defense-in-Depth strategy. In the multi-layer defense, it is important to authorize accesses in fine-grained granularity to compose each layer effectively, and many access control models are proposed to follow them. However, policy description languages proposed so far cannot express the models appropriately in proper granularity. In this paper, we propose a policy description language which can designate many kinds of conditions for access control, such as the dynamic status of an application process, as an element of decision data, and implement it in Datalog. Using the proposed language, we compose the policy of SELinux, which is a major implementation achieving the multi-layer defense...
Abstract:The oracle problem, broadly understood as the difficulty of reliably incorporating external information into blockchain-based systems, has been widely examined by scholars and practitioners. Recent comparative research has shown that several challenges of modern blockchain oracles, including attributability, accountability, integrity, and query design, mirror procedural and epistemic constraints already present in ancient oracular institutions such as the Delphic Oracle. Yet the translation of these insights into applied oracle design remains largely unexplored. This paper introduces the Dodona Protocol, a modular, chain-agnostic oracle service inspired by procedural patterns identified in ancient and modern oracle systems. Named after the Oracle of Zeus at Dodona, one of the oldest oracular sanctuaries in ancient Greece, the protocol operationalizes principles such as...
Abstract:Reasoning-capable large language models can be induced to spend their generation budget on injected decoy tasks rather than answering the user's question, causing denial of service when no final answer is produced and denial of wallet when excess output tokens are billed. Input-side safety classifiers often miss these attacks because the injected prompts can appear syntactically benign. We build RecurGuard, a runtime monitor for detecting reasoning-chain consumption attacks when reasoning traces are exposed by the model. RecurGuard analyzes reasoning traces as they are generated and tracks three signals: recurrence rate, volume growth, and progress toward the user's query. If all three signals remain anomalous over three consecutive chunks, RecurGuard terminates generation early. We evaluate RecurGuard against OverThink and ExtendAttack across open-weight reasoning models and...
Abstract:Cloud Security Posture Management (CSPM) systems detect known vulnerabilities by maintaining a rule set, distributing it to customers, and evaluating it against periodically-collected asset inventories. To our knowledge, in publicly documented architectures the rule set is environment-agnostic and curated centrally by the vendor; updates are batched into release cycles and shipped on a cadence ranging from hours to days depending on detection severity. The disclosure-to-protection window -- from a CVE being published to the customer's system being capable of detecting affected assets -- is therefore bounded by the vendor's release cadence for version-match detections, and by additional human authoring time for richer detections incorporating configuration predicates beyond the affected-software string. We propose an architecture in which the rule set is not vendor-distributed...
Agent skills provide a lightweight mechanism for extending general-purpose agents, but their open format exposes them to skill-poisoning attacks. A practically dangerous injection must stay invisible: if executing the payload derails the user's legitimate task, the resulting failure signal invites inspection of the skill. We therefore evaluate attacks by Attack Success Rate, which requires the injected payload to execute and the user's task to still pass its verifier in the same trial. Prior skill-poisoning attacks face a reliability-stealth trade-off under this lens: YAML-header injections are reliably loaded but easily inspected, whereas stealthier body injections that place explicit malicious commands in the skill prose are less reliable because out-of-context commands invite the agent's own suspicion. We introduce POISE, a position-aware attack that compresses the trigger into a...
Abstract:Hallucinations in large language models (LLMs) create heightened risks in multi-agent settings, where recursive agent interactions can propagate, reinforce, and amplify unsupported claims. This paper models hallucination as a system-level, time-evolving process across a network of interacting LLM agents, where nodes represent agents and edges encode information exchange. The proposed formulation captures how hallucinated claims diffuse through communication topologies, intensify under adversarial perturbations, and affect collective reliability across reasoning rounds. To suppress error propagation, we introduce an interaction-aware control method that combines confidence-weighted aggregation, adaptive impact regulation, external claim verification, and selective isolation of unreliable agents. Experiments on TruthfulQA and TriviaQA show that the proposed method reduces...
Abstract:Multi-agent large language model (LLM) systems offer strong capabilities for complex reasoning and decision-making, yet coordination across agents introduces error propagation, security risks, and inefficient use of resources. Existing methods often rely on heuristic, static strategies and lack a principled mechanism for balancing performance, security, and computational cost. This paper formulates multi-agent LLM coordination as a constrained optimization problem and proposes a security-aware method for adaptive agent selection. The method integrates trust modeling, risk-aware evaluation, and collective intelligence within a unified optimization objective. To solve the problem efficiently, we use a swarm-intelligence strategy inspired by Gorilla Troops Optimization (GTO), enabling adaptive coordination under varying threat conditions. Controlled experiments across 500...
Abstract:Large Language Models (LLMs) generate fluent text but remain vulnerable to hallucinations, producing unsupported, inconsistent, and factually incorrect claims. Most prior work treats hallucination as a static property of isolated outputs. In multi-agent LLM systems, however, responses are exchanged across agents, revised through sequential stages, and reused as context for later reasoning. Hallucination, therefore, becomes a dynamic process shaped by interaction history, cascade depth, and model heterogeneity. This paper analyzes hallucination dynamics in multi-agent LLM cascades by tracking claim-level factual inconsistencies across sequential agent interactions. We conduct 500 cascade experiments across 10 knowledge domains using GPT-5.3, DeepSeek-V3, and LLaMA-3-70B-Instruct, yielding 1,250 evaluated responses. Results show that deeper cascades reduce the normalized...
The plausible deniability model of differential privacy for single-table datasets is well-understood. However, applying differential privacy to relational databases is much trickier: each application needs flexibility in specifying the pieces of information about an entity, spread across multiple relations, that require plausible deniability guarantees. Existing differentially private SQL systems only support rigid privacy policies. Even seemingly small changes, such as specifying that some tables need to protect the existence of records while others only need to protect the record contents, require significant manual effort in updating their privacy accountants and proving their correctness. One example of a challenge is the presence of partially public data. Public columns in a table (e.g., faculty names in a university dataset and partial course enrollment information) can cause...
Abstract:The rise of edge-based machine learning has enabled distributed adaptation of language models across mobile and IoT devices, offering privacy preservation and real-time responsiveness. However, distributed fine-tuning of language models on untrusted or heterogeneous edge nodes introduces new vulnerabilities. Compromised or unreliable devices can inject poisoned updates, leading to stealthy model manipulation or convergence degradation. Classical defenses such as robust aggregation or temporal anomaly detection operate on a single global model and are therefore limited in detecting coordinated or persistent poisoning. This work proposes a new system-level defense based on model multiplicity. Instead of maintaining one global model, the system rotates or concurrently trains multiple small language models (e.g., DistilGPT-2), each updated by independently sampled subsets of edge...
Abstract:Standard AI red teaming evaluations reduce adversarial campaigns to a single binary outcome, attack success rate (ASR), not taking into account the sequential structure of how models resist or yield to attacks. We propose applying process mining, a discipline for discovering and analyzing process models from event logs, to red teaming traces. We conduct a controlled experiment pitting 60 HarmBench prompts against two LLMs, GPT-OSS 120B and Llama 3.3 70B, using 10 prompt mutation strategies over up to 110 attempts per prompt. From the resulting 8,575 scored events we extract Directly-Follows Graphs (DFGs) and state transition matrices that reveal structurally distinct defense profiles invisible to ASR alone: GPT-OSS exhibits a near-absorbing refusal state, while Llama presents multiple porous escape routes from refusal to getting successfully jailbroken. We further show that...
Abstract:Public-key cryptosystems eliminate the requirement for pre-shared secret keys by enabling encryption with a publicly disclosed key and decryption with a corresponding private key. In this article we generalize the public-key cryptosystems to ternary algebraic structures, with particular attention to ElGamal as a representative family. We introduce the necessary algebraic background for nonderived ternary structures, including special elements, ternary group rings, and a matrix ternarization procedure that maps binary rings and group rings to antidiagonal symbolic matrices closed under ternary multiplication. Building on these foundations, we formulate a ternary analogue of the ElGamal three-step protocol (key generation, ephemeral encryption, and decryption via querelements) and derive explicit ternary power and querelement formulas that enable correct decryption. Concrete...
Abstract:Smart cities increasingly depend on dense edge, IoT, and vehicular networks to deliver critical urban services, including traffic control, connected mobility, infrastructure monitoring, and energy management. In this ecosystem, the Internet of Vehicles (IoV) is central to intelligent transportation, enabling continuous communication among vehicles, roadside infrastructure, and cloud-edge platforms. This connectivity, however, also enlarges the attack surface and exposes smart city and vehicular systems to evolving cyber threats that can compromise safety, privacy, data integrity, and service continuity. Conventional static defenses are often inadequate because they cannot autonomously adapt to changing attack behaviors or multi-stage intrusion patterns. This paper proposes QIRL, a Quantum-Inspired Reinforcement Learning framework built on a lightweight Deep Q-Network...
Abstract:The Internet of Vehicles (IoV) faces a dynamic, adversarial security environment where attackers adapt to defenses. Existing intrusion detection systems rely on static classifiers that fail to capture sequential decision-making, attacker adaptation, and uncertainty. We formulate IoV security as a sequential attacker-defender interaction and model defense as a reinforcement learning problem under partial observability. We propose Quantum Belief-Integrated Reinforcement Defense (Q-BIRD), using quantum-inspired belief representation to encode defender uncertainty about hidden attacker intent via amplitude-based states, enabling non-Bayesian belief evolution. Integrated into a Proximal Policy Optimization (PPO) defender, Q-BIRD selects cost-aware mitigation actions. In simulated environments with adaptive, probing attackers, Q-BIRD reduced cumulative mean damage, damage variance...
MOLOT (Malicious Operational Logic Observation Transformer) is a static malicious-code detection system designed for SAST setup where package metadata, maintainer history, and dynamic execution traces may be unavailable or unreliable. The system represents source code as behavior sequences derived from static call graphs, includes an explanation stage that ranks suspicious behavior activities and maps them back to source-code locations. The approach is evaluated on Python and JavaScript packages from PyPI and npm, compared with opensource detection tools, and validated under product constraints including runtime, memory use, and false-positive rates observed in a real moderation workflow. We also release Open Malicious-Code Bench, a public benchmark for reproducible evaluation of malicious-package detection methods. The results show that static behavior-sequence modeling can provide...
Abstract:DRAM suffers from read disturbance phenomena (e.g., RowHammer and RowPress), where repeatedly accessing or continuously keeping open a DRAM row (aggressor row) induces bitflips in other physically nearby unaccessed rows (victim rows). The disturbance mechanism is practically exploitable from the software stack and worsens across generations with continued density scaling. DRAM read disturbance is highly sensitive to memory access patterns, yet prior work explores read disturbance under only a limited set of access patterns. We present ScaleDisturb, a new DRAM access pattern that can amplify DRAM read disturbance by asymmetrically extending the open time of two aggressor rows. Our rigorous experimental characterization of 196 DDR4 and 3 HBM2 DRAM chips shows that ScaleDisturb (1) leads to bitflips at significantly fewer row activations, compared to state-of-the-art memory...
Adversarial attacks pose a serious and growing threat to Machine Learning (ML)-based Intrusion Detection Systems (IDS), where imperceptible perturbations to network flow features can systematically mislead classifiers into accepting malicious traffic as benign. The IDS-Anta framework partially addresses this through Z-score normalization, Singular Value Decomposition (SVD), and Multi-Armed Bandit (MAB) classifier selection with Thompson Sampling, yet its classifier pool lacks sufficient structural diversity for robust adversarial resistance. This work introduces IDS-Anta++, which incorporates XGBoost and LightGBM gradient boosting models into the ensemble and wraps the extended pool in a three-layer black-box defense: Isolation Forest anomaly screening, median feature smoothing, and six-way majority voting. Experiments conducted on CIC-IDS-2017, CEC-CIC-IDS-2018, and CIC-DDoS-2019...
Abstract:Vision-Language Models (VLMs) have demonstrated strong performance across multimodal tasks, yet their safety robustness remains an open challenge. While prior work has shown that structured visual prompts such as flowcharts can effectively jailbreak VLMs, existing studies are largely limited to English-centric settings. In this paper, we introduce MLingualFC, a multilingual multimodal benchmark designed to evaluate jailbreak vulnerabilities of VLMs across diverse languages using structured flowchart representations. MLingualFC encodes harmful instructions into flowchart images across five languages (Hindi, Punjabi, Spanish, Romanian, and German). We evaluate state-of-the-art multilingual VLMs, including Qwen2.5-VL, Gemma-4, and Pangea, under a black-box threat model. Our results reveal significant multilingual safety gaps. Flowchart-based attacks achieve high attack success...
Abstract:Multiplayer Online Games have become a multibillion dollar industry in the entertainment sector. However, the presence of cheaters undermines the experience of honest players and devalues the effort of game developers, as it directly affects player retention, competitive integrity, the legitimacy and trustworthiness of a game, and most importantly the overall revenue streams. Among various cheating techniques, visual aimbots represent an emerging threat. They use computer vision models to detect opponents from client screen captures rather than accessing game memory, making them completely undetectable by commercial kernel level anti cheat solutions. In this paper, we introduce PATCH, a novel proactive defense strategy that deploys adversarial patches as in game honeytokens to mitigate the presence of visual aimbot cheaters. Our approach centers on deliberately triggering the...
Abstract:AI-mediated information manipulation increasingly takes the form of social cyber attacks that target trust, attention, credibility, reputation, and decision-making rather than only technical infrastructures or isolated false contents. Existing defensive approaches often oscillate between incident-level analysis, which fragments campaigns into weak signals, and attribution-first analysis, which may delay mitigation until responsibility is established. This paper proposes a SOCMINT framework based on Information Manipulation Sets (IMS) as an intermediate operational unit between individual incidents and strategic attribution. Building on the VIGINUM/EEAS use of IMS in counter-FIMI analysis, the framework treats manipulation as a coherent process involving narratives, accounts, infrastructures, temporal patterns, cross-platform migration, synthetic amplification, and cognitive...
论文介绍 该论文针对 AI 介导的信息操纵问题,指出现有防御方法在事件分析和归因间存在局限,可能导致缓解延迟。作者提出基于信息操纵集的 SOCINT 框架,将操纵视为涉及叙述、账户、基础设施、时间模式等的一致过程,作为事件与战略归因之间的中间操作单元。此框架可用于反虚假信息、影响和操纵分析,以提高风险缓解的及时性和有效性。
Abstract:Bidirectional quantum key distribution (QKD) protocols face persistent challenges related to classical disclosure, confinement of the signal space to predictable subspaces, and limited detectability under substitution or entanglement-swapping attacks. In this work, we present a Bell-state extension of the Loop-Back QKD architecture that improves efficiency and detectability while preserving its defining feature of a simplified, measurement-free remote terminal. The protocol employs entangled Bell states together with deterministic local Pauli encoding at the remote node. A central element is that Alice privately prepares and knows the initial Bell state, which serves as a hidden reference enabling her to interpret the Bell-state transition induced by Bob, while preventing an adversary from reconstructing the encoding without access to this reference. By exploiting both intra...
论文介绍 该论文研究双向量子密钥分发(QKD)协议的安全性挑战,如经典泄露和可检测性限制。作者提出一个 Bell 状态扩展的 Loop-Back QKD 架构,使用纠缠 Bell 状态和本地 Pauli 编码,提高效率和可检测性,同时保持远程终端简化无测量的特性。核心是 Alice 私有准备初始 Bell 状态作为隐藏参考,防止对手重构编码,可能增强量子通信安全性。
Abstract:Provenance trees are append-only directed acyclic graphs of artifact registrations anchored on a public blockchain, recently introduced as the data substrate of operator-gated provenance infrastructure. Their defining data-structural pattern is a parent-hash directed acyclic graph (PHDAG), in which each append performs a constant number of storage writes to previously-untouched slots. This pattern has not previously been isolated as a standalone primitive, formally bounded with explicit constants, or benchmarked against the standard alternative, the incremental Merkle tree (IMT). We formalize PHDAG append as O(1) in gas cost, independent of registry size and tree depth, and develop a stochastic cost model for IMT in which per-insert cost is a random variable over the leaf index, deriving closed-form expressions for its mean and variance. We validate both analyses empirically...
论文介绍 该论文研究区块链上追加-only 溯源树的数据结构,提出父哈希有向无环图(PHDAG)作为恒定时间追加的原语。作者形式化 PHDAG 的追加操作为 O(1) gas 成本,独立于注册大小和树深度,并与标准增量 Merkle 树(IMT)对比,开发随机成本模型进行基准测试。这为区块链注册提供更高效的数据存储方案,可能优化链上操作成本。
Abstract:Medical language models (LMs) can memorize and reproduce protected health information, but privacy evaluations often focus on recovery of training text rather than disclosure under realistic threat models. We introduce a clinically grounded framework that evaluates leakage along a graded axis of adversarial access, ranging from publicly inferable demographics to leaked note fragments. At each tier, we measure verbatim memorization of patient-specific text and semantic leakage of sensitive diagnoses. Applying the framework to an LM pretrained on 378k clinical notes, we find that routine encounter metadata (i.e. name, date of birth, provider, practice, visit date) elicits high rates of verbatim memorization across a patient's timeline and sensitive-diagnosis recovery (AUROC 0.91 for abortion, 0.81 for HIV). At the same time, exact-match memorization can overstate disclosure: 36%...
Abstract:Offline safe reinforcement learning (Safe RL) enables policy learning without online interactions, making it suitable for safety-critical systems such as robotics systems. However, its reliance on static datasets exposes offline Safe RL to data poisoning attacks, where adversaries inject malicious samples that compromise safety and induce unsafe policy behavior. In this work, we propose a new learning paradigm, named safe reinforcement unlearning (Safe-RULE), used as a defense framework to remove the influence of poisoned data without retraining from scratch or requiring access to the original training environment. We further extend reinforcement unlearning to offline Safe RL by explicitly accounting for both task performance and safety constraints during the unlearning process. Experiments across benchmark Safe RL tasks demonstrate that our approach effectively enhances...
Abstract:World models have recently seen a rapid growth in both their popularity and capability as more data efficient tools for generating robot training data or simulating real world environments, with many works proposing their integration into the robot learning pipeline. While highly practical, in this work we demonstrate that world models introduce a uniquely stealthy and effective data poisoning entry point into the robot learning supply chain that can result in the deployment of unsafe or otherwise compromised robotic policies despite training on seemingly safe ground truth training data. In contrast to traditional data poisoning techniques which directly implant dangerous trajectories into sold or uploaded datasets, our novel attack methods inject malicious prompts or compromising transition dynamics into visibly safe teleoperated datasets which are only activated once fed...
Abstract:Recent work has applied differential privacy (DP) to adapt large language models (LLMs) for sensitive applications, offering theoretical guarantees. However, its practical effectiveness remains unclear, partly due to LLM pretraining, where overlaps and interdependencies with adaptation data can undermine privacy despite DP efforts. To analyze this issue in practice, we investigate privacy risks under DP adaptations in LLMs using state-of-the-art attacks such as robust membership inference and canary data extraction. We benchmark these risks by systematically varying the adaptation data distribution, from exact overlaps with pretraining data, through in-distribution (IID) cases, to entirely out-of-distribution (OOD) examples. Additionally, we evaluate how different adaptation methods and different privacy regimes impact the vulnerability. Our results show that distribution...
We present a reproducible failure mode of safety training in RAG-based LLM recommendation -- the Injection Paradox -- in which prompt injections embedded in retrieved documents backfire against the attacker, suppressing the target brand below the injection-free baseline. In safety-trained Claude models, documents containing prompt injections suffer a sharp drop in recommendation rate, and this suppression propagates beyond the injected document to unmodified documents of the same brand. In Claude Opus 4.6, the target brand drops from a 54% baseline to zero top-2 recommendations across all 50 trials, even though only 1 of 4 brand documents in the corpus contains an injection. The directional pattern is reproduced in counterfactual experiments and across three brands. A contrasting result across the GPT models tested, where the same injection instead increases recommendations, suggests...
论文介绍 该论文揭示 RAG 基础上 LLM 推荐系统中的一个安全训练失败模式——注入悖论。嵌入文档的提示注入在安全训练的 Claude 模型中反而抑制目标品牌推荐,甚至传播到未注入文档。实验显示品牌推荐率从基准降至零,而在 GPT 模型中则增加推荐,指出安全训练可能引入意外行为。
Abstract:As LLM agents begin to take real, irreversible actions (shell commands, file edits, deploys), the standard safety pattern is a human-in-the-loop approval gate: risky actions pause and wait for a person. We argue the gate is the easy part; the hard part is the judgment - which actions to stop - which the field evaluates against two false assumptions: that there is a ground-truth notion of "risky," and that the human reviewer is a perfect, infinitely-available oracle. On a hand-labeled set of 125 adversarially-weighted agent actions we show that (i) reviewers only moderately agree on what is risky (Fleiss' kappa = 0.52), so there is no single correct label; (ii) framing the guard as selective classification under asymmetric cost makes its operating limits measurable, and on hard inputs the guard cannot safely auto-decide; and (iii) when the reviewer is modeled as endogenous...
Abstract:A small transformer encoder is trained to map Terminal-Wrench trajectories onto a unit sphere where embedding distance approximates the $L_1$ distance between reward and metadata signals. A linear probe on top of that embedding detects reward hacking on the cleaned test split with AUC $0.9467$ and TPR@5%FPR $0.8296$, matching the TW sanitized LLM-as-judge AUC ($0.9510$ on the cleaned split) and exceeding its TPR@5%FPR ($0.7130$ vs $0.8296$) on the same information condition, at roughly four orders of magnitude lower per-trajectory cost. The encoder is not a pure behavior reader: stripping natural-language reasoning from its input at probe time drops AUC to $0.6213$.
Abstract:Autonomous agents negotiate, purchase, deploy code, and move funds, but no neutral mechanism determines whether they met their delegated obligation, who is responsible when they did not, or which settlement action follows. This is the agentic clearing problem. Tool protocols (MCP), inter-agent communication (A2A), payment rails (x402), mandate and network agent protocols (AP2, Visa, Mastercard), and settlement-risk standards each assume that determination and none produce it. Clearing is the missing primitive. Payment is not clearing. Authorization is not clearing. LLM-as-judge evaluation is not clearing. Settlement-risk escrow is not clearing: it consumes clearing decisions. RAILS (Real-Time Agent Integrity & Ledger Settlement) is the integrity and clearing layer for agentic commerce, spanning a per-output reliability score, a published reliability record, and a clearing...
Abstract:Motivated by polynomial identity testing with exponentials (Li and Wu, ITCS'26), we study uncertainty principles for the number-theoretic transform (NTT). We show that the NTT satisfies strong sparsity tradeoffs: For every fixed prime $q$ and for all but finitely many primes $p \equiv 1 \pmod q$ every nonzero $f\in \mathbb F_p^{\mathbb Z_q}$ and its number-theoretic transform $\hat f$ satisfy \[ |\mathrm{Supp}(f)| + |\mathrm{Supp}(\hat f)| \ge q+1. \] Thus, a $k$-sparse function has transform support at least $q-k+1$. As our main technical contribution, we prove a probabilistic version of the above uncertainty principle, averaged over primes $p$, in the regime $p=q^{O(1)}$. As an application, we obtain a black-box identity test for $k$-sparse exponential polynomials of degree at most $d$ with vanishing soundness error, for $q$ moderately larger than $k$.
论文介绍 受指数多项式恒等测试研究的启发,本文研究了数论变换(NTT)的不确定性原理。研究证明了 NTT 满足强稀疏性权衡:对于几乎所有的素数 p,非零函数 f 及其 NTT 变换 f̂ 的支撑集大小之和至少为 q+1。这意味着一个 k 稀疏函数的变换至少有 q-k+1 个非零分量。作为主要技术贡献,作者证明了在 p=q^{O(1)} 区间上关于素数 p 的概率版本不确定性原理,并将其应用于指数多项式恒等测试。
Abstract:Subgraph counting is a fundamental problem in graph analysis. Motivated by practical scenarios where graph analytics are performed on subgraphs induced by selected vertices -- rather than on the entire graph -- and by growing privacy concerns, we initiate the study of differentially private range subgraph counting (DPRSC). The goal is to privately count occurrences of a fixed pattern graph within induced subgraphs defined by multi-dimensional attribute ranges. Unlike classical point counting, subgraph counting is inherently nonlinear and exhibits high sensitivity: a single edge modification can affect many subgraph occurrences. We present the first efficient algorithms for DPRSC with small additive error. Our approach introduces a subgraph projection that reduces DPRSC to weighted orthogonal range counting, enabling the use of range trees and local sensitivity estimation to...
The accelerating decarbonization of energy systems has transformed electrical power systems into complex infrastructures exposed to threats whose interactions generate systemic vulnerabilities that conventional resilience approaches fail to capture. Although resilience assessment has expanded across multiple dimensions, existing studies largely examine them in isolation or adjacent pairs, leaving cross-dimensional couplings insufficiently explored. This study demonstrates i) that single-dimension assessments fail to capture the degradation produced by simultaneous cross-dimensional failures, ii) the nonlinear amplification emerging when physical, operational, and digital-cyber dimensions are jointly compromised, and iii) the intensification imposed by climatic and economic-regulatory stressors. To this end, we leverage a hybrid quantitative methodology. A PRISMA 2020 review with...
Existing access control methods grant access requests based on the combinations of applications as subject and files as objects. Therefore intents of applications and the possible effects caused by granting the access requests have not been taken into consideration. In this paper, we propose a new access control method based on application history and intents. With our access control method, system administrators can reduce the risks caused by malicious access attempts and wrong operations. In this paper, the concept and implementation design will be explained as well as the brief evaluation report of TOMOYO Linux, our implementation of the new access control method to Linux.
论文介绍 现有的访问控制方法通常基于主体(应用)和客体(文件)的组合来授权,但未考虑应用的意图以及授权可能带来的潜在影响。本文提出了一种基于应用历史记录和意图的新访问控制方法。该方法允许系统管理员根据应用的行为模式制定策略,从而降低恶意访问尝试或错误操作带来的风险。论文介绍了 TOMOYO Linux 的概念、实现设计以及初步评估报告。
Abstract:As the Model Context Protocol (MCP) standardizes tool-calling for autonomous agents, it introduces a critical, unexamined attack surface: the error-handling loop. We hypothesize that tool error messages possess implicit authority, triggering corrective reasoning modes that bypass standard safety heuristics. We introduce VATS (Vulnerability Analysis of Tool Streams), a mutation-driven framework that systematically evolves adversarial payloads across seven structural and linguistic dimensions. Our evaluation across four frontier models, Gemini 3.1 Pro, GPT-5.5, GLM-5.1, and Qwen3-Coder, demonstrates that error-path injection triples the success rate of standard indirect prompt injection (IPI), achieving up to 100% compliance in controlled evaluations. We isolate structural positioning (sandwiching instructions within error context) as the most effective exploit vector across all...
Abstract:The ubiquity of social media platforms facilitates malicious linguistic steganography, posing significant security risks. However, detection is severely hampered by two fundamental issues during model training. Firstly, extreme class imbalance (less than 1% steganographic samples) induces a strong decision bias. Secondly, the invisibility of generative steganography means its features are nearly indistinguishable from benign text; this similarity, compounded by their extreme rarity, leads to severe feature marginalization, where faint steganographic signals are completely overwhelmed. To directly address these optimization-level challenges, we propose FADRW (Feature-Aware Modulated and Dynamically Reweighted Loss), a novel loss function framework engineered for few-shot steganalysis. FADRW employs Dynamic Reweighting to progressively counteract decision bias, and a...
Accurate calibration of particle-based simulators is crucial for robotic earthwork simulation, but analytical calibration is challenging due to this task's highly nonlinear particle dynamics and the black-box nature of conventional simulators. Although simulation-based inference (SBI) can estimate posterior distributions over simulation parameters solely from forward simulations, applying SBI directly to high-fidelity (HF) particle simulators is often computationally prohibitive. Low-fidelity (LF) simulators with coarser particles can reduce this cost, but changes in particle size and particle count shift the parameter values needed to reproduce the same observation, producing biased LF posteriors. We propose Bridged SBI, which leverages a biased but informative LF posterior to guide HF inference. This method first uses inexpensive LF simulations to identify a coarse high-density...
Action-supervised fine-tuning of vision-language-action (VLA) policies fits demonstrations effectively but constrains only the directions that change predicted actions, leaving visual structure consistent across action-equivalent states free to collapse. We formalize this as residual visual collapse along local action fibers and propose FiberTune, a training-time objective that preserves teacher-structured visual residuals without adding inference-time overhead. FiberTune uses an online action probe to estimate action-predictive feature directions, filters them from intermediate visual-token representations, and aligns the resulting probe-filtered residuals to a frozen visual teacher while regularizing their effective rank. Under identical training conditions, FiberTune improves over task-loss-only fine-tuning in every one of six controlled simulation settings spanning two benchmarks...
Reinforcement learning (RL) has become a powerful paradigm for robot learning, particularly in sim-to-real settings, but its broader adoption remains limited by the engineering pipeline surrounding the algorithms. Building tasks, shaping rewards, and tuning hyperparameters require substantial expert effort, making RL workflows costly and difficult to scale. We introduce HARBOR, an agentic framework that frames robot RL automation as a harness-engineering problem: given a simulator codebase and a task specification, it automates the workflow from environment setup to policy training in simulation. HARBOR decomposes such high-level objectives into bounded stages executed by specialized agents through standardized commands, persistent artifacts, executable gates, and reusable knowledge, and scales iteration via decentralized parallel trials and experience learning across runs. We evaluate...
Humanoid foundation models are advancing faster than we can evaluate them. While real-world testing is expensive and difficult to reproduce, existing simulation benchmarks focus primarily on table-top or wheeled robots. A scalable and reproducible benchmark for whole-body humanoid loco-manipulation remains an open problem. To this end, we present SIMPLE, a unified simulation testbed for humanoid policy learning and evaluation. SIMPLE couples the accurate contact-rich dynamics of MuJoCo with the photorealistic rendering of IsaacSim. It provides a large-scale environment comprising 60 diverse whole-body tasks, 50 indoor scenes, and over 1,000 object assets. To facilitate scalable data collection, the framework integrates two data generation pipelines: automated trajectory generation via motion planning and a low-latency VR teleoperation interface. We further integrate and benchmark...
Enabling robots to understand and execute tasks from natural language commands while maintaining data efficiency remains challenging. Foundation models such as vision-language-action (VLA) and vision-language models (VLMs) provide intuitive interaction channels but require extensive data; task-parameterized imitation learning achieves data efficiency but lacks natural language grounding. This work bridges this gap through a modular architecture combining task-parameterized kernelized movement primitives (TP-KMPs) with pretrained VLMs. During learning, skills are acquired from 2 to 5 kinesthetic demonstrations, and the VLM generates skill schemas describing each skill's parameters and preconditions. During execution, the VLM interprets commands to select skills, reason about parameter bindings, and create novel behaviors through covariance-weighted composition. When no skill or...
Humans exhibit remarkable motor agility, enabling a wide range of dynamic skills such as running and jumping, which highlights the great potential of humanoid robots for athletic locomotion. Among athletic sports, long rope skipping requires two rope turners to cooperatively swing the rope while adapting to a player under different jumping rhythms, making it a meaningful yet challenging task for humanoid robots. Although existing methods for humanoid sports have achieved success in single-agent and interaction-free settings, such as running, dancing, and parkour, task scenarios that require precise coordination among multiple participants remain largely unexplored. To this end, we propose Marope, a multi-agent reinforcement learning (MARL) framework for cooperative long rope skipping with multiple humanoid robots. Specifically, Marope adopts a hierarchical reinforcement learning...
We propose Q-Guided Value-Gradient Matching (Q-VGM), an off-policy reinforcement learning (RL) method that tackles a long-standing challenge in fine-tuning flow-matching vision-language-action (VLA) policies: efficiently improving an expressive flow-matching action expert with respect to a learned Q-function. Effective improvement must exploit the first-order (gradient) information of the critic, but this is difficult for flow policies, because directly back-propagating the value through their multi-step denoising process is numerically unstable at VLA scale, while the tractable action likelihoods required by policy-gradient methods are unavailable under iterative denoising. Existing value-based methods either backpropagate through the full denoising chain, use the critic only at test time without updating the policy, or distill critic-improved actions as terminal labels without...
Future sixth-generation (6G) mobile networks will demand artificial intelligence (AI) agents that are not only autonomous and efficient, but also capable of real-time adaptation in dynamic environments and transparent in their decisionmaking. However, prevailing agentic AI approaches in networking, exhibit significant shortcomings in this regard. Conventional deep reinforcement learning (DRL)-based agents lack explainability and often suffer from brittle adaptation, including catastrophic forgetting of past knowledge under non-stationary conditions. In this paper, we propose an alternative solution for these challenges: Bayesian reasoning via Active Inference (BRAIN) agent. BRAIN harnesses a deep generative model of the network environment and minimizes variational free energy to unify perception and action in a single closed-loop paradigm. We implement BRAIN as O-RAN eXtended...
Abstract:Temporal modeling is essential for robotic manipulation, as effective control requires both memory of past interactions and imagination of future states. However, most VLA models rely primarily on the current observation and therefore struggle with long-horizon, temporally dependent tasks. Cognitive science suggests that humans rely on working memory to buffer short-lived context, the hippocampal system to preserve episodic memory of past experience, and internal models to imagine possible future state evolution. Inspired by these mechanisms, we propose MemoryVLA++, a full temporal modeling framework that equips VLA models with memory and imagination for robotic manipulation. A pretrained VLM encodes the current observation into perceptual and cognitive tokens, forming working memory. These tokens query a Perceptual-Cognitive Memory Bank to retrieve relevant historical...
Abstract:Embodied world models have emerged as a pivotal paradigm for visual robotic decision-making and interactive environment simulation. However, conventional embodied frameworks rely on low-dimensional structured action vectors (e.g., joint angles and end-effector poses), which suffer from limited expressive capacity, poor generalization across diverse embodiments, and unnatural dynamic modeling for complex physical interactions. To address these limitations, this paper proposesiMac (Image as Action Control), a novel unified control paradigm that treats raw visual images as native action representations for embodied world models. Departing from traditional explicit kinematic action encoding, iMac formulates continuous visual manipulation as image-based action tokens, which inherently encapsulate spatial motion intentions, interactive geometric constraints and subtle physical...
Abstract:World-action models have emerged as a promising paradigm for robot manipulation, jointly modeling visual scene dynamics and actions to inject physical priors into policy learning. However, existing world-action models couple world prediction and action execution at the same temporal resolution, forcing the world branch to model near-term frame variations that are redundant and weakly informative. We posit that strictly binding world prediction and action execution to the same temporal rhythm may underutilize the potential of the video branch for embodied control. Therefore, we propose AHA-WAM, an Asynchronous Horizon-Adaptive World-Action Model built on a dual Diffusion Transformer (DiT) architecture that reorganizes world-action modeling around this temporal asymmetry. AHA-WAM instantiates the video DiT as a low-frequency world planner that maintains rolling key-value memory...
Abstract:Human hand-object interactions encode functional intent, but direct transfer to robotic hands often fails under morphology, contact, and reachability constraints. We present SynManDex, a synthetic pipeline that uses generated human pre-grasps as affordance-aware proposals and resolves the final contacts with robot-native optimization. SynManDex samples object-conditioned digital human pre-grasps, retargets them to dexterous robotic hand poses, optimizes force-closure contacts on the target embodiment, and admits trajectories that pass checks from each step. The resulting keyframes support both grasp-and-lift demonstrations and various prehensile manipulation tasks such as tea pouring, photo taking, and flute playing, designed via VLM agents. As a result, SynManDex combines high grasp quality (86.4\% grasp stability) with 4.67/5 human-likeness (93.4\%). It achieves 80.7\%...
Abstract:Force and tactile sensing are indispensable in contact-rich manipulation. However, force-aware robot learning faces critical challenges due to the incompatible assembly of tactile and force sensors in handheld or wearable devices. To address these limitations, we first introduce AetheRock for gripper-force, vision, and tactile data collection, which is an arm-worn device featuring a modular and easily manufactured visuo-tactile sensor, GelSlim-MiniFab, at the fingertip, a resistive pressure sensor at the human finger contact region, a customized PCB module, and a wearable kit for comfortable and robust collection. Building on this, we propose ForceVT, a representation learning framework that uses force and vision to guide fidelity-agnostic tactile learning, enabling robust inference in any tactile situation. Real-world experiments show that AetheRock achieves qualified data...
Abstract:Parametric imitation learning via behavior cloning can suffer from poor generalization to out-of-distribution states due to compounding errors during deployment. We show that reusing the training data during inference via a semi-parametric retrieval-based imitation learning approach can alleviate this challenge. We present Difference-Aware Retrieval Policies for Imitation Learning (DARP), a semi-parametric retrieval-based imitation learning approach that addresses this limitation by reparameterizing the imitation learning problem in terms of local neighborhood structure rather than direct state-to-action mappings. Instead of learning a global policy, DARP trains a model to predict actions based on $k$-nearest neighbors from expert demonstrations, their corresponding actions, and the relative distance vectors between neighbor states and query states. DARP requires no additional...
Abstract:Vision-Language-Action (VLA) models have demonstrated impressive end-to-end performance across a variety of robotic manipulation tasks. However, these policies offer no guarantees against collisions with task-irrelevant objects in the scene. Existing safety filters sidestep this problem by querying a vision-language model (VLM) to identify obstacles and their locations. This, however, is too slow to run in the control loop and can only be invoked at episode initialization, leaving the filter unable to track moving obstacles. We discover that a small number of attention heads within a VLA model reliably localize the object the policy intends to approach. These heads can be exploited within a training-free safety framework that obtains the active target from the attention heads at every step, treats the remainder of the scene as obstacles, and feeds these into a Control Barrier...
Abstract:Vision-Language-Action (VLA) models demonstrate strong perfor-1 mance on language-conditioned robotic manipulation within their training dis-2 tribution, yet their generalization capabilities remain fundamentally limited. They3 lack the robustness required to handle perturbations, frequently failing when con-4 fronted with lighting changes, altered camera viewpoints, or small initial-state5 variations. We propose PROBEACT, a training-free runtime intervention frame-6 work that detects and recovers from grasping and placement failures in pre-7 trained VLA policies without modifying their weights or requiring additional8 demonstrations. PROBEACT combines three components: (i) a lightweight multi-9 target hidden-state probe that predicts the 3D positions of task-relevant objects10 from intermediate VLA features, with Hungarian-matched identity tracking for11 multi-object scenes...
Abstract:Autonomous mobile robots operating in tight environments require motion planning frameworks that account for the physical footprint of the robot. Simplifying the geometry to a point or a circle is conservative and discards information needed to successfully and safely traverse narrow passages. This work proposes a safe local motion planning and control method that guarantees that a polytopic robot footprint stays inside a continuously updated convex free-space region. The containment condition is formulated as a set of discrete-time control barrier function constraints within a model predictive controller. The number of safety constraints depends on the complexity of the local free-space geometry and the robot shape, instead of the number of obstacles. The proposed free-space formulation does not need any obstacle detection or segmentation. A comparative analysis against a...
Abstract:Text based configuration files for cyber-physical systems show the hierarchy of component modules well but often hide the details of connections and interfaces between modules. A model-based visual approach to these configuration files can better capture this information. The XML structure of Robot Operating System (ROS) launch files can be improved using a modeling approach. This paper presents ROSLaunchVisual, a model-integrated environment built on WebGME for designing, visualizing, and managing ROS launch files. The tool raises the level of abstraction by allowing developers to create and modify launch files using a graphical interface that represents nodes, publishers, subscribers, and arguments as interconnected components. The tool provides a dynamic system analysis that can then be used in the static development and analysis of new and existing launch files...
Abstract:Accurate dynamics models are essential for model-based robotic control, yet nominal Euler--Lagrange models often become inaccurate in the presence of payload variation, unmodeled coupling, friction, aerodynamic effects, and changing operating conditions. Most learning-based correction methods improve prediction accuracy by introducing a single additive residual, but do not preserve the internal mechanical structure of Euler--Lagrange systems. This leads to models that do not preserve symmetry, positive-definiteness, or the coupling between inertia and velocity-dependent terms, which can result in physically inconsistent predictions and reduced reliability when embedded in model-based controllers. We propose a structure-preserving residual learning framework that decomposes model mismatch into an inertia correction, the corresponding induced Coriolis term, and a...
Abstract:Vision-language-action (VLA) policies provide strong priors for language-conditioned manipulation, but remain brittle in off-nominal states requiring targeted recovery. We propose ReCoVLA -- a failure-conditioned residual recovery framework that keeps a pretrained VLA policy frozen, uses an external vision-language model (VLM) to infer the failure mode and recovery stage, and compiles a structured reward from task-relevant components. Rather than using the VLM to generate actions or rewards directly, ReCoVLA uses it as a semantic reward selector: it predicts a recovery descriptor and reward mask for in-simulation residual-policy training, followed by zero-shot sim-to-real deployment of the trained recovery policies. This decouples high-level failure understanding from low-level corrective control to support different VLAs. Experiments across short-horizon, long-horizon, and...
Abstract:Planning collision-free motion for large robot fleets is difficult because collision avoidance induces strong inter-agent coupling that grows rapidly with team size. We consider omnidirectional floating robots on water, where choreographies are specified by sparse keyframes and an interactive tool must generate trajectories within seconds, even when transitions span minutes and thousands of time steps. We propose a scalable pipeline that builds a collision graph from an initialization, decomposes the coupled problem into interaction clusters, and solves clusters independently (and in parallel) with robustness mechanisms for common decomposition pathologies. We validate the approach in simulations up to 500 robots. The synthesized trajectories have also been deployed in two real-world demonstrations, on Lake Zürich with a fleet of 24 Way of Water crafts and at the Time Space...
Abstract:Dexterous manipulation presents substantial challenges for imitation learning due to its high-dimensional action space and complex contact-rich dynamics. Policies trained purely from demonstrations often suffer from compounding errors during deployment and require large amounts of expert data to achieve reliable performance. To move beyond the limitations of demonstration data, in this work, we propose DexPIE, a post-training framework for dexterous policy improvement from experience collected through real-world deployment. First, DexPIE enables effective exploration coverage through a dexterous-hand-adapted intervention system and multi-stage DAgger-style data collection across initial and intermediate task stages, providing reliable supervision for accurate policy evaluation. To reduce temporal noise between post-training rollouts and demonstration data, we introduce...
Abstract:Cooperative object transportation is essential in numerous domains, including industrial to domestic services. A popular transportation strategy is to carry objects on top of multi-robot systems. The corresponding task is typically solved by decomposing it into three interconnected subproblems: formation control, cooperative navigation, and collision avoidance. A particular challenge posed by real-world objects is their potentially arbitrary shape and non-uniform mass distribution, necessitating robot formations that securely support the object. In this work, we address the challenge of pattern formation control for transporting such real-world objects by proposing a novel multi-agent reinforcement learning approach. Our approach enables a multi-robot system to autonomously position itself underneath an object to support its weight while avoiding obstacles during the formation...
Abstract:Vision-language-action models have shown strong promise for robot manipulation, yet raw language is primarily needed to specify task intent rather than to be repeatedly processed during high-frequency low-level execution. Motivated by this separation, we propose a cerebello-thalamic-inspired vision-action model (CT-VAM) for efficient task-conditioned visuomotor control. CT-VAM acts as a compact local execution policy that predicts action chunks from dualview visual observations, proprioception, and a lightweight task condition, potentially enabling a practical cloud-edge paradigm in which high-level semantic reasoning can be handled by large models while fast closed-loop control runs on local hardware. To fuse heterogeneous inputs effectively, CT-VAM introduces TARS (Thalamic Action Routing Stream), a stream-separated conditional attention decoder that independently routes...
Abstract:With the advancement of visual sensing systems, computer vision is playing an increasingly important role in autonomous driving and robot navigation. Relative pose estimation in multi-camera systems is essential for accurate vehicle localization and environment perception, demanding high real-time performance and robustness. Existing methods, however, often involve high computational costs and rely heavily on abundant feature matches, limiting their applicability in time-sensitive driving scenarios. To address these limitations, this paper introduces a unified framework for efficient relative pose estimation, built upon a novel translation parameterization and first-order rotation approximation. Within this framework, we propose three efficient minimal solvers specifically designed for autonomous vehicles. The first solver integrates the vertical direction prior from Inertial...
Abstract:World models have recently seen a rapid growth in both their popularity and capability as more data efficient tools for generating robot training data or simulating real world environments, with many works proposing their integration into the robot learning pipeline. While highly practical, in this work we demonstrate that world models introduce a uniquely stealthy and effective data poisoning entry point into the robot learning supply chain that can result in the deployment of unsafe or otherwise compromised robotic policies despite training on seemingly safe ground truth training data. In contrast to traditional data poisoning techniques which directly implant dangerous trajectories into sold or uploaded datasets, our novel attack methods inject malicious prompts or compromising transition dynamics into visibly safe teleoperated datasets which are only activated once fed...
Abstract:Hindsight relabeling usually turns achieved future states into exact goals, which can overconstrain offline robot learning when task success depends only on a subset of the state. We propose Goal-Set Hindsight Relabeling (GS-HER), a predicate-level generalization of HER in which achieved states certify query-defined goal sets rather than singleton goal states. A binary query specifies which variables define success, making the goal predicate an inference-time input while leaving the underlying offline GCRL algorithm unchanged. Across OGBench tasks and five offline goal-conditioned learners, GS-HER improves performance when full-state goals are bottlenecked by nuisance dimensions and turns hindsight relabeling into a reusable goal interface: one checkpoint can answer multiple robot goal predicates without retraining.
Abstract:Embodied policies typically map current observations directly to actions, leaving candidate-action consequences implicit. World models provide predictive supervision, representations, or external simulation, but rarely let a policy inspect the imagined consequence of its own proposal before acting. We introduce $\omega$-EVA, a latent interactive world model that realizes an Envision--Verify--Act loop for embodied action generation. Its three-stage framework learns action-conditioned latent dynamics, trains a language-conditioned flow policy on dynamics-aware visual representations, and feeds the policy's proposal back through the world model. A tri-branch refiner jointly reasons over the current state, proposal-conditioned future, and proposed action to produce the final action chunk. Because consequence reasoning remains in latent feature space, $\omega$-EVA avoids generating...
Abstract:Robot middleware faces a new role in the era of Physical AI. Learned policies, planners, and vision-language-action (VLA) models now enter deployed robots as causal participants on the control path, but the layer that integrates them with timing, scheduling, and network has not been named. Recent language-agent work names this layer the harness, the external system that mediates tools, manages state, bounds resources, and records execution. The robotics community has not yet adopted this framing, and we propose that robot middleware is that harness. A Physical AI harness differs from a software harness in where it intervenes. A software harness mediates at tool-call boundaries. A Physical AI harness must mediate at control, computing, and communication simultaneously, because a learned policy's output crosses all three: its commands shift the trajectory, its inference time...
Abstract:Learning robot manipulation policies with deep neural networks from a single demonstration remains highly challenging, as even small deviations from the demonstrated trajectory can quickly compound into failure, while collecting substantial online interaction data is costly. We propose ReGIL, a retrieval-guided imitation learning framework that treats a single demonstration as an external memory. ReGIL repeatedly queries this static memory throughout training to simultaneously guide exploration, generate the regularization buffer, and construct rewards. Specifically, it computes rewards through local temporal alignment between the current trajectory and the retrieved segment, providing step-wise and informative feedback for policy improvement. We evaluate ReGIL on robotic manipulation tasks from the LIBERO and Meta-World benchmarks under the single demonstration setting. ReGIL...
Abstract:Vision-Language-Action (VLA) models have become a powerful framework for robotic manipulation, and recent studies have introduced tactile or force feedback into VLAs to address contact-rich tasks. However, these models are typically deployed as offline policies. When contact conditions shift from the training distribution, the policy cannot perform online adaptation, leading to problems such as inappropriate contact forces and inefficient retries. Therefore, we propose TORL-VLA, a tactile-guided online reinforcement learning framework that couples tactile feedback with policy refinement for contact-rich manipulation. Our method introduces a tactile-derived wrench-aware VLA to predict reference actions and future wrench sequences, while a lightweight online RL module is used to refine the reference actions. To stabilize learning from mixed exploratory policy-generated and...
Abstract:Reliable navigation in GPS-denied environments remains a fundamental challenge in robotics, aerospace, and autonomous vehicle applications. This paper presents a Dual Quaternion-Based Unscented Kalman Filter (DQUKF) equipped with a Visual Inertial Odometry (VIO) algorithm for accurate state estimation enabling navigation in GPS denied locations. The proposed framework formulates the DQUKF in an error state manner, where the nominal pose is represented by a unit dual quaternion and the local pose error is represented by a 6-dimensional twistor parameterization used for sigma point generation, covariance propagation, and measurement correction. In parallel, the VIO algorithm tracks features across image frames, synchronizes measurements between the IMU and camera, and provides visual constraints that complement inertial propagation. Simulation results on the EuRoC MAV dataset...
Abstract:Humanoid robots hold immense potential for real-world assistance, yet agile interaction with objects in unstructured environments demands tightly coupled whole-body coordination. Despite recent advancements, current controllers face a critical deployment gap. They rely heavily on dense reference trajectories and perfect state observability, which inherently limits physical generalization. We present Vision Guided Agile Interaction Control (VAIC), a unified framework that bridges this gap by operating exclusively on onboard depth, historical proprioception, and a decoupled user command interface. VAIC employs a two-stage distillation paradigm. First, a privileged teacher policy masters diverse interaction skills using precise object kinematics and exact environmental states. Second, a deployable student policy distills these capabilities by replacing full body tracking with...
Abstract:Reliable robotic navigation necessitates the seamless integration of accurate global localization and dense, metric-consistent obstacle perception. A common strategy to achieve these capabilities involves integrating diverse sensing modalities: cameras offer rich visual features for localization, while active sensors like LiDAR provide direct metric measurements. However, such multi-sensor configurations necessitate complex spatial-temporal calibration and increase deployment overhead. Although vision-only approaches offer a low-cost and scalable alternative, existing monocular visual systems typically struggle to simultaneously achieve efficient, globally consistent localization and dense, metric-consistent geometric perception. To bridge this gap, we propose \textbf{VGP-Nav}, a unified framework for \textit{Metric-Aware Visual Geometric Perception} that relies solely on...
Abstract:Vision-language-action (VLA) policies can deviate from nominal trajectories during manipulation, even when tasks remain physically feasible. Recovering from these deviations is challenging, as they push the policy into unfamiliar state spaces where direct re-planning frequently destabilizes action sequences. We propose Back to the Familiar Future (B2FF), a recovery framework for foresight-driven VLAs that leverages future visual conditioning as a recovery interface. Before execution, the VLA generates a milestone bank of familiar future states conditioned on the clean initial observation. At recovery time, a recoverability-aware selector selects a recovery milestone from this bank and enforces it as a fixed visual goal. This enables the VLA to robustly map off-trajectory observations back to a familiar future. On failure-injected LIBERO, under controlled recovery timing...
Abstract:Time-of-flight cameras are popular in robotics for providing direct depth information while being compact, inexpensive, and robust to lighting conditions, but their low spatial resolution and depth noise are widely believed to preclude precise feedback control. In this paper, we show that an inexpensive, low-resolution time-of-flight camera provides sufficient feedback to reliably and precisely balance an inverted pendulum on a cart--a canonical benchmark for fast, unstable dynamics.
Abstract:The Robot Operating System 2 (ROS 2) is a widely used middleware for robotic systems, characterized by a publish-subscribe (pub-sub) communication mechanism in which computation is structured as callbacks dispatched by ROS 2 executors. Despite its popularity, the pub-sub pattern in ROS 2 is inherently nondeterministic: the order in which these callbacks run is nondeterministic even within a single executor, and distributed deployments add further nondeterminism from the interleaving of messages across nodes and from network latency. Such nondeterminism often leads to concurrency issues and makes it virtually impossible to analyze for safeness and provide guarantees. We present a framework that is able to convert an unmodified ROS 2 application and run it under Lingua Franca (LF), a coordination language for deterministic execution using logical time, so that the same input...
Abstract:Autonomous obstacle removal from the ground is an important earthwork task, but this is difficult to automate because an excavator must adapt its excavation trajectories over repeated cycles as soil-obstacle conditions change. Learning such state-dependent behavior requires a training environment that reproduces accumulated soil-obstacle interactions, including contact states, terrain deformation, and obstacle visibility. Accordingly, particle-based simulation is suitable for the relevant policy learning. However, particle simulation is computationally expensive, and repeated excavation cycles further increase the learning cost. We observe that the burial condition of an obstacle governs both task difficulty and simulation cost: deeper burial makes obstacle removal harder while also requiring more particles for accurate simulation. This observation motivates a...
Abstract:Constructing knowledge graphs from 3D simulation scenes is essential for robot task reasoning, but the key bottleneck, grounding scene objects to formal ontology classes, still relies on manually curated dictionaries that are brittle and do not generalize across assets. We investigate whether large language models (LLMs) can automate this grounding step for Universal Scene Description (USD) scenes as a zero-shot, training-free alternative. On a kitchen scene (125 objects) with SOMA-HOME Ontology, LLMs achieve 90-96% exact-match accuracy with descriptive names and 49-89% with abbreviated names, substantially outperforming dictionary and embedding baselines. Under fully opaque names, context-augmented prompting recovers up to 48%. Feature ablation reveals that LLMs primarily exploit semantic cues in the scene graph (sibling names and parent paths); anonymizing these cues reduces...
Abstract:Many stages of the robotic lifecycle, from morphology synthesis to operation, rely fundamentally on the reachable workspace. However, current methods for approximating workspaces are slow, imprecise, or tied to a single morphology. We introduce Reachability Across Morphologies (RAM): a morphology-conditioned, implicit neural representation that acts as a fast, differentiable surrogate for pose reachability, generalising to unseen morphologies while inherently accounting for self-collisions. To train RAM, we publish a large-scale dataset of $3\cdot10^{10}$ samples generated solely from forward kinematics. Experiments show that our model achieves an $ F_1$-score of $86\%$ at nanosecond inference, outperforming the baseline by $14\%$ while reducing inference time by three orders of magnitude. We further demonstrate speed-ups of one and two orders of magnitude for gradient-based...
Abstract:Humanoid robots can fall on slopes, gravel, and uneven ground in unstructured environments. We target integrated fall recovery and locomotion: rebuilding balance from a fallen state using proprioception alone and resuming velocity-commanded walking at the fall site. Prior methods often stop at quasi-static rise, neglect the post-fall ground-contact phase, or, when trained on mixed terrains without separating recovery and locomotion phases or per-surface constraints, collapse to a single compromise get-up across surfaces. We propose Phase--Terrain Decoupled Learning (PTDL), which decouples training supervision along phase and terrain axes while deploying one proprioceptive policy. On the phase axis, projected-gravity-gated dual motion-prior discriminators and a probe-to-walk transition link post-fall recovery to commanded walking. On the terrain axis, terrain-stratified...
Abstract:Vision-Language-Action (VLA) models have demonstrated strong generalization in robotic manipulation, yet existing evaluations are primarily conducted in simulation or on expensive robotic platforms, leaving their robustness on affordable real-world robots largely unexplored. We present a standardized real-world benchmark for evaluating representative VLA and imitation learning policies on the low-cost SO-101 robotic platform. The benchmark comprises four representative manipulation tasks together with unified evaluation protocols, enabling systematic comparison under embodiment uncertainty. Using real-world teleoperated demonstrations, we fine-tune and evaluate $\pi_{0.5}$, SmolVLA, Wall-X, and ACT directly on the physical platform. Beyond conventional task success rates, the benchmark incorporates a structured failure taxonomy, semantic- and execution-level failure...
Abstract:Human manipulation videos are a convenient and intuitive source for robot learning. However, directly transferring human dexterity to robots remains challenging due to perception errors and embodiment gap. To address this, we introduce Video2Sim2Real, a full-stack framework for autonomous skill acquisition from a single human manipulation video. Our framework first uses off-the-shelf foundation models to reconstruct a simulator-ready digital twin and extract robot and object motion priors. Rather than treating the extracted robot motion as a reliable reference throughout execution, our key idea is to recover and leverage the most fundamental sources of supervision from the demonstrated skill: We identify object-centric keyframes to optimize the corresponding robot configurations using object information from the simulator, and use these configurations as anchors that refine...
Abstract:Visual world models have shown great potential in learning complex system dynamics. Recent advancements leverage these models as transition functions within Model Predictive Control (MPC) frameworks to solve various control tasks. When applied to robotics, however, they are limited to single-stage tasks such as reaching or grasping, and struggle with multi-stage ones that demand complex sequential planning. In this work, we introduce WorldDP, a world model framework designed for multi-stage robotic manipulation. Our hierarchical approach utilizes a high-level world model as a transition function to optimize for feasible subgoals during runtime, which are subsequently reached by a low-level Diffusion Policy. To further aid in learning dynamics and planning, we incorporate object-centric representations that decouple environmental entities and enable us to plan sequentially with...
Abstract:Effective visuo-tactile integration is critical for robotic dexterous manipulation, especially when visual observations are unreliable or occluded. However, robustly aligning sparse, heterogeneous tactile measurements with dense visual representations remains a fundamental challenge. Most existing approaches require policies to learn cross-modal correspondences implicitly from limited demonstrations, without leveraging geometric priors. As a result, they are often data-inefficient and generalize poorly when visual observations are degraded. To address this limitation, we propose a framework that explicitly grounds physical contacts in the image domain. Using robot forward kinematics and camera calibration, we project tactile sensor locations directly onto the RGB image plane. We then render force-modulated Gaussian saliency maps to model spatial uncertainty arising from...
Abstract:Diffusion models have become a powerful tool for generative modeling in robotics, with diffusion policies excelling at modeling multimodal action-trajectory distributions. However, when demonstrations are limited, standard sampling often reproduces dominant behaviors while neglecting valid but rare modes, limiting the discovery of novel solutions. Existing approaches, such as guidance methods or combining reinforcement learning with diffusion, either push samples into infeasible regions or struggle to escape local minima, failing to systematically uncover diverse behaviors. To address these challenges, we propose a framework that combines Feynman-Kac correctors with a novel guiding potential that systematically guides diffusion policy samples towards promising yet underrepresented samples. These trajectories are refined using sampling-based trajectory optimization and...
Abstract:Robots operating in human environments must not only ensure physical safety but also exhibit behaviors that are understandable, fluent, and acceptable to human partners. This paper investigates motion generation strategies that combine safety guarantees with interaction quality considerations, such as motion smoothness and human comfort. While the design of robots capable of ensuring safety in shared human-robot environments has enabled closer and more advanced forms of interaction, these new proximity-based tasks require moving beyond purely technical considerations. In particular, robot behavior must also be addressed from psycho-cognitive and social perspectives. In this context, we argue for the relevance of integrating social-aware motion control into robotic systems. First, we identify the motion parameters that influence human perception and operator experience. Then...
Abstract:World action models inherit the predictive capability of world models, enabling action generation to be guided by anticipated future observations. However, they rely primarily on vision and often fail in contact-rich manipulation, where critical cues arise from physical interaction. In this paper, we propose Dream-Tac, a unified Tactile-World Action Model that jointly models actions, future visual observations, and tactile dynamics. Specifically, Dream-Tac introduces (i) contact-gated visuotactile fusion to selectively integrate tactile signals and (ii) a contact-aware attention bias to better regulate cross-modal interactions during manipulation. To support real-time deployment, we further design a dual-level acceleration strategy, reformulating the contact-aware bias to preserve the fused attention path during training and introducing cache-based diffusion acceleration at...
Abstract:Simulation plays a key role in automated robotics research supported by large language models (LLMs). However, existing simulators often require custom code or complex interfaces, creating a barrier to rapid prototyping and automated algorithm development. To this end, we propose the Intelligent Robot Simulator (IR-SIM), a lightweight skill-native navigation simulator designed for rapid scenario construction, benchmarking, and robot learning. In IR-SIM, scenarios are entirely defined by YAML configuration files that specify mobile robot kinematics, geometric collision checking, LiDAR sensing, visualization, and behavior modules. This design makes robotic simulation fully describable and reproducible, allowing scenarios to be generated and modified from text prompts through the proposed IR-SIM agent skills. The resulting scenarios can be used for automated benchmarking of...
Abstract:In teleoperation, the human operator typically controls only the end-effector pose, which often leads to self-collisions of the manipulator and collisions with environmental obstacles, since joints and links are not controlled individually. A common strategy to mitigate this issue is to enhance the operator's input using optimal-control-based trajectory planning. As derivative-based solvers require differentiable constraints, existing approaches either approximate robots and obstacles with spheres, reducing geometric accuracy, or approximate derivatives, degrading convergence and increasing computation times. We address these limitations by adapting a recent formulation of differentiable collision-avoidance constraints, based on duality in convex optimization, to the teleoperation setting. The robot is approximated with capsules and the environment with polytopes. We compare...
Abstract:Robots deployed in human-centric environments routinely receive natural-language descriptions of spatial information ("I left my backpack on the table") that reference parts of the world beyond their perceptual field of view. Traditional metric-semantic mapping ignores this signal, while off-the-shelf multimodal models remain limited in 3D spatial reasoning and are not directly amenable to fusion with other sensor modalities. To convert language observations into a calibrated spatial distribution, we train a Language Sensor Model (LSM) that maps each utterance and its scene-graph context to a multimodal distribution, with mixture weights encoding referential ambiguity (e.g., "which table") and component covariances encoding spatial uncertainty (e.g., where "on the table" the target lies). We then introduce VL-Map (Vision-Language Metric-Semantic Mapping), a probabilistic...
Abstract:Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process. The resulting velocity field must simultaneously encode scene information and generate precise trajectories, increasing learning complexity and limiting performance on tasks demanding precise temporal coordination across multiple arms. To simplify this joint learning problem, we introduce Latent Diffusion Policy (LDP), a two-stage framework performing flow matching in a deliberately shaped latent space. By absorbing scene understanding into an observation-conditioned CVAE encoder, LDP concentrates the conditional distribution of each observation. Consequently, the flow model avoids implicitly resolving scene-dependent structures; instead, it generates within a pre-concentrated distribution featuring a smoother...
Abstract:To perform a wide range of daily tasks, robots need to construct a 3D representation that is semantically rich, physically grounded, and structured enough to support task planning and affordance prediction. However, existing approaches primarily focus on semantic retrieval, often overlooking physical and kinematic factors. Methods that attempt to model physical properties typically rely on narrow training sets or single-object modeling, limiting scalability and generalization across diverse object types. To address these challenges, we present PhysGraph, a framework that unifies symbolic reasoning with structured 3D geometry to model kinematic and physical properties in cluttered scenes. Given RGB-D observations, PhysGraph reconstructs object-centric 3D geometry and associates object instances across views. It then decomposes objects into functional parts and infers materials...
Abstract:Robotic manipulation robustness often founders on the physics gap between simplified simulations and the resistance-laden real world. In this work, we emphasize that physical realism in articulated interaction is an important ingredient for robust policy learning. We present Real-IKEA, a dataset and simulation framework designed with physical accuracy as a first-class goal. Real-IKEA provides 1,079 articulated asset configurations, derived from 83 authentic IKEA handles and knobs processed through a meticulous six-step physical workflow. For contact-geometry accuracy, we introduce a bidirectional surface-deviation metric to quantify collision meshes. For dynamics realism, we establish resistance-calibrated configurations that vary damping and friction. Crucially, we demonstrate through a Reinforcement Learning (RL) policy that high-fidelity assets enable the discovery of...
Abstract:Force signals provide critical interaction cues for contact-rich robotic manipulation. However, existing methods mostly use force as an additional observation modality, without fully exploiting its role in modeling future interaction dynamics or guiding execution-time feedback correction. In this paper, we propose FAWAM, a force-aware world action model that incorporates force information at three levels: perception, prediction, and closed-loop execution. FAWAM first encodes historical 6-axis force/torque signals to modulate action generation, then jointly predicts future actions and end-effector wrenches to explicitly model contact evolution. It further introduces a residual correction module that uses the predicted wrench trajectory as an execution-time reference to refine actions online based on real-time force feedback. Real-world experiments across multiple contact-rich...
Abstract:Recent progress in robot manipulation has been largely driven by learning from large-scale demonstrations. For humanoid robot loco-manipulation tasks, however, existing data sources force an unsatisfying tradeoff between trajectory quality and scalability. Real-world teleoperation provides the highest-quality trajectories but requires dedicated physical space and time-consuming scene resets. Simulation offers an alternative way out of this dilemma: it can produce clean, embodiment-aligned data at scale without any physical hardware. In this paper, we propose OASIS, a simulation-data-driven framework for humanoid loco-manipulation. OASIS automatically reconstructs realistic object assets from real-world images using a 3D generative model. Based on these assets, trajectories are first collected through teleoperation in simulation, and then augmented under diverse domain...
Abstract:Exploratory manipulation often turns an apparent failed attempt into the key evidence for what to do next. For example, a robot pulls a locked cabinet drawer, fails, and only succeeds after opening the lock. The failed pull reveals a latent precondition (the drawer is locked) that determines the minimal-success action chain (the fewest actions that complete the task), here [lock-open, drawer-pull]. Correctly reading this trace is therefore the prerequisite for recovering that chain. We formalize this setting as Exploratory Manipulation Trace QA (EMT-QA): given synchronized video and proprioception from an exploratory trace, predict the minimal-success action chain under the latent precondition revealed by the probe. However, even state-of-the-art VLMs and embodied multimodal LLMs misread this evidence: they do not reliably recover the chain from raw video, raw proprioception...
Abstract:Vision-Language-Action (VLA) models achieve strong benchmark performance but still struggle in real-world deployment with unseen objects, background shifts, and different robot embodiments. We argue that this stems from the lack of a unified geometry-aware manipulation representation, leaving existing VLAs vulnerable to low-level trajectory supervision, misaligned 3D features, and embodiment differences. To address this, we propose GEAR-VLA, a VLA framework for learning unified geometry-aware action representations for generalizable robotic manipulation. GEAR-VLA adopts coarse-to-fine action learning, where multi-source embodied pretraining equips the VLM with embodied reasoning and discrete action understanding before latent action tokens connect action semantics to a gradient-decoupled DiT continuous action expert. It further performs semantic-aligned 3D integration by...
Abstract:Vision-language models (VLMs) are powerful general-purpose reasoners, yet converting them into robot control policies (VLAs) is surprisingly difficult. The root cause is a two-fold gap: VLMs are trained on internet-scale images with language-understanding objectives, while VLAs must perceive robot scenes and predict motor actions. Fine-tuning a VLM directly on robot action data forces the model to cross both gaps at once -- the learning curve is steep and the rich generalizations learned during pretraining tend to degrade rather than transfer. We argue that this gap can be bridged gradually with the right intermediate data. We introduce \emph{embodied trajectory-coupled (ETC) data} -- vision-language supervision derived from the same robot scenes and trajectories used for action learning. Because ETC data shares the visual context of robot operation while retaining familiar...
Abstract:Generative robot policies fail unpredictably at deployment: they hesitate at critical moments, drift off-task, or commit to unrecoverable actions. Existing online failure detectors either require white-box access to policy internals or add runtime overhead through resampling and observation-side signals. Our empirical analysis shows that emitted action chunks themselves already carry strong predictive signal for impending failures in generative robot policies. Motivated by this observation, we introduce ActProbe, a lightweight, pure action-space detector that uses two compact signals available from a single forward pass: Temporal Consistency Error (TCE) between consecutive action chunks and Action Chunk Magnitude (ACM) of the current chunk. ActProbe maps these signals to per-step failure probabilities with a task-conditioned LSTM-MLP architecture. Across a diverse suite of...
Abstract:Humanoid robots require whole-body motions that adapt to scene context, task requirements, and user intent. Motion tracking reproduces specified trajectories, and humanoid vision-language-action systems provide semantic interfaces, but neither offers a scalable and interactive prior for broad full-body behavior. We introduce EgoPriMo (Egocentric Motion Prior for Humanoid Robots), a unified framework that learns such priors from egocentric human demonstrations. Given egocentric observations and a text prompt, EgoPriMo reconstructs, generates, and forecasts SMPL-based full-body motion. Language is used as a high-level control signal rather than a complete motion specification. At the core of EgoPriMo is a Triple-stream DiT that jointly models body dynamics, egocentric visual context, and text; task-conditioning masks route different tasks and missing-modality data through the...
Abstract:Proactive robot assistance in household environments requires accurate prediction of human activities and object usage under dynamic and noisy conditions. Existing approaches often rely on complex spatio-temporal models, which can be computationally expensive and sensitive to environmental variability. In this paper, we propose GLOBE, a lightweight framework that combines n-gram Markov models for capturing temporal behavioral patterns with uncertainty-guided large language model (LLM) reasoning. The framework performs sequential prediction efficiently while selectively invoking LLM reasoning only when the model confidence is low. To evaluate performance under realistic conditions, we introduce HOMER-Noise, a noisy extension of the HOMER+ dataset that simulates structured disturbances such as object movements caused by humans, pets, and toddlers. Experimental results show that...
Abstract:Robotic grasping is a fundamental capability in robotic manipulation. Yet grasping remains challenging under partial observations. Reliable grasping depends on both local contact cues and object-level 3D structure. Existing geometry-aware grasping methods recognize the value of reconstruction, but they typically treat geometry as an intermediate prediction rather than a reusable object prior for grasping. In this paper, we present GraspFoM, a unified framework that leverages 3D foundation priors (SAM3D) to build a shared 3D object latent for both reconstruction and grasp pose prediction. Built on this shared object latent, we introduce an anchor-initialized truncated pose-reasoning diffuser that predicts continuous and multimodal grasp poses without directly relying on discrete grasp candidates. We further investigate the interaction between reconstruction and grasping through...
Abstract:Diffusion policies have achieved remarkable success in robotic manipulation, yet they often fail to satisfy strict physical constraints required for safe deployment. Existing approaches impose safety either prematurely during training or reactively via external guardrails at test time, limiting policy expressivity and overall scalability. We propose Physical safety Alignment for Constrained Trajectories (PACT), a self-evolving post-training framework that projects pretrained diffusion policies onto constraint-feasible regions without accessing demonstration data or task rewards. PACT distills constraint gradients into the diffusion model through a reverse-KL objective with dense supervision across timesteps. It incorporates a curriculum that progressively tightens constraints while maintaining theoretically bounded policy shift and monotone improvement, mitigating the...
Abstract:In assisted teleoperation for human-robot collaboration, accurate intention prediction is critical for enabling timely and reliable robotic assistance during long-horizon manipulation and assembly tasks. These systems require continuous understanding of user behavior to recognize actions, anticipate intentions, and detect mistakes in real time. However, robot teleoperation demonstrations are costly and hardware-limited, whereas human demonstrations are easier to collect and provide rich temporal structure. To address this challenge, we propose an uncertainty-aware human-to-robot intention prediction framework that combines: (1) hierarchical transfer learning, where MS-TCN++ is pretrained on human hand demonstrations and fine-tuned on limited robot teleoperation data to capture low-level actions and high-level task intentions; (2) a conformal prediction module that provides...
Abstract:Vision-language-action (VLA) models increasingly condition robot policies on history, depth, or 4D features to resolve ambiguity in long-horizon manipulation. However, more spatiotemporal evidence is not necessarily better: when the injected evidence is not motion-consistent, it can introduce geometric drift, fragmented temporal cues, and unstable action generation. This raises a simple question: should a VLA remember past frames, or remember the motion that connects them? We introduce MotionVLA, a motion-history interface that converts a short past-only video window into compact, time-continuous trajectory-field tokens. Instead of treating history as a sparse set of ndependently lifted frames, MotionVLA represents recent observations as physically coherent motion evidence. Current visual tokens query this history to retrieve task-relevant motion information, which is then...
Abstract:Physical human-robot interaction (pHRI) demands simultaneous trajectory accuracy and compliant safety under unplanned contact. Classical impedance control incurs a nonzero steady-state position error under sustained human force -- the applied force divided by the task stiffness -- which integral action reduces only within a narrow stable-gain budget. We present a two-layer Impedance MPC that resolves this tension. Layer~1 analytically cancels gravity, Coriolis, and task-space inertia, reducing the residual plant to a configuration-independent double integrator with a constant state-transition matrix. Layer~2 solves a 30-variable convex QP at 100\,Hz, exploiting this constant structure so the free-response matrix is precomputed once; an augmented Kalman filter estimates the persistent disturbance state, giving a formal zero-steady-state-error guarantee. A null-space...
第一作者: Alessandro Montenegro · 方向: 机器人操作 · 来源: cs.RO
人形机器人落脚点跟踪强化学习运动控制复杂环境导航
Abstract:Enabling humanoid robots to operate in complex, dynamic environments remains a critical challenge, fundamentally limited by the ability to navigate robustly, safely, and accurately. While reinforcement learning with velocity-commanded policies has achieved remarkable robustness in humanoid locomotion, this approach lacks explicit control of the foothold placement, leading to unsafe behavior, such as stepping onto human feet, or imprecise navigation, hindering the following manipulation task. Conversely, explicit foothold-tracking policies offer a promising alternative by directly being commanded with target foot poses. However, existing approaches are often limited by unrealistic state assumptions, compromising real-world deployment, or they are part of staged pipelines, making them tied to specific downstream tasks. In this work, we introduce a novel, lightweight framework...
Abstract:Reliable wildlife monitoring is essential for ecology and conservation, yet many existing methods, such as tagging, capture, and close-range observation, can alter the very behaviors they aim to measure. Aerial robots offer a scalable alternative, which has shown promising performance in multiple studies. Nonetheless, existing approaches typically lack behavioral awareness, rely on fixed heuristics, or require real-world training data that are costly, impractical, and ethically difficult to obtain. As a result, there remains no general framework for adaptive drone-based monitoring that can both preserve ecological validity and scale across species, behaviors, and robotic platforms. In this study, we introduce a disturbance-aware reinforcement-learning-based framework for heterogeneous aerial robotic fleets that enables autonomous wildlife tracking while explicitly minimizing...
Abstract:Flexible robotic automation requires systems that interpret operator intent, verify physical feasibility, and recover from execution failures across both the planning and execution stages. This paper proposes an agentic neuro-symbolic framework for human-in-the-loop industrial robotics, in which LLMs are used for tasks that require language understanding or contextual reasoning, while all verification, sequencing, and execution remain deterministic. The framework adapts the Planner-Generator-Evaluator (PGE) harness pattern from software engineering into a Specifier-Designer-Inspector (SDI) architecture for industrial robotics, combined with LangGraph-based dynamic routing for failure recovery. A two-tier recovery mechanism addresses structure-level replanning through context-aware orchestration and execution-level geometric failures through deterministic recovery skills. A...
Abstract:Monopedal hopping robots are conceptually simple but highly dynamic and inherently unstable. Achieving robust 3D hopping is still difficult because ground reaction forces are available only during the short stance phase, while the robot is underactuated in flight. A key unresolved issue is how to improve flight-phase control authority. Propeller assistance provides a promising solution, but it requires careful coordination of leg-generated contact forces and propeller thrusts across stance and flight. This paper presents Pro-OMEGA2, a propeller-assisted 3D monopedal hopping robot with an active 3-RSR parallel leg and a trunk-mounted tri-rotor for auxiliary attitude regulation. To address the force coordination challenge, we propose a Hierarchical Force Allocation (HFA) framework based on a single rigid body (SRB) model. The leg generates the main stance contact wrench, while...
Abstract:In-context imitation learning (ICIL) enables robots to learn new tasks from a small number of demonstrations by conditioning a pre-trained policy on task-specific examples, without retraining at test time. Despite this promise, training generalizable and scalable in-context imitation policies remains an open challenge. We present SynthICL, a scalable framework that trains ICIL policies entirely from RGB-only synthetic data. Specifically, we build a data generation pipeline to produce high-fidelity ICIL data and train a flow-matching transformer policy on the resulting dataset. SynthICL avoids the need for depth sensing, precise camera calibration, and real-world training data in prior approaches, offering a simpler and more scalable alternative. We further incorporate subgoal prediction by training the model to predict the next subgoal images, enabling more precise and...
Abstract:The growing volume of retired lithium-ion battery packs from electric vehicles and portable electronics calls for automated disassembly that is safe, flexible, and selective down to the individual cell. Existing robotic systems, however, mostly assume known pack poses, external fixtures, or specialised tooling, leaving fixture-free cell-level disassembly under pose uncertainty largely unsolved. This paper presents a vision-guided dual-arm pipeline that disassembles a 21-cell 18650 pack from an arbitrary initial pose using only general-purpose parallel-jaw grippers, RGB-D sensing, and a pre-trained grasp detector. Pose uncertainty is absorbed by a learn-and-filter perception stack with discrete look-and-move wrist-camera corrections, while a mid-task support transfer between the two arms extends the effective workspace without any external clamp. The pipeline achieves an 8/10...
Abstract:Robotics faces a fundamental challenge of data scarcity. Unlike language or vision research, there is no internet-scale dataset for robotic manipulation. A promising path forward is to leverage egocentric human data, which can be collected more easily, with greater breadth, and at a larger scale. Towards this end, we investigate key design choices for learning across human and humanoid embodiments equipped with dexterous five-finger hands, using the $\pi_{0.5}$ model as a foundation. Our results show that human data enables robots to learn new task semantics and compose existing skills into novel behaviors without corresponding robot data. The paper website is here: this https URL
Abstract:Soft-bodied organisms such as octopuses and elephant trunks exhibit remarkable morphological adaptability, dynamically reconfiguring body shape and stiffness, and flexibly adjusting their control strategies to enable versatile behaviors. Inspired by these biological systems, various soft robots have emerged in recent decades, featuring diverse materials, stiffnesses, and morphologies tailored to specific tasks. Despite substantial advances in the materials and structural designs of soft robots, developing a generalizable control framework capable of rapid adaptation across diverse configurations remains a long-standing challenge. Existing controllers are limited to fixed configurations, demanding laborious configuration-specific remodelling and policy redesign for new configurations. Here, we introduce a generalizable control system that enables rapid adaptation across diverse...
Abstract:We are surrounded by various objects with movable, articulated parts, e.g., box, handle, door. An accurate and generalizable perception of articulated parts is essential to enhance robotic manipulation capabilities. Building on this need, recent efforts in articulated parts perception have followed two main directions: One line of work uses pose-based representation, which requires high manual cost; in parallel, affordance-based methods extract future object motion from point tracking without additional manual efforts, but suffer from low-quality data. In this paper, we propose a new representation of articulated parts, Geometric Primary Structure (GPS), an abstraction of the part geometry structure to balance scalability and quality. For efficient and scalable data collection, GPS is integrated with a portable Virtual Reality (VR) device and requires only one minute to...
Abstract:Multi-quadruped coordination has attracted increasing attention due to its enhanced payload capacity, broader contact coverage, and improved adaptability to challenging tasks. Existing methods for multi-quadruped manipulation typically focus on predefined or closed task families, often relying on multi-agent reinforcement learning (MARL) to train task-specific coordination policies. However, such methods struggle in open-ended continual learning settings, where tasks arrive sequentially and robots are expected to acquire new coordination skills while reusing previously learned ones without catastrophic forgetting. To address this challenge, we propose Conquer, a semantic skill-library framework that formulates continual multi-quadruped coordination as a retrieve-adapt-update process. First, to accommodate varying team sizes across tasks, we design a team-structured...
Abstract:Vision-Language-Action (VLA) policies are typically shipped as Python/PyTorch stacks that assume a workstation-class GPU, a mismatch for the hardware on which robots actually run. We present this http URL, a portable C++ inference runtime built on this http URL. To our knowledge, it is the first ggml-class engine to natively serve the flow-matching and diffusion VLA inference pattern, in which a cached vision-language prefix is consumed by a cross-attending action expert integrated over several solver steps. A single runtime serves seven architectures spanning five backbone and four action-head families behind one request/response protocol, with each model packaged as a self-contained bundle. On LIBERO-Object, the engine matches a state-of-the-art checkpoint to within one episode out of 200, and runs BitVLA at 100% success in 1.3 GiB of memory. The same bundle runs unchanged...
Abstract:Humanoid behavior foundation models aim to acquire reusable whole-body control policies from broad human motion priors, enabling a single controller to produce diverse and expressive behaviors. However, existing motion-centric foundation policies largely assume that the reference motion is already physically compatible with the robot's surroundings. This assumption breaks when the demonstrator, operator, and robot inhabit different environments: a human motion may specify the intended behavior, but not the footholds, clearance, body height, or contact timing required by the robot's local terrain. We introduce \emph{Perceptive Behavior Foundation Model} (Perceptive BFM), a terrain-aware humanoid control framework that grounds human motion priors in robot-centric perception. The model preserves raw kinematic motion references as the behavioral interface, while using local...
Abstract:Egocentric RGB-D videos offer a natural source of human dexterous manipulation demonstrations, but existing data is difficult to use for robot learning because object pose, geometry, and contact information are often missing or require pre-scanned object assets. We present EgoAERO, the first framework that learns dexterous manipulation from a single egocentric RGB-D human demonstration without object assets. EgoAERO reconstructs contact-consistent hand-object trajectories through asset-free object tracking and reconstruction, ego motion compensation, and adaptive contact optimization, then converts them into robot policies using two-stage residual learning. We further introduce an online quality assessment mechanism and construct EgoDex-R, a large-scale egocentric dataset with 4.3M RGB-D frames for dexterous policy learning. Simulation and real-world experiments show that...
Abstract:Robotic simulators are a cornerstone of modern research in aerial robotics, serving both as a vehicle for the development of new control algorithms and as the data source for training reinforcement learning (RL) policies. Yet, existing quadcopter learning environments often face a trade-off between physical fidelity, multi-agent support, and the throughput required by modern deep RL pipelines. In this paper, we present MuJoCo-Drones-Gym, an open-source Gymnasium-compatible multi-drone environment built on top of the MuJoCo physics engine. MuJoCo-Drones-Gym supports an arbitrary number of Bitcraze Crazyflie 2.x nano-quadcopters and exposes a modular API for selecting (i)~the physics model (rigid-body MuJoCo, explicit Python dynamics, or any subset of ground effect, blade drag, and inter-drone downwash), (ii)~the action interface (per-motor RPMs, collective normalized thrust...
Abstract:Object navigation requires a robot to search for an unobserved target in an unknown environment by deciding where to explore next under partial observability. Effective search resembles human-like exploration: selectively probing visually promising frontiers while relying on spatial memory to avoid redundant revisits. We propose IntentNav, a spatial-visual imitation framework that learns human-like ObjectNav policies from human demonstrations. To infer high-level search intent from low-level human actions, we introduce Frontier-based Human-Intent Labeling, which looks ahead in human demonstrations and labels the frontier that best explains the demonstrator's future search direction. We construct a spatial-visual candidate space, where BEV memory tracks explored regions, unexplored frontiers, and trajectory history, while egocentric visual memory provides semantic cues for each...
Abstract:Whole-body teleoperation is essential for scalable robot data collection in loco-manipulation tasks, yet existing approaches relying on exoskeleton suits or multi-camera setups impose prohibitive cost, complexity, and environmental constraints. Recent methods using a single extended reality (XR) device with end-to-end reinforcement learning policies partially address these limitations but require robot-specific retraining, suffer from out-of-distribution failures, and rely on motion retargeting that neglects dynamic feasibility. We propose a hierarchical whole-body teleoperation framework driven by a single XR device that generalizes across diverse robot morphologies without retraining robot-specific policies. A Model Predictive Control (MPC)-based motion retargeter jointly optimizes alignment with the operator's intent and the robot's dynamic feasibility, generating optimal...
Abstract:Navigation using a monocular camera is pivotal for autonomous operation on tiny aerial robots due to their perfect balance of versatility, cost and accuracy. In this paper, we introduce MinNav, a navigation stack based on optical flow and its uncertainty to fly through a scene with static and dynamic obstacles and unknown-shaped gaps without any prior knowledge of the scene components and/or their locations/ordering. We further improve success rate by using the activeness of the robot to move around in an exploratory way to find obstacles and navigate. We successfully evaluate and demonstrate the proposed approach in many real-world experiments in various environments with static and dynamic obstacles and unknown-shaped gaps with an overall success rate of 70%. To the best of our knowledge, this is the first solution to tackle all the aforementioned navigation cases without...
Abstract:Open-vocabulary long-horizon manipulation requires robots to reason over flexible instructions and complex multi-object scenes while adaptively planning, executing, monitoring, and recovering from failures. We address these demands with a closed agent loop in which a VLM orchestrates heterogeneous robot capabilities as interruptible tools. Unlike in virtual AI agents, the timing of decisions, actions and tool calls is important in a physical world that does not pause for reasoning. We refer to this setting as Physical Orchestration, and propose VoLoAgent, a VLM that plans, monitors, and recovers by treating a VLA/WAM as an interruptible tool it steers mid-rollout alongside vision models and action primitives. To evaluate these long-horizon capabilities, we introduce RoboVoLo, a high-fidelity benchmark for open-vocabulary long-horizon manipulation across common sense...
Abstract:Offline safe reinforcement learning (Safe RL) enables policy learning without online interactions, making it suitable for safety-critical systems such as robotics systems. However, its reliance on static datasets exposes offline Safe RL to data poisoning attacks, where adversaries inject malicious samples that compromise safety and induce unsafe policy behavior. In this work, we propose a new learning paradigm, named safe reinforcement unlearning (Safe-RULE), used as a defense framework to remove the influence of poisoned data without retraining from scratch or requiring access to the original training environment. We further extend reinforcement unlearning to offline Safe RL by explicitly accounting for both task performance and safety constraints during the unlearning process. Experiments across benchmark Safe RL tasks demonstrate that our approach effectively enhances...
Abstract:Body movement communicates intent at distances and in conditions where neither the face, nor speech can be captured. We study the recognition of communicative intent from 2D body pose alone. We argue that body motion is a reliable signal especially in scenarios that require real time low-cost on-device person-to-robot communication in long distance environments, such as rescue missions. However, existing resources do not isolate this signal. Affective corpora combine body, face, voice and text, while skeleton action-recognition benchmarks label the action performed rather than the message conveyed. We release a dataset of real frames of full-body pose covering ten communicative intents and we compare it against other real (IPC) and synthetic (MotionLCM, VEO3.1, Kimodo) ones that span a range of difficulty. We target systems that can run on a robot's limited onboard hardware...
Abstract:World Action Models (WAMs) generalize better than standard Vision-Language-Action (VLA) policies to novel motions and environments, because a video-modeling objective lets them learn from abundant unlabeled video rather than scarce labeled robot demonstrations. This generalization is computationally expensive. To complete a task, a WAM runs over multiple inference chunks, and each chunk requires a costly denoising process. Existing acceleration methods reduce this cost by caching and reusing computation within a single chunk's denoising trajectory. Our empirical analysis reveals a substantial source of redundancy they overlook: redundancy across chunks. When a robot executes a smooth behavior, the residuals computed at a given denoising step are strongly correlated from one chunk to the next. We introduce C$^3$ache, a training-free method that caches and reuses these residuals...
Abstract:Unmanned aerial vehicles (UAVs) are increasingly being deployed in logistics, service robotics, and other real-world applications, creating a growing demand for autonomous payload acquisition and delivery. Existing approaches typically assume pre-attached payloads or rely on specialized grippers, leaving versatile end-to-end aerial delivery largely unresolved, where different payloads induce highly variable flight dynamics, requiring a single policy to adapt online without manual calibration or explicit system identification. To this end, we study \textbf{A}utonomous \textbf{A}erial Manipulation via \textbf{Co}ntextual \textbf{Co}ntrastive Meta Reinforcement Learning (\textbf{\textit{Aco2}}), a fully autonomous aerial delivery setting in which a quadrotor equipped with a lightweight hook continuously picks up, transports, and delivers diverse handle-equipped objects between...
Abstract:Discrete Vision-Language-Action (VLA) models typically formulate action generation as next-token prediction over discretized action spaces, conditioning each token autoregressively on prior context. While effective, this paradigm incurs high inference latency and largely ignores the temporal structure inherent in action trajectories. Recent efforts introduce parallel decoding to improve efficiency, enabling faster inference, but lack explicit mechanisms for modeling token dependencies. We introduce TBD-VLA, a discrete token-based VLA framework that incorporates block diffusion to enable temporal action generation. We partition action sequences into temporal blocks and perform masked discrete diffusion within each block, while maintaining autoregressive generation across blocks. This design unifies temporal autoregression and parallel action decoding, achieving both strong...
Abstract:The use of social robots in home environments is on the rise. This exploratory study applies regularization techniques (e.g., Lasso and Ridge regression) to investigate variables and identify new models of technology acceptance in the context of social robots. Within the original UTAUT2 framework, performance expectancy, social influence, and hedonic motivation emerged as the strongest and most consistent predictors of intention to use the technology. In addition, usability, trust, and competence were identified as promising variables in a model predicting intention to use.
Abstract:Vision-Language-Action models face significant challenges in real-world deployment due to the entanglement of high-level reasoning with low-level control, and the instability of policy optimization. In this paper, we introduce SyVLA, a robust VLA model trained with diversified experiences. We propose an Intention Decoupling algorithm to isolate control-relevant features from reasoning contexts and a similar-sample guided RL pipeline to stabilize policy updates and mitigate distribution shift. Extensive experiments on real-world robotic tasks and multi-modal benchmarks demonstrate that SyVLA achieves superior task success rates and stronger out-of-distribution generalization compared to existing methods, while effectively preserving core vision-language capabilities. Codes and Datasets is released on \href{this https URL}{project page}.
Abstract:Semiconductor lithography inspection requires reliable detection of small pattern defects such as bridge, burr, pinch, and contamination. In this study, we propose a two-stage vision-language framework that combines initial defect detection with prediction refinement. In the first stage, Qwen3-VL is fine-tuned with LoRA as a vision-language adapter to predict defect counts, defect categories, and normalized bounding boxes from lithography images. However, direct fine-tuning may still produce common test-time errors, including false positives, missed defects, and incorrect defect types. To address this limitation, the second stage trains a refinement module using first-stage prediction failures and their corrected labels, allowing the model to review and revise initial outputs. By learning from cases where the initial adapter fails, the refinement process improves defect...
Abstract:We present BLUE, a minimal method for better language use in vision-language-action (VLA) models for autonomous driving (AD). Through extensive analysis, we reveal that language matters on only a small fraction of routes, but on those routes it can greatly improve or degrade performance. Generating language at every frame is therefore inefficient, since most computation is spent on frames that do not benefit from language. We further show that pretrained VLA hidden states potentially already encode whether language will benefit a given frame, even though scene complexity and kinematic features alone struggle to predict this. Based on this finding, BLUE trains a lightweight gate on frozen VLA hidden states to decide per frame whether to activate language generation or predict actions directly, without modifying the backbone or requiring additional human annotation. With just a...
论文介绍 本文提出了 BLUE 方法,旨在提升自动驾驶视觉语言动作模型的语言使用效率。研究发现语言仅在少数关键路线中显著影响性能。BLUE 基于冻结模型的隐藏状态训练一个轻量级门控机制,逐帧决定是否激活语言生成或直接预测动作,避免了在不受益的帧上进行冗余的语言计算,从而在不修改主干网络的情况下提升整体效率。
Abstract:Visual Language Models (VLMs) have gained significant popularity due to their remarkable ability. While various methods exist to enhance privacy in text-based applications, privacy risks associated with visual inputs remain largely overlooked such as Protected Health Information (PHI) in medical images. To tackle this problem, two key tasks: accurately localizing sensitive text and processing it to ensure privacy protection should be performed. To address this issue, we introduce VisShield (Vision Privacy Shield), an end-to-end framework designed to enhance the privacy awareness of VLMs. Our framework consists of two key components: a specialized instruction-tuning dataset OPTIC (Optical Privacy Text Instruction Collection) and a tailored training methodology. The dataset provides diverse privacy-oriented prompts that guide VLMs to perform targeted Optical Character...
Abstract:Vision-language models (VLMs) with varying performance and resource requirements are widely deployed, making it difficult for users to select the most appropriate one among numerous VLM candidates. Existing work reveals the performance paradox phenomenon in language models and focuses on routing methods to solve it. However, developing a router for VLM selection is still a critical yet challenging problem, which primarily faces: 1) lack of specialized data, 2) ineffective feature representation, and 3) rigid model space and costly adaptation. In this paper, we construct a multimodal dataset for VLM selection, containing the outputs of seven mainstream VLMs on 32,626 unique image-text queries. We then propose ARMS, a router for VLM selection. ARMS enhances input signals with VLM profiles, employs a simple but effective architecture to improve representations of queries and VLM...
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...
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Malaysia may not meet its fiscal deficit targets for 2026 as the Iran war drives up the cost of fuel subsidies, Second Finance Minister Amir Hamzah Azizan exclusively tells Bloomberg's Haslinda Amin at the Invest Malaysia event. (Source: Bloomberg)
Alberta is set to propose a “general corridor” for a planned new million-barrel-a-day oil pipeline to the northern British Columbia coast rather than a specific route, the provincial minister of Indigenous relations said.
The US military launched fresh airstrikes against Iran hours after President Donald Trump vowed to retaliate for the shooting down of a US Army helicopter. Bloomberg's Romy Varghese breaks down the situation. (Source: Bloomberg)
Gold extended a decline after the US launched fresh strikes against Iran in retaliation for the downing of a military helicopter, jeopardizing efforts to end the war that’s roiled global markets.
A Florida trading company is in advanced talks to send Cuba the biggest cargo of US fuel since the Eisenhower administration as the island nation contends with an acute energy crisis.
ASML Holding NV’s ascent to fresh record highs has been a highlight for European markets, yet it’s done little to improve what is the stock’s cheapest relative valuation in years.