A complete AI agency at your fingertips - From frontend wizards to Reddit community ninjas, from whimsy injectors to reality checkers. Each agent is a specialized expert with personality, processes, and proven deliverables.
Advanced DNS tunneling VPN for censorship bypass, optimized beyond DNSTT and SlipStream with low-overhead ARQ, resolver load balancing, high packet-loss stability and speed.
Local-first session intelligence and analytics for coding agents, supporting Claude Code, Codex, and more than 20 other agents. Also: 100x faster replacement for ccusage!
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."
中文介绍 引用 OpenAI 成员观点,指出 AI 编程的范式正在从「手动提示」转向「设计循环」。核心是构建能自动提示和引导编码代理的循环系统,而非反复手动输入指令,代表了 AI 工程效率提升的新思路。
One of the biggest ways that AI is transforming work (and also one of the most taboo subjects inside companies at the moment) is that most work discussions are being recorded now by default. This
中文介绍 探讨 AI 对工作方式的深层影响:企业内部会议和讨论正默认被录音和记录。这已成为公开的秘密,正在改变工作透明度与协作模式,但因涉及隐私和监控,成为公司内部的禁忌话题。
The mid-2026 investor's version of AI psychosis is a despair that nothing is investable, that we should put all our money into Anthropic and Nvidia and go home. I have never felt it. I have been sure
中文介绍 反驳一种流行的投资心态——即认为 2026 年中期已没有可投的 AI 项目,只能押注 Anthropic 和 Nvidia。作者分享自己从未如此悲观,并对 AI 领域的投资机会保持信心。
Claude writes your code, hands it over, and 3 tests are failing. You paste the errors back, it fixes one thing, breaks another, and you spend the evening as a messenger between Claude and your
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
Our predictions will probably be wrong. But the World Cup offers a rare, public, verifiable, and constantly evolving real-world setting. Through this initiative, we hope to place analysis,
中文介绍 Kimi 启动一项公开实验,用 AI 预测全部 104 场世界杯比赛。目的不在于预测准确,而是利用这个公开、可验证、持续变化的真实场景,来推动 AI 分析能力的实践与展示。
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
What is the best approach to being effectively intelligent now that human intelligence and artificial intelligence are merging? Because I have been building computerized investment decision-making
中文介绍 桥水基金创始人 Ray Dalio 探讨核心问题:在人类智能与人工智能融合的时代,如何才能有效地变得智能?他结合自身构建计算机化投资决策系统的经验,提出「原则性思维」需与 AI 结合。
In 2026, autonomous AI agents have become one of the most effective strategies on prediction markets. Over 30% of all activity on Polymarket now comes from algorithmic and AI-powered wallets. We
中文介绍 介绍自主 AI 代理已成为预测市场 Polymarket 上最有效的策略之一。目前超过 30% 的平台活动来自算法和 AI 驱动的钱包,展示了 AI 在金融预测领域的实际应用与影响力。
When a team says they want AI for growth, they usually mean a faster send. An agent that fires the same template at a longer list, day and night. That is the cheap half of the job, and it stopped
中文介绍 指出团队对「AI 驱动增长」的常见误解——仅追求更高效的群发模板。文章强调这仅是工作的廉价一半,并介绍了如何利用 Claude Code 构建更深度的 AI GTM(市场进入)大脑。
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
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 Google AI Studio 发布 Gemini 3.5 Live Translate 功能,提供流畅自然的实时语音翻译。回顾 Google 机器翻译从早期实验到如今技术的漫长发展,强调其向人性化连接的进步。
You spend twenty minutes writing a brief. Then you open a second tab to turn it into code. A third for design. A fourth for the copy. Then you copy the output from tab four back into tab one, because
中文介绍 描述一种典型的低效工作流:在多个标签页间手动转换文案、代码、设计等任务。文章引出产品价值主张——提供一个缺失的 AI 层,以整合这些分散的流程,提升工作效率。
Google DeepMind is funding research into the potential dangers of situations where millions of different AI agents interact with each other online. According to Rohin Shah, who directs the company’s AGI safety and alignment research, the mass-market arrival of agents that can carry out tasks without
中文介绍 Google DeepMind担忧数百万AI代理在线交互可能带来的风险,并资助相关研究。该公司AGI安全与对齐研究负责人Rohin Shah指出,随着大规模市场AI代理的出现,需要关注安全问题。
OpenAI supports the EU Code of Practice on AI content transparency, advancing provenance standards and tools to help people understand AI-generated content.
Discover how astrophysicist Chi-kwan Chan uses Codex to build black hole simulations, helping scientists study extreme physics and test Einstein’s theory of general relativity.
A new report from OpenAI details PRC-linked influence operations using AI to target U.S. tech debates, data center narratives, tariffs, and false claims about ChatGPT.
See how LSEG uses OpenAI to scale trusted AI across its global business, accelerating insights, shrinking release cycles, and empowering 4,000 employees.
Abstract:As maritime operations increasingly depend on interconnected digital ecosystems, cyber incidents can propagate across maritime networks and degrade critical services. Strengthening strategic Cyber Situational Awareness (CSA) therefore requires training mechanisms that expose decision-makers to evolving attack dynamics, constrained resources, and the need to align actions with incident-response procedures. This paper introduces MARCIM-WG, a learning-oriented maritime cyberdefense wargame designed following the NATO wargaming methodology and implemented as a hybrid tabletop experience combining a physical board (tokens, indicators, and special cards) with analytically-assisted adjudication supported by a computational simulation model. The proposal is specified through High-Level Design (HLD) and Low-Level Design (LLD) specifications and instantiated in a fictional maritime...
Abstract:Operational organizations increasingly require Cyber Situational Awareness (CySA) capabilities that go beyond isolated technical alerts, providing mission-relevant artefacts that can be embedded into heterogeneous toolchains and cyber security or cyber defense processes. ECYSAP EYE addresses this need through an adoption-oriented System-of-Systems (SoS) architecture centered on seven groups of mission-focused artefacts: the Recognized Cyberspace Picture (RCyP), Cyber Situational Reports (CySRs), the What-If Analysis Report (WIAR), Option Recommendations (OPRE), an operator Dashboard/HMI (DSH), Action Enforcement (AE), and After-Action Reports (AAR). The ECYSAP EYE architecture structures the transition from perception (full-spectrum RCyP views), to decision-oriented reasoning (WIAR/CySRs/OPRE), and to operational execution and learning (DSH/AE/AAR), with explicit integration...
Abstract:Large language model (LLM) agents increasingly act on a user's behalf -- reading personal files, calling tools, transacting with external services -- possibly leaking personally identifiable information (PII) across trust boundaries at every step. Privacy here is a property not of a single output but of an entire trajectory, and three properties make it hard: leakage is cumulative, as individually innocuous releases accumulate across honest-but-curious or colluding sinks into inferences about a protected secret; bidirectional, as a malicious observation can inject instructions that turn the agent's own reasoning model against the user; and task-dependent, as the same field is necessary for one recipient yet gratuitous for another. Per-release contextual-integrity filters, information-flow controls, and posterior-leakage monitors each address part of this but none controls...
Abstract:Agent memory is moving to graphs, and the provenance defenses now being built for it all check one thing: the provenance of the records an agent retrieves. We show that this entire class of defense is blind by construction. A long-term graph memory runs a global selection step over writable graph structure, so structure that an untrusted principal writes changes \emph{which} authenticated facts are selected while the cited evidence stays fully authenticated; faithful information-flow control (IFC), checking the provenance of what the reader uses (all of it authenticated), makes the byte-identical decision to no defense at all, across document-QA substrates and real multi-session agent memory. In the most consequential instance, a no-source structural write silently misdirects $28$ irreversible ledger transfers over $499$ live actions: faithful IFC permits every one, and...
Cache partitioning is among the strongest structural defenses against eviction-based cache side channels, yet a decade-old design issue has blocked its widespread deployment in secure shared-OS settings. The issue is that write-shared coherence collapses under strict partitioning. We present SCP (Secure and Coherent Partitioning), which combines strict eviction isolation with write-shared coherence by partitioning only the tags, sharing a single data pool, and sizing the data pool so capacity-driven cross-partition eviction cannot occur. Timing obfuscation extends protections to the inter-partition lookup path. Coherence-based leakage on shared-writeable lines is mitigated by routing those writes through to the LLC once a leakage threshold is crossed, which makes attacker write probe latency independent of victim activity. Using gem5 for implementation, SCP mitigates Prime+Probe and...
Abstract:Smart cities rely on interconnected cyber-physical systems that integrate sensors, IoT devices, cloud platforms, and AI-driven services and decision-making. While these systems enhance city services, they also introduce complex cybersecurity challenges due to their large attack surfaces, heterogeneous data flows, and evolving threat vectors. Developing and validating cybersecurity tools for smart cities requires high-quality datasets that accurately represent real operational conditions. However, real-world datasets are often incomplete, contain privacy-sensitive data, are difficult to access, or lack sufficient malicious activity to support tool development. This research addresses this critical gap by proposing an AI-based synthetic data generation (SDG) framework designed specifically for smart city cybersecurity research. The proposed framework leverages generative...
Abstract:Network Intrusion Detection Systems (NIDS) heavily utlize Machine Learning (ML) but ML models can be manipulated via adversarial attacks. These attacks add carefully crafted perturbations to network traffic data that leads to misclassifications. While prior work has demonstrated adversarial vulnerabilities in isolated settings, systematic cross-architecture as well as class and category of attack based comparisons under controlled attack conditions remain limited, leaving practitioners without clear guidance on which models to deploy in adversarial environments. This paper asks a simple question: what type of classifier architectures actually hold up when attackers try to manipulate the systems? We put three popular architectures through their paces: a 1D Convolutional Neural Network, a Long Short-Term Memory (LSTM) network, and a Random Forest (RF) ensemble. Using the...
Abstract:Fault Injection Attacks (FIAs) are a significant threat to hardware security, capable of compromising systems by inducing malicious faults in computation or storage. Evaluating resilience against such attacks is challenging due to the high cost, complexity, and limited availability of physical fault experiments, particularly during pre-silicon development. Architectural-level simulation offers a developer-oriented, white-box perspective for systematic vulnerability assessment. This paper introduces InjectV, a fault injection attack framework for RISC-V platforms built on the gem5 simulator. InjectV enables precise, guided fault injection at security-critical execution points, such as control-flow decisions, counters, and comparisons, allowing systematic exploration of attack vectors. It currently supports transient fault attacks in registers and memory, broadening its ability...
Abstract:We describe a computational search for quadratic APN (Almost Perfect Nonlinear) functions in dimension 8 within a structured self-equivalence subspace. The search space is a 40-dimensional binary linear subspace consisting of all functions commuting with a linear automorphism of order 5 (class 22 in the taxonomy of Beierle, Brinkmann, and Leander, 2021), previously reported to contain no APN functions. Our approach combines random sampling via an explicit RREF parameterization (approximately 600 fresh APN-positive evaluations per core-hour) with Gröbner basis computation in Magma to enumerate all APN functions in a 24-dimensional hyperplane through each center (approximately 10 minutes per hyperplane). From 428 hyperplane computations, covering 0.65% of all 65,536 hyperplanes, we obtained 566 quadratic APN functions forming six CCZ-equivalence classes under the...
Abstract:CUDA collective operations often sit on security decision paths: votes accept batches, reductions aggregate evidence, shuffles select representatives, and barriers order checked state before use. Such decisions depend not only on computed values, but also on which lanes are represented, what evidence they contribute, which lane speaks for the group, and which checked state reaches commit. We identify this participation metadata as decision-making non-control data. We define Collective Semantic Corruption (CSC), a non-control-data attack family in which range-valid masks, predicates, source lanes, descriptors, group labels, or epochs cause a CUDA-conforming collective to authorize a decision over the wrong membership, contribution, role, or validation-to-use state. The kernel reaches the intended collective site and executes the expected primitive; the primitive represents the...
Abstract:Recent CUDA exploitation work shows that GPU memory bugs can escalate into device-side control-flow corruption, as kernels later consume corrupted return continuations, function pointers, dispatch-table entries, or branch targets. For deployed CUDA binaries, the relevant security boundary is executed NVIDIA SASS, after PTX lowering, inlining, ABI decisions, register allocation, spills, predication, and SIMT execution; source- or PTX-level policies do not capture this boundary. We present WarpGuard, to our knowledge the first protected-site CFI system for CUDA device binaries operating on executed SASS. WarpGuard enforces at protected sites: recovered SASS instructions or sequences that consume control-flow state, provide sufficient binary evidence to derive policy, are checked before release, and fail closed on violation. It authenticates backward-edge continuation state for...
European Rail Traffic Management System (ERTMS) is a widely adopted standard unifying train management in the EU. While the standard allows for use cases like fully autonomous driving, cybersecurity has been an afterthought. Risk analysis enables the systematic assessment and prioritization of threats and mitigations. To date, it remains unclear which threats are most significant in ERTMS. This study systematically models components of ERTMS and analyzes their security in light of threats identified in the underlying technologies. The results suggest a concerning state of ERTMS, despite its critical role in railway safety. The use of legacy standards like EuroBalises and GSM-Railway (GSM-R) introduces vulnerabilities that persist across minimal ERTMS implementations, deployments incorporating various optional safety measures, and prospective future evolutions of the system, e.g...
Abstract:Hybrid HE/2PC private CNN inference remains bottlenecked by prime-modulus homomorphic arithmetic in convolution and by a precision flow that runs ReLU at doubled bitwidth before invoking a separate truncation protocol. We present Jaguar, a system built on a single design choice--a power-of-two ciphertext ring--that addresses both. The choice enables SPA-Conv, a coefficient-domain convolution kernel that replaces NTT-centric polynomial multiplication with scalar-polynomial accumulation, and an exact ciphertext-side truncation by local right shifts that lets ReLU run directly at the target fixed-point precision and eliminates the post-ReLU truncation protocol. Where NTT remains genuinely useful--at the client, for the single polynomial multiplication during decryption--we recover it through an auxiliary NTT prime, preserving the power-of-two protocol substrate while keeping...
Abstract:Large Language Models (LLMs) are increasingly used for code generation, raising concerns that they may be misused to produce malicious code. Meanwhile, Grammar-Constrained Decoding (GCD) has been widely adopted to improve the reliability of LLM-generated code by enforcing syntactic validity. In this paper, we reveal a counterintuitive risk: this reliability-oriented technique can itself become an attack surface. We uncover a new jailbreak attack, termed CodeSpear, that exploits GCD to induce LLMs into generating malicious code. Our experiments show that simply applying a benign code grammar constraint can effectively jailbreak LLMs. To address this vulnerability, we propose CodeShield, a safety alignment approach that robustly preserves safe behavior even under attacker-controlled grammar constraints. CodeShield aligns the model in the code modality by teaching it to generate...
Abstract:The rapid growth of consumer IoT devices has introduced unprecedented challenges in trustworthy anomaly detection against AI-enabled cyber threats, requiring real-time, privacy-preserving, and scalable defense mechanisms. Traditional centralized strategies face critical limitations, including communication bottlenecks, single points of failure, and privacy vulnerabilities when processing distributed consumer data. We propose SwarmSense-DNN, a novel decentralized neural framework employing swarm intelligence for secure, cooperative anomaly detection across distributed IoT environments. The framework integrates autonomous agents with deep neural networks to form a self-organizing defense system that detects evolving anomalies without centralized coordination. It utilizes hierarchical federated learning with graph neural networks and attention mechanisms to capture local and...
Abstract:State root computation dominates (78%) blockchain block processing time. Ethereum's canonical authenticated data structure, i.e., Merkle Patricia Trie (MPT), suffers from severe tree-height growth and is vulnerable to \textit{Nurgle attacks} (SP'24), where adversaries inflate path depth via hash collisions and degrade system performance at negligible cost. Existing defenses increase node fanout (span) to bound tree height, but higher span inflates proof size exponentially. Prior work mitigates this trade-off using vector commitments, at the cost of trusted setup or expensive verification. We present \textsc{Mhot}, a height-optimal authenticated data structure for blockchain state commitment that preserves standard hash-based verification without trusted setup. Unlike MPT's fixed-prefix indexing, which couples span and fanout exponentially, \textsc{Mhot} indexes by...
Abstract:Industry has embraced Zero Trust (ZT) architectural tenets and implementations for cloud-native environments, following stricter security requirements to both internal and external tenants. Among others, these approaches combine fine-grained identity management and monitoring for both inventorying and better analysing the devices' security posture for overall protection, along with strict separation of concerns and isolation to enforce minimal privilege. Networking-wise, ZT approaches rely as well on isolation and least privilege; enacted by separate, secure tunnels per tenant connecting to a given infrastructure. Such implementations can also be applied to the connectivity within and towards experimental infrastructures. In this sense, this work contributes the design and evaluation of a cloud-native VPN-as-a-Service (VPNaaS) that can be (i) easily orchestrated to deploy...
Abstract:Model watermarking safeguards AI model intellectual property by embedding distinctive knowledge that induces unique behavioral signatures. The primary technical challenge lies in ensuring watermark robustness against various post-processing attacks on the watermarked model. Model extraction attacks emerge as the most severe threat, where adversaries exploit prediction outputs to train surrogate models that illegally replicate the original model's functionality. In this work, we propose a rehearsal-based watermark embedding framework to enhance the robustness of model watermarks against model extraction attacks. By simulating the extraction process, our method leverages the loss of a \textit{simulated stolen model} on a trigger set as a training signal to fine-tune the watermark knowledge within the target model. This fine-tuning step encourages the watermark to be embedded in...
This paper explores the value of agentic AI tools for cybersecurity purposes. We evaluate the efficacy of a general-purpose GenAI Large Language Model- (GenAI-) based agent when powered by three different Ollama-hosted general-purpose open source models. We assess each agent's performance using precision, recall, false positive count, and a calculated composite score based upon the interplay of the captured metrics, against the baseline performance of an existing, vetted Static Application Security Testing (SAST) tool, Bandit. Our findings refute the notion that a modern open-source GenAI LLM-based agent is currently suitable for the specialized task of SAST scanning under realistic conditions.
Abstract:Agent skills let LLM agents reuse instructions, resources, tools, and workflows, but they also create a new place for malicious behavior to hide. A skill may look benign in its documentation or code while becoming harmful only when it is invoked with particular user requests, local assets, persistent state, or multi-step tool interactions. This makes purely static vetting brittle. We present Runtime Skill Audit (RSA), a dynamic analysis method that audits skills by asking what the skill-mediated agent actually does under targeted runtime conditions. Instead of testing every skill with the same generic tasks, RSA profiles risk-relevant interfaces, prepares the execution context needed to exercise them, and assigns security labels from the resulting trace evidence. We instantiate RSA on OpenClaw and evaluate it on 100 skills against representative static baselines. RSA achieves...
Sybil attacks create an illusion of traffic congestion by utilizing fake identities, which undermines the reliable and safe operation of vehicular ad hoc networks (VANETs). Existing detection mechanisms struggle to effectively handle Sybil attacks as they are (i) susceptible to high false positive rates (FPR) due to the overlapping trajectories of both Sybil and legitimate vehicles, (ii) not practical for real-world deployment due to manual calibrations with ground data, (iii) ineffective for sparse distribution of roadside units (RSUs) and vehicles as they depend heavily on the presence of both, and (iv) inefficient due to computational overheads. This paper addresses these shortcomings and proposes a robust framework to tackle these issues. The proposed scheme reduces the FPR by utilizing GPS location data, enabling the construction of more accurate and distinguishable trajectories...
Backdoor attacks pose a serious threat to the safety and reliability of Large Language Models (LLMs), as they cause models to behave normally on clean inputs while producing attacker-specified responses when hidden triggers are present. Removing such unknown backdoors is particularly challenging when the defender does not know the backdoor attack types or the internal mechanisms formed through backdoor training. In this work, we propose a simple but effective backdoor removal method based on shared internal mechanisms across different backdoors. First, we show that different backdoors with the same task (attack objective) induce similar trigger-activated changes in the internal activations. Motivated by this observation, our method intentionally embeds a backdoor with a known trigger (\emph{dummy backdoor}) and then removes it through further fine-tuning on dummy-triggered inputs...
Abstract:Agentic infrastructure introduces a critical control-plane authorization problem: non-deterministic reasoning systems can propose high-stakes mutations to production resources, yet existing security mechanisms -- such as identity and access management (IAM), policy engines, consensus protocols, and audit logs -- either enforce static, context-unaware permissions or merely record actions post-execution. This paper introduces the Sovereign Assurance Boundary (SAB), a certificate-bound runtime admission layer for autonomous execution authority. SAB intercepts agent proposals at an assurance airlock, compiles them into typed execution contracts $C$, and binds these contracts to cryptographic evidence digests $H(E)$ and policy versions. The contracts are then routed through consequence-aware certification paths. Upon successful admission, the system emits a signed Sovereign...
Abstract:Collaborative edge-cloud inference enables resource-constrained devices to leverage large language models (LLMs) by offloading partial computation to cloud servers. However, transmitting intermediate activations exposes sensitive user prompts to prompt inversion attacks, where an adversary reconstructs the original input from shared representations. Existing defenses rely largely on heuristic perturbations or empirical tuning, offering limited theoretical understanding of privacy leakage and its interaction with utility and latency constraints. We propose an information-theoretic defense framework for prompt inversion in collaborative LLM inference. Our approach learns privacy-preserving representations by explicitly minimizing the mutual information between intermediate activations and the input prompt while maintaining task utility under computational constraints. We derive...
Abstract:Digital forensic investigations increasingly depend on preprocessing heterogeneous network evidence from intrusion detection systems, IoT devices, and enterprise traffic logs. Incompatible schemas and timestamp formats hinder evidence correlation and timeline reconstruction, while current ad hoc approaches offer no mechanism to verify consistency across runs or analysis, creating reproducibility gaps that challenge evidence admissibility. This paper introduces a deterministic forensic preprocessing framework that converts heterogeneous network datasets into a reproducible canonical form. The framework formalises three preprocessing transformations: schema normalisation, temporal normalisation, and provenance tracking. These transformations are specified using set-theoretic definitions and supported by four theorems establishing determinism, information preservation, and...
Abstract:Continuous electrocardiography (ECG) monitoring could surface rhythm abnormalities before they escalate into cardiovascular events. However, a deployable system must satisfy three requirements simultaneously: legal-grade privacy (GDPR, HIPAA), real-time inference on constrained edge hardware, and detection quality under non-IID cross-hospital data. We design and evaluate an end-to-end federated system addressing all three for unsupervised 12-lead ECG anomaly detection on PTB-XL dataset, combining three autoencoder families (VanillaAE, ConvAE, VAE), Flower-based federated averaging (FedAvg) across ten simulated hospitals, client-side differentially private SGD (DP-SGD) with a Rényi-DP accountant, and 8-bit integer (INT8) post-training quantization with Raspberry Pi 4 benchmarking. Our main contributions are: an empirical characterization of how these mechanisms compose...
Fully homomorphic encryption (FHE) enables computations on encrypted data without decryption, offering strong data privacy at the expense of substantial computational and memory overheads. Prior efforts have steadily improved FHE performance through cryptographic and algorithmic enhancements or hardware acceleration, yet these two directions have progressed largely in isolation, hindering the full exploitation of available hardware capabilities. This work presents WHET, which introduces memory-centric, architecture-aware optimizations to better align cryptographic and algorithmic constructions with FHE accelerator architectures. We identify conventional FHE constructions as major sources of excessive working sets and heavy off-chip memory traffic. We propose accelerator-specific techniques, including fine-grained coefficient-to-slot transformation, plaintext compression, and...
Abstract:Bilateral attribute-based access control for data trading must hide policies, provide cryptographic fairness, and avoid trusted third parties. Existing solutions either leak policy information, incur super-linear costs, or rely on trusted dispute resolution. We present PriME-Deal, a non-interactive protocol that simultaneously achieves policy-hiding bilateral matching, efficient threshold access control, and auditable fair exchange on public blockchains. The seller embeds a secret token under the buyer policy into an oblivious key-value store with pseudorandom masking; the buyer reconstructs the token locally via tag-based probing, eliminating combinatorial enumeration, and proves correctness in zero-knowledge. Fair exchange is enforced through a collateralized on-chain reveal with a cryptographic audit that penalizes misbehaviour without trusted parties. We prove security in...
While private information retrieval (PIR) enables private database services by fully concealing access patterns, it simultaneously requires high computational throughput, large memory capacity, and substantial memory bandwidth. We introduce VIPIR, a versatile GPU framework that co-designs PIR protocols with GPU acceleration. We develop a unified analytic model showing that state-of-the-art PIR protocols fall into two categories with complementary limitations, and propose two protocols that flexibly combine techniques across these categories, overcoming the limitations of both classes. These protocols incorporate a GPU-friendly data compression method called expansion-based ring packing (ExpPack), which offers a high degree of parallelism and minimal communication cost. VIPIR applies further optimizations to core operations, including number-theoretic transforms (NTTs) and various...
Abstract:As an effective anti-censorship mechanism, network covert channels can provide data privacy protection and ensure communication security. However, the covertness of existing network covert channels primarily depends on the secrecy of their covert algorithms. With the increasing depth of research in this field, the difficulty of breaking such algorithms has gradually decreased. Once the algorithm is exposed, the network covert channel can be easily detected by adversaries. To address this issue, this paper proposes a covert carrier filtering strategy based on the hash. In this strategy, a key-dependent filtering rule is introduced during the construction of the network covert channel, enabling the communicating parties to randomly and dynamically filter a sparse subset from the carrier set as the covert carrier set. This strategy not only enhances the randomness of carrier...
Abstract:The expansion of the digital domain has resulted in a substantial increase in digital communication, with email emerging as one of the most prominent channels. The proliferation of email communication is apparent in both professional and personal contexts, thereby creating numerous vulnerabilities for malicious actors to exploit. Spam emails, a form of unsolicited correspondence often bearing malicious intent towards recipients, have been an ongoing challenge for email users since the inception of email technology, and this problem has been exacerbated by the growth of the digital landscape. Email spam filters are integral components of email clients, engineered to identify potentially harmful messages and alert users to their malicious content. Phishing, frequently the initial phase of malware-based attacks, is evolving rapidly, with malware becoming increasingly...
Abstract:Jailbreak attacks expose persistent safety weaknesses in large language models (LLMs), but existing stateless single-turn methods face a trade-off: hand-crafted prompts are expressive but static, while iterative prompt optimization can adapt but often relies on low-level mutations that require many target queries. We propose JailbreakOPT, a tool-assisted framework for improving iterative single-turn jailbreak prompt optimization. JailbreakOPT organizes diverse atomic jailbreak prompts into an attack tool library and composes them through a unified intra-episode optimization abstraction to generate stronger standalone attack prompts. To reuse experience across attack episodes, JailbreakOPT further frames tool selection as a contextual bandit problem and applies contextual Thompson sampling to guide exploration and exploitation based on past outcomes. Experiments across multiple...
Abstract:Repository-level benchmarks for evaluating Large Language Model (LLM) code repair on Secure Multi-Party Computation (MPC) software do not yet exist, and directly transplanting general-purpose benchmarks such as SWE-bench fails on three structural fronts: (i) MPC repositories are dominated by generic Python infrastructure rather than cryptographic logic; (ii) high-value MPC fixes lack the standardized tests rigid extraction pipelines require; and (iii) standard fail-to-pass evaluation is insufficient for code that must also be cryptographically safe. MPC is increasingly deployed for privacy-preserving machine learning, biomedical collaboration, and secure analytics. Existing MPC-specific code-synthesis efforts cover only operator-level or single-framework tasks; evaluating LLM agents on real repository-level MPC repair instead demands MPC-aware data curation and a verifier...
Retrieval-Augmented Generation (RAG) systems are vulnerable to corpus poisoning attacks that manipulate downstream model outputs through malicious knowledge injection. Existing studies mainly evaluate poisoning under simplified retrieval settings, overlooking practical RAG pipelines involving document chunking, dense retrieval, reranking, and grounded generation. In this paper, we revisit corpus poisoning under realistic multi-stage retrieval pipelines and show that many existing attacks substantially degrade after reranking despite achieving high retrieval-stage relevance. We identify retrieval granularity mismatch as a key reason for this failure: document-level adversarial signals are often fragmented during chunking, while rerankers favor locally coherent and answer-bearing passages rather than globally optimized semantic similarity. Based on this observation, we propose...
Enterprise security was built to govern data boundaries: the protected surface was data at rest and in transit, and the controls -- access control, data-loss prevention, perimeter inspection -- governed crossings of that boundary. Production AI agents dissolve this assumption. An agent reads context, calls tools, invokes connectors, and modifies systems of record on an enterprise's behalf, so risk moves inside the workflow, into sequences of individually-permitted actions that may transform a business process no one authorized. Existing policy engines do not extend to this regime: they evaluate request-time decisions against atomic principals, where agentic systems require stateful evaluation against composite principals whose authority attenuates through delegation chains. We present a reference architecture for the runtime governance of production agents, built from four composable...
Gradient-based adversarial attacks remain a dominant threat to deep neural networks (DNNs), as they exploit gradient information to efficiently optimize adversarial perturbations. To address this, we investigate whether reinforcement learning (RL) training can disrupt the gradient structure used by attackers by training image classifiers with policy-gradient objectives and epsilon-greedy exploration. Through systematic experiments across CIFAR-10, CIFAR-100, and ImageNet-100 with multiple architectures, we find that RL-trained classifiers significantly disrupt gradient-based adversarial optimization. To explain this, we conduct a comprehensive mechanism analysis using loss landscape visualization, static and dynamic gradient indicators, and predictive entropy. Our analysis reveals that RL acts as an implicit regularizer, producing models with highly unstable gradient directions and...
Abstract:The rapid integration of large language models (LLMs) into mobile applications has introduced a new class of credential security risk: leaked credentials that grant unauthorized access to LLM inference services, causing financial damage to developers. Prior work on credential leakage has focused primarily on Android apps; to date, no empirical study has systematically investigated LLM API key leakage in iOS applications. We present the first in-depth empirical study of API key leakage in LLM-integrated apps. We construct a high-quality dataset of 444 iOS applications, filtered from 1092 candidates through a standardized process, and develop LLMKeyLens, a dynamic analysis framework that detects LLM API key leakage via traffic interception, provider-specific key extraction, and active validity confirmation, requiring neither source code access nor binary decryption. Our analysis...
Abstract:Undefined behavior is idiomatic to C and C++ programming; such behavior is a use of an erroneous program construct for which the languages impose no requirements, such as integer overflows. The paper presents an empirical experiment seeking to probe the extent of undefined behavior executing underneath typical desktop use of a Linux distribution. The analysis is based on an undefined behavior sanitizer implemented in a compiler. According to the results, undefined behavior is common. By completing 59 simple experimental tasks, nearly 11 thousand unique undefined behavior warnings were generated by 32 unique programs and libraries written in C or C++. Of these warnings, most were associated with the Mesa graphics library and generated by interacting with graphical user interfaces. Merely logging into the GNOME desktop environment generated over 500 unique warnings. Of all...
Abstract:We present an online monitoring system for distributional shift in deployed safety classifiers, using calibrated sequential statistics to detect when a classifier has moved out of distribution. Upon detection, a conformal abstention layer adapts decision thresholds to recover a target error rate epsilon=0.1. In a pre-registered factorial evaluation (4 classifiers x 5 shift conditions x 20 seeds x 2 window sizes, 800 cells), the system achieves 86.6% valid detection (693/800, 95% CI [84.1%, 88.8%]) with mean latency of 39.5 steps. Detection holds across three ground-truth regimes: synthetic onset (86.6%), real temporal jailbreaks (85%, 17/20), and GCG adversarial attacks. Weighted conformal prediction recovers up to 39 pp of lost coverage for DeBERTa (ESS=46/300) but collapses for all other classifiers (ESS~300): logistic density ratio estimation achieves perfect source/target...
Abstract:This paper addresses the challenge of assessing image quality in ID cards in remote verification systems by applying capture-related quality measures from the Open Face Image Quality (OFIQ) standard to ID card images. Our preprocessing pipeline includes corner detection, perspective normalization, and comprehensive foreground masking to ensure accurate and unbiased quality measure computation. We evaluate the effectiveness of these measures by analyzing their correlation with the performance of three presentation attack detection (PAD) algorithms across four diverse ID card datasets, where two datasets contain bona fide, i.e. pristine, images and two contain printed mock ID cards. Our results suggest that quality assessment based on some OFIQ measures can significantly improve PAD performance.
Abstract:Audio watermarking aims to embed identifiable information into audio while remaining imperceptible. Existing methods adopt high-fidelity, low-energy designs to preserve perceptual quality, but the resulting watermarks lack robustness under suppression by speech reconstruction models. Improving robustness is challenging due to the inherent robustness-fidelity trade-off in existing designs, where increasing watermark energy improves robustness but reduces fidelity. To address this problem, we propose a feature-aligned watermarking method that aligns the watermark with the original speech feature distribution, allowing higher watermark energy to improve robustness while preserving imperceptibility. We use a pretrained speech codec to generate a pseudo-speech watermark and fuse it into the spectrogram of the input audio, with VAD loss and perceptual losses guiding embedding within...
论文介绍 现有音频水印方法常因鲁棒性与保真度的权衡而易受语音重建干扰。本文提出特征对齐水印方法,通过对齐水印与原始语音特征分布,允许更高能量嵌入以提升鲁棒性。该方法利用预训练语音编解码器生成伪语音水印,融合到输入音频频谱图中,并通过 VAD 损失和感知损失优化嵌入过程,从而在保持不可感知性的同时增强对抗重建失真的鲁棒性。
Abstract:Trustworthy AI requires reliable data-processing pipelines, not only robust downstream predictive models. As an upstream component, data summarization determines which information is retained and passed to subsequent learning or decision modules. Therefore, adversarial perturbations to the summarization process can compromise trustworthy AI in an upstream manner: they may alter the selected summary, reduce its representativeness, and further degrade the utility of subsequent learning tasks. In this paper, we study adversarial attacks on continuous data summarization under similarity-level perturbations through DR-submodular optimization. We show that a class of multi-resolution image summarization objectives can be formulated as multilinear extensions of non-negative submodular set functions and satisfy DR-submodularity with $m$-weak monotonicity. We then formulate...
论文介绍 可信 AI 要求可靠的数据处理流程,其中连续数据摘要作为上游组件易受对抗扰动影响。本文通过 DR-次模优化研究多目标对抗攻击,将多分辨率图像摘要目标形式化为非负次模集函数的多线性扩展,并证明其满足 DR-次模性和 m-弱单调性,为设计鲁棒防御方法提供了理论基础。
Abstract:We consider the problem of privately releasing a $k$-dimensional vector under updates: Starting with a zero vector, at times $t_1, t_2,\dots$ the vector is updated by adding $x^{(1)}, x^{(2)},\dots$, respectively. For positive integers $T$, $k$ we model the updates as a data set $\{(t_i, x^{(i)})\}_i$, where $t_i \in [T]$ and $x^{(i)} \in B_k$ (the $k$-dimensional unit ball). Two such data sets are said to be neighboring if their symmetric difference has size at most $1$. The continual release consists of the sum $A^{(t)} = \sum_{i \; : \; t_i \leq t} x^{(i)}$ for each time step $t=1,\dots,T$. Classical continual release techniques allow us to release an approximation of $A^{(1)},\dots,A^{(T)}$ with additive noise of magnitude $\text{polylog}(T)$, computed in time $O(kT)$, even in the on-line, adaptive case where data is continually revealed for the current time step...
论文介绍 本文研究在持续更新下私密发布 k 维向量的问题,传统方法在在线自适应场景中计算开销较大。作者提出一种快速高斯机制,能够在时间步持续更新时释放向量和的近似值,噪声幅度为 polylog(T),计算时间为 O(kT),适用于实时数据流中的隐私保护应用。
Abstract:The widespread adoption of face recognition (FR) technologies raises serious privacy concerns, as facial data can be exploited without consent. To address this challenge, we propose Adv-TGD, a generative adversarial attack framework that synthesizes photorealistic faces capable of impersonating target identities and deceiving face recognition systems. Built upon Stable Diffusion, Adv-TGD performs per-sample LoRA fine-tuning conditioned on concise textual prompts to generate natural yet adversarially manipulated identities. Unlike conventional identity-attack approaches, our method optimizes lightweight cross-attention adapters for each source-target pair within a single-step denoising process. Latent blending is constrained by a face-local heatmap mask to ensure spatially precise identity manipulation while preserving non-sensitive regions. We introduce a composite objective...
Abstract:We study superspace concentration as a quantum resource, formalized through the focus measure F(\r{ho}) = {\lambda}_max(\r{ho}_super) - the largest eigenvalue of the reduced superspace state - which quantifies the capacity of a quantum system to concentrate informational weight into a preferred subspace of an extended degree-of-freedom space. We develop a complete resource-theoretic framework around this measure and validate its properties through GPU-accelerated numerical simulation. Analytic decoherence predictions are confirmed to machine precision (1.11 x 10^{-16}) for superspace dimensions dS in {2,4,8,16,32}. Focus monotonicity holds across 10,000 random states with zero violations under four focus-non-generating channels across six system configurations. Focused quantum states resist coherent unitary attacks with significantly greater resilience than standard fidelity...
Abstract:Biometric systems are increasingly deployed in security applications; however, they remain vulnerable to spoofing attacks, in which attackers exploit counterfeit biometric data to gain unauthorized access. This research evaluates the effectiveness of state-of-the-art machine learning models, MobileNetV2, DenseNet-121, Inception-v3, and Spoof Trace Disentanglement (STD) in detecting spoofing attacks within facial recognition systems. Using the CelebA-Spoof dataset, the study evaluates model effectiveness using metrics such as accuracy, precision, recall, and F1 Score. Cross-dataset validation is carried out on the MSU-MFSD dataset to assess generalizability. The results show MobileNetV2 as the most efficient model, achieving 92% accuracy while balancing computational effectiveness, making it appropriate for real-life applications. Inception-v3 shows moderate robustness, while...
Abstract:Adversarial robustness evaluations of large language models (LLMs) typically report attack success rate (ASR) under fixed query budgets, implicitly treating all attacks as equally costly. In practice, the computational expense of different attack strategies can vary by orders of magnitude. Consequently, ASR at a fixed budget can obscure the true effort required to jailbreak a model, thereby making it hard to determine whether an attack's cost justifies its payoff to the attacker. We propose a compute-aware evaluation framework based on computational pressure, measured in cumulative floating-point operations (FLOPs), as a proxy for adversarial effort. We introduce risk-compute curves, which map compute budgets to attack risk, and derive two metrics that summarize the average pressure required for a given attack to succeed. Across ten models spanning three families and four...
Abstract:Data leakage -- contamination of a model with information unavailable at baseline -- is the dominant reproducibility failure in machine-learning-based science, yet detection tools require training code, external data, or domain expertise. None operates on the artifact an auditor most often holds: the model's output. We ask what can be decided about leakage from predictions and outcomes alone. We give a decision-theoretic framework in which leakage diagnostics are functionals of the predicted-risk/outcome law, parameterized by a threshold-weighting linked to proper scoring rules and decision-curve analysis. We prove a sharp impossibility: a recalibrated leak matching an honest model's calibration and discrimination is indistinguishable from honest performance by \emph{any} function of the predictions, so the broad class is detectable only against an externally supplied ceiling...
Abstract:Decentralized LLM inference networks need lightweight, reference-free quality evaluation for Proof of Quality (PoQ). We present PoQ-Judge, a framework that trains dedicated judge models to score query-output pairs without ground-truth references. We study three architectures across the quality-cost tradeoff: a TextCNN judge, a MiniLM cross-encoder, and a DeBERTa judge. Using two-stage training on UltraFeedback plus GPT-labeled in-domain data, the best model reaches 0.747 Pearson correlation with the ground-truth proxy on a held-out test set, outperforming reference-based evaluators from prior work. As a reference-free component in composite scoring, it achieves 0.645 Pearson correlation, matching the best single reference-based evaluator while removing the need for reference answers. We also show that online calibration identifies semantic quality as the dominant dimension and...
Abstract:Denial-of-service (DoS) and distributed denial-of-service (DDoS) mitigation requires separating malicious traffic from benign traffic while minimizing disruption to legitimate users. Prior work proposed mapping honeypot traffic partitioning to a weighted MaxCut problem and solving the resulting graphs with variational quantum algorithms. We extend this proof of principle direction with a reproducible event-level honeypot-to-QUBO pipeline, labeled temporal bipartite benchmark graphs with 16, 32, 66, and 110 event nodes, QAOA executions on IBM quantum hardware, classical heuristic baselines, a noiseless matrix product state reference, and a routing overhead analysis across quantum processor architectures. The largest benchmark is a 110-node, 181-edge instance executed on three IBM backends. Our results show that a shallow QAOA can execute real traffic partitioning workloads at...
Abstract:Homomorphic quantum error correction aims to protect quantum data against both unauthorized access and environmental noise during server-based processing. We investigate the algebraic compatibility between quantum homomorphic encryption and quantum error correction, determining precise conditions under which encrypted encoded states remain inside the relevant code space during storage and computation. Our work establishes a necessary and sufficient criterion for an $[[n,1,d]]$ stabilizer code to remain compatible with the restricted transversal block-Pauli masking $U_{\rm enc}(a,b)=(X^aZ^b)^{\otimes n}$, stated explicitly for $[[n,1,d]]$ codes and extending directly to code-space preservation for $[[n,k,d]]$ codes. We verify this condition for standard examples (bit-flip and Shor codes, with the phase-flip repetition code following analogously), derive a practical criterion...
We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data in robotics. High-quality, task-specific robot data is expensive and time-consuming to collect, while suboptimal datasets with lower-quality or out-of-distribution demonstrations are abundant. Existing methods that co-train on both data sources in robotics often fail to separate the meaningful and the harmful features in the suboptimal samples. In contrast, our method extracts only the useful features by introducing a new axis to co-training in robotics: noise-dependent data usage. Ambient Diffusion Policy restricts the contribution of suboptimal data during training to only the high and low diffusion times. To rigorously justify our approach, we first observe that robot action data exhibits a spectral power law. This induces two important properties on the optimal Diffusion...
Sound source distance estimation (SDE) is a critical capability in human-robot interaction. An inappropriate interaction distance not only reduces the reliability of speech acquisition and understanding, but also compromises the naturalness and comfort of the interaction. Most existing SDE methods rely on microphone arrays, however, multi-microphone systems typically require careful hardware synchronization, geometric calibration, and additional space and computational resources, which limits applicability to size-constrained and computability-limited embodied platforms. To alleviate these issues, we propose Fast-SDE, a lightweight single-microphone SDE framework that is suited for deployment on robot platforms with limited computational resources and strict size constraints. Specifically, Fast-SDE employs a subband-based backbone that decomposes the frequency axis into multiple...
Vision-Language-Action (VLA) models provide a natural language interface to robot control, but the mapping from language to behavior is often brittle and unintuitive: semantically similar instructions can induce drastically different behaviors, while some capabilities may not be elicitable through prompting alone. As a result, both human instructions and zero-shot language models can fail to reliably steer VLAs toward successful task execution. In this work, we propose a framework that interactively searches for language sequences that improve closed-loop VLA task performance, distills these sequences into a test-time language feedback policy (LFP), and learns an improvement head that predicts when language steering will improve performance. We conformalize this improvement head to prevent harmful steering interventions, where the LFP decreases task performance relative to the original...
World Action Models (WAMs) offer a promising route for robot manipulation by using video generation models to model future scene evolution before producing control actions. However, our empirical observations reveal a phenomenon: generating plausible visual futures does not always guarantee the extraction of accurate actions. To diagnose this failure, we conduct action-head attention analysis and causal interventions. We find that the action decoder fails to focus on task-relevant interaction regions and remains sensitive to perturbations in task-irrelevant areas. This reveals a representation mismatch: hidden states optimized for visual reconstruction are not inherently organized in a form useful for low-level action control. In this paper, we propose AGRA, an Action-Grounded Representation Alignment objective that regularizes the world-action interface by aligning intermediate video...
Embodied intelligence now spans navigation, household assistance, manipulation, autonomous driving, aerial agents, and multimodal large-model control. This expansion has made benchmark construction a central bottleneck for reliable evaluation. Unlike static datasets, embodied benchmarks combine task specifications, environments, robot data, demonstrations, annotations, metrics, evaluation scripts, and release policies into a single evaluation system. This survey reviews the literature through a five-stage construction pipeline: requirement and task construction, data acquisition, data cleaning and annotation, benchmark suite generation and metric definition, and evaluation execution with diagnostic feedback. For each stage, the survey analyzes the transition from manual curation to traditional automation, foundation-model assistance, and agentic closed-loop workflows. It also compares...
High-risk applications in robotics, such as robot-assisted surgery, present unique challenges. These systems must be both highly precise and interpretable in order to be deployed in environments with very low tolerance for error or unsafe exploration. We present the first robotic system to demonstrate autonomous clip positioning on a physical phantom in laparoscopic surgery, one of the most common interventions in general surgery. After segmentation of a colorless point cloud from a single camera, target positions for the clips are extracted using spline interpolation, and can then be adjusted by the human operator. The segmentation model is trained on only 60 hand-labeled real point clouds, reflecting data scarcity in the surgical domain. We overcome this with a combination of pre-training on 128,000 synthetic point clouds and two novel data augmentation techniques. The motion of the...
Generalizable robot manipulation requires not only task-level reasoning over unseen scenes, but also reliable grounding of visual plans into embodiment-specific execution. To bridge this gap, we propose VICX (Video generation and In-Context eXecution), a decoupled closed-loop manipulation framework. In VICX, a frozen video generation model produces vision-language-conditioned high-level visual plans, while a Video-to-Trajectory In-Context Operator Network (V2T-ICON) serves as the task-agnostic interface that grounds these plans into executable robot-state trajectories. To improve execution generalization, V2T-ICON operates on segmentation-extracted arm-only frame observations and uses retrieved image-state pairs as in-context prompts, allowing a robust and generalizable visual-to-state mapping at inference time without parameter updates. Experiments on Meta-World show that VICX...
Vision-based navigation models, particularly foundation models, generate viable trajectories from RGB observations alone. However, even state-of-the-art transformer- and diffusion-based policies struggle to generalize in unfamiliar deployment environments containing unseen obstacles or shifted conditions. The resulting trajectories often remain goal-directed but unsafe. Existing efforts improve safety through external trajectory correction or internal geometric priors, yet the resulting policies are not trained to explicitly represent obstacle boundaries or traversable free-space structure. To address this, we propose a navigation model that incorporates these structures directly into the policy via fine-tuning and is designed to be compatible with diverse RGB-based backbones. Across multiple robot platforms, indoor environments, and static and dynamic obstacle scenarios, our method...
Abstract:Contact-rich manipulation requires force sensitivity, but many robot arms lack dedicated force sensors due to their high cost. We present Neural External Torque Estimation (NEXT), a data-driven method that estimates external joint torques without needing any dedicated force sensors. NEXT trains in 1 minute from only 10 minutes of free-motion data, yet achieves estimates comparable to dedicated joint-torque sensors. NEXT enables force-feedback teleoperation on low-cost arms and improves policy learning through Force-Informed Re-Sampling Training (FIRST), which up-samples pre-contact and contact segments during behavior cloning. Across five long-horizon tasks, FIRST outperforms prior force-aware policies by over 17% in task progress. Together, NEXT and FIRST bring force-aware teleoperation and policy learning to off-the-shelf robots without additional sensing hardware. Video...
Abstract:Vision-Language-Action (VLA) models inherit semantic grounding from large-scale pretraining and perform competently across in-distribution manipulation tasks. This grounding, however, is built on static image-text pairs, whereas manipulation is a continuous, contact-rich process whose dynamics this pretraining cannot capture. We present World Pilot, a VLA framework that augments the policy with priors from a World-Action Model (WAM), routed into the decision chain through two complementary pathways. Latent Steering conditions the perception layer on a scene-evolution latent, and Action Steering supplies an anticipated trajectory as a motion prior to the action generator. Together the two priors equip the VLA with an anticipated view of the scene and a trajectory-level motion hint alongside its semantic conditioning, and the scene-evolution prior remains effective even when...
Abstract:Effective multi-human-robot collaboration is essential for expanding human-led operations in the challenging and high-risk underwater environment. For autonomous underwater vehicles (AUVs) to become true teammates, they must be able to comprehend their surroundings and recognize a diver's activities to offer assistance and ensure safety. Towards this goal, we introduce DAR-Net, a novel transformer-based framework that analyzes complex underwater scenes to classify diver activities. Our contribution lies in a semantically guided learning formulation that couples transformer-based temporal reasoning with pixel-level scene supervision. This multi-loss training strategy explicitly aligns global activity recognition with local human-robot interaction semantics, which is particularly critical in low-visibility underwater conditions. To address the significant challenge of data...
Abstract:Human-in-the-loop reinforcement learning (HiL-RL) has emerged as an effective paradigm for real-world robotic manipulation, enabling online policy improvement with human guidance. However, current HiL-RL frameworks remain intervention-intensive, relying on frequent human corrections to redirect the policy out of unproductive exploration, which incurs high labor cost and limits real-world scalability. To address this, we propose UniIntervene, an agentic intervention model that detects unproductive exploration and autonomously recovers the policy toward high-value states, taking over the bulk of interventions from human operators. Specifically, UniIntervene first performs future-conditioned action-value estimation, predicting the latent consequence of the current action and evaluating its induced value, which provides a more stable progress signal. Building on this, a temporal...
Abstract:Vision-Language-Action (VLA) models that couple pretrained Vision-Language Models (VLMs) with continuous action experts have achieved strong manipulation performance, yet generalization to out-of-distribution (OOD) language instructions remains poor. A known challenge is the structural imbalance in VLA data, where language is far less diverse than visual and action content, making policies prone to visual shortcuts. While discrete-action methods mitigate this through vision-language co-training, continuous action experts lack such protection: they start from random initialization and learn entirely from imbalanced data, producing noisy gradients that corrupt the VLM and fail to exploit its language capability. We address this from a Bayesian perspective, factorizing the policy into a language-agnostic Vision-Action (VA) prior and a language-conditioned VLA likelihood, and...
Abstract:Multi-robot collaboration allows robots to efficiently take on a wide range of tasks, from moving a couch through a doorway to assembling structures on a construction site. However, achieving such coordination in mobile multi-robot settings remains challenging: centralized methods conditioned on the combined observations of a team scale poorly with team size, and decentralized methods that train one policy per robot often require explicit alignment procedures or information sharing at inference time to overcome partial observability. Our key insight is that the visuomotor priors of pretrained vision-language-action (VLA) models should enable reactive, decentralized collaboration from each robot's local observations alone, without these inference-time assumptions. We propose CHORUS, a framework that adapts a single VLA backbone to control diverse, multi-robot teams. At...
Abstract:Accurate identification of hydrodynamic derivatives is essential for control and navigation of Unmanned Surface Vehicles (USVs), but high-fidelity manoeuvring data from physical sea trials are constrained by cost and safety. Turning Circle (TC) and Zig-Zag (ZZ) trials remain fundamental to IMO and ITTC assessment procedures. This paper extends the Marine Robotics Unity Simulator (MARUS) by introducing a standardised Virtual Sea Trial framework for automated execution and data generation of TC/ZZ manoeuvres, with traceable command-actuation logging, system-identification (SI)-focused data conditioning, and automated extraction of IMO/ITTC-aligned manoeuvring metrics. A key contribution is a dedicated TC/ZZ data acquisition and post-processing pipeline, improving the repeatability and auditability of simulator-based manoeuvres while producing SI-ready datasets for...
Abstract:This paper presents the design, development, and experimental verification of PEBRE, an open-hardware add-on for fast software development on the Pepper Robot. Our project enhances Pepper's computational and perception capabilities by integrating external components such as a Jetson Orin Nano, Logitech BRIO, Intel RealSense D435i, Samson UB1, and RØDE VideoMicro II. Our results show that the new hardware considerably improved Pepper's perception abilities and computational power. This development contributes to the community by implementing an open hardware and open-source modular add-on to the Pepper robot and keeping this relevant research platform functional beyond its expected lifespan. With PEBRE, we aim to facilitate faster software development and more efficient integration of external components, ultimately enhancing the capabilities of the Pepper robot.
论文介绍 本文介绍了PEBRE,一个为Pepper机器人设计的开源硬件附加件。通过集成Jetson Orin Nano、摄像头和麦克风等外部组件,增强了Pepper的计算和感知能力。实验验证了新硬件对感知和计算的显著提升。该工作通过开源模块化设计,延长了Pepper机器人的使用寿命,促进软件开发和外部组件集成。
Abstract:Vision-Language-Action (VLA) models have demonstrated remarkable zero-shot generalization in robotic manipulation, yet the vast majority of pre-trained pipelines remain strictly confined to low-DoF parallel grippers. Adapting these rich semantic priors to high-DoF dexterous hands introduces a severe morphology gap, direct end-to-end joint fine-tuning inherently causes catastrophic forgetting of spatial reasoning and acute action manifold collapse due to data scarcity. In this paper, we present InDex, a novel, data-efficient adaptation framework rooted in cross-morphology semantic inheritance. Rather than discarding the pre-trained 1-DoF parallel grasp output, we repurpose it as a continuous, macroscopic virtual grasp intent proxy to sequentialize the control topology. We implement a two-stage decoupled learning architecture: the first stage parameter-efficiently aligns the VLA...
Abstract:Vision-language-action (VLA) models inherit a shared synchronous clock from vision-language pretraining, processing every input at one rate. This is misaligned with physical interaction, where a high-frequency modality changes at hundreds of hertz, vision evolves more slowly, and language stays constant across an episode. A synchronous VLA oversamples slow modalities, undersamples fast ones, and caps action generation at the lowest effective frequency. We hypothesize that decoupling temporal processing per modality, letting each update and retain information at its own sensor rate, yields stronger representations and more robust control. We present DAM-VLA, which maintains per-modality latent buffers refreshed at sensor rates and read continuously by the action head, integrating new high-frequency modalities through gated cross-attention that leaves the pretrained backbone...
Abstract:State space projections and decompositions have emerged as powerful tools to tackle the curse of dimensionality in high-dimensional, multi-robot motion planning problems. However, existing methods lack a unified framework which seamlessly handles combinations of projections (prioritization or task-space) and decompositions (parallel or decoupled subspaces). To fill this gap, we introduce fibration trees, which are trees consisting of state spaces as nodes and fibrations as edges, whereby a fibration models a projection from a higher-dimensional space to a lower-dimensional (or simplified) space. By modeling projections as fibrations, we unify sequential prioritization, parallel decomposition, and task-space projections under a single, coherent formalism. Building on this, we develop the rapidly-exploring random fibration trees (Fibration-RRT) planner, a sampling-based motion...
Abstract:Deep Reinforcement Learning (DRL) has shown promise for social navigation, yet its real-world deployment remains hindered by a persistent sim-to-real gap arising from simplified first-order dynamics and context-specific human state estimation pipelines. This work presents a unified framework that addresses these limitations to produce dynamically feasible navigation policies suitable for real-world deployment. First, theoretical analysis reveals that tracking error between simulated and actual robot position decays exponentially with increased control order, motivating the use of higher-order control inputs as DRL action space. A second-order control formulation tailored to differential drive robots is developed, complemented by a stochastic iterative Linear Quadratic Regulator (iLQR) that pretrains the policy via a divergence minimization objective. Second, to avoid the added...
Abstract:Bimanual robot systems substantially expand manipulation capabilities, but coordinating two arms introduces additional control complexity and failure modes that are not well captured by existing benchmarks. We introduce DuoBench, an extensible benchmarking framework for bimanual manipulation policies on the FR3 Duo platform. DuoBench comprises eleven tasks spanning four coordination categories, implemented in simulation and partially reproduced in the real world through reproducible task recipes with 3D-printable assets. In addition, we propose a stage-based evaluation scheme that supports fine-grained semantic failure analysis beyond binary success and provide human-teleoperated datasets for all benchmark tasks. We benchmark several dual-arm imitation-learning and vision-language-action policies in simulation and on real hardware. Our results show that current policies remain...
第一作者: Mehmet Turan Yardımcı · 方向: 机器人操作 · 来源: cs.RO
人形机器人移动操作强化学习批评者架构双批评者
Abstract:Multi-objective reinforcement learning for humanoid robots must coordinate locomotion and manipulation within a single policy. A natural design choice is whether to use a single (unified) critic that estimates the combined value of all objectives, or separate (dual) critics with disjoint reward signals. We present a controlled comparison on the Unitree G1 humanoid (23 active DoF) in NVIDIA Isaac Lab, training loco-manipulation policies through a sequential curriculum spanning 13 levels from stationary reaching to walking with variable-orientation targets. In standardized evaluation, dual-critic policies reach targets 3.5$\times$ faster (6.5 vs. 22.6 simulation steps), achieve 2$\times$ higher throughput (14.3 vs. 7.0 validated reaches per 1,000 steps), and attain higher validated reach rates (65.2% vs. 53.8%) compared to the unified-critic policy. Notably, additional...
Abstract:Designing anthropomorphic dexterous robotic hands remains challenging as the design space straddles morphology, actuation, and sensing properties, and performance metrics span both task-dependent and task-agnostic. Existing optimization methods are often unstructured or consider only a single performance metric, limiting systematic comparison and targeted refinement. While the design considerations of the entire hand are significant, the individual finger properties play a key role in dexterity. By developing a robotic hand platform where fingers can be modularly integrated into a full teleoperated hand, we propose that optimizing the fingers can significantly improve overall hand performance. This approach enables rapid screening of different finger-level prototypes through a number of quantitative benchmarks before their integration into the hand for task-level validation...
Abstract:The handling of flexible materials is a difficult task to fully automate due to the challenges caused by the deformability of these types of objects. Meanwhile, a fully manual process can be ergonomically challenging, tedious and inefficient. Thus, human-robot collaboration (HRC) and cooperative manipulation (co-manipulation) have received increasing interest in this field as they enable human involvement when needed while also improving productivity. To enable efficient co-manipulation and interaction between the human operator and the robot, different modalities and control methods are required. In this paper, we present and examine different control methods for co-manipulation of carbon fiber plies, evaluating the pros and cons of each method in a controlled setting. We propose that a multimodal combination of speech commands, wrist-tracking through vision, and force with...
Abstract:Blind grasping with a dexterous hand is a crucial manipulation capability. Nevertheless, learning such tactile-only policies for real robots remains challenging due to the tactile sim-to-real gap and the limited expressiveness of sparse tactile signals. To bridge this gap, we propose a framework for tactile-only blind grasping that is deployable on a physical multi-fingered robotic hand. Our approach combines three key components. First, we introduce a Real2Sim tactile calibration pipeline that constructs a contact-calibrated digital-twin simulator capable of reproducing real tactile signals. Second, we improve the expressiveness of sparse tactile observations using a layout-aware tactile encoder, which incorporates sensor-geometry priors through self-supervised pretraining. Third, to improve generalization to unseen objects, we train object-specific reinforcement-learning...
Abstract:Vision-language-action (VLA) models provide strong visual, language, and action priors for robot manipulation, but visual observations alone often miss the local contact state required for contact-rich tasks. We present TacCoRL, a scalable framework that injects Tactile feedback into VLA policies and improves them through sim-real Co-training and simulation-based reinforcement learning (RL), without requiring large-scale tactile pretraining or extensive real-world contact exploration. The key idea is not only adding touch as an input, but learning how contact readings should modulate action responses in near-failure states that are rare in demonstrations and risky to collect on hardware. We use a real-aligned simulator as a closed-loop training environment for contact interaction. Mixed simulated and real trajectories first warm-start tactile-conditioned actions in the...
Abstract:The most widely-adopted robot learning pipelines today learn skills from robot demonstrations or structured human data, which are expensive to collect and tied to specific embodiments. In contrast, unstructured human videos provide a scalable alternative. They contain diverse manipulation demonstrations across objects, scenes, and strategies, but are not directly connected to robot action. We propose LUCID, a two-stage framework that learns task intent from unstructured human videos drawn from internet-scale datasets and learns robot control in massively-parallel simulation. The intent model predicts short-horizon intent (what should happen next in the scene) from the current observation in closed loop. An embodiment-specific sensorimotor policy converts this intent into robot actions. The intent interface is shared across controllers, so the same intent model can be applied...
Abstract:The rapid development of intelligent control methodologies has endowed robots with powerful autonomous intelligence. Cable routing, a ubiquitous foundational task in industry, provides a rigorous benchmark for robotic dexterity and sequential decision-making. In these practical scenarios, image observation distortion frequently occurs. Samples characterized by low-quality image observations often hinder accurate model training, posing challenges to the reliability and accuracy of intelligent control systems. Nevertheless, no dedicated intelligent control solution has been proposed for scenarios of image signal distortion. Meanwhile, image quality information has not been sufficiently exploited to further enhance the performance of intelligent control methodologies. To this end, we propose a novel robotic imitation learning framework that comprises an image quality assessment...
Abstract:Learning-based policies are being considered to augment the dexterity of human surgeons in robot-assisted surgery. Can the end-to-end mapping from visual observations to robot actions be vulnerable to adversarial attacks, potentially leading to patient injury? In this paper, we present the first study of adversarial threats to learning-based policies in surgical robotics. We investigate two threat modes: (a) disruptive attacks, where imperceptible visual perturbations interrupt policy execution, and (b) steering attacks, where such perturbations steer policy actions toward attacker-specified directions. We formulate three adversarial attack methods, each with increasing access to policy information, and evaluate their impact on two surgical subtasks: debridement and suturing. Our evaluation covers three end-to-end policy architectures: ACT, Diffusion Policy, and Pi0. In...
Abstract:Contrastive Reinforcement Learning (CRL) has seen recent success in a wide variety of goal-conditioned robotics tasks by learning structured representations of the dynamics. However, despite its success in locomotion and simpler control domains, CRL often struggles in interaction-rich manipulation. We argue that a key source of this difficulty is object-centric interaction, such as contact or grasping, that induces distinct changes in the underlying dynamic modes. In this work, we formulate manipulation dynamics as a piecewise-smooth Markov process and show that interaction-induced mode changes create piecewise nonlinear reachability structures that are difficult for standard CRL energy functions to represent and plan over. Based on this analysis, we introduce Interaction-weighted Resampling (IWR). IWR performs interaction-aware resampling around phases before, during, and...
Abstract:Real-world robots need to adapt their behavior beyond the envelope of their pre-trained policy. Policy finetuning or retraining are options, but they risk catastrophic forgetting, degrading the pretrained policy's base performance. To combat this, we introduce CLAE: Closed-Loop Affine Activation Editing, an inference-time framework for steering the behavior of a frozen policy by editing intermediate activations while keeping the base policy weights and downstream action head untouched. CLAE approaches behavior steering as a closed-loop problem whose outputs edit policy activations that adapt online to the robot state, environment, target behavior, and multi-robot context. It trains a sparse autoencoder over frozen-policy activations, selects behavior-relevant latent features via post-hoc probing, and learns a lightweight RL-based steering policy that applies state-dependent...
Abstract:Robotic table tennis is a representative benchmark for high-speed, closed-loop robotic control in dynamic environments, where accurate and fast prediction of ball states is critical for reliable planning and control. Physics-based approaches rely heavily on accurate parameter identification and precise initial state, while learning-based methods often struggle to capture long-range temporal dependencies and are typically trained on limited or simulated data. We propose a transformer-based framework for table tennis ball state prediction that leverages attention mechanisms to model long-range temporal correlations directly from historical observations, without relying on explicit flight or bounce models. To support robust learning and generalization, we collected a large-scale real-world dataset from players of varying skill levels and diverse ball cannon configurations. The...
Abstract:Most existing drone-based inspection systems require the drone to fly dangerously close to the target or follow complex flight paths to capture small details. In addition, drone flight is affected by disturbances and localization inaccuracies, which can cause the drone to lose sight of its supposed target when it has a narrow view. Furthermore, trajectory planning often requires prior information about the target's geometry, position, and orientation, which is not always available for non-structural targets such as trees, vehicles, or people. To address these challenges, this paper presents aerial_micro_inspection, a generic pipeline for aerial micro-inspection across different use cases. The pipeline assumes a PX4-powered drone equipped with two cameras: (i) a zoomed, gimbal-mounted inspection camera that captures fine details without requiring the drone to fly very close to...
Abstract:Action chunking has become a standard design in modern robot policies, from diffusion/flow policies to vision-language-action models, where the policy predicts a sequence of actions and executes a fixed number of them instead of acting one step at a time. However, this paradigm relies on a key assumption: a fixed execution horizon. During chunk execution, the policy operates open-loop, which is particularly problematic for fine-grained manipulation tasks that require frequent replanning. In practice, the execution horizon is typically chosen through empirical tuning and is highly task-dependent. To this end, we propose Dynamic Execution Horizon Prediction (DEHP), an effective method that trains a lightweight execution-horizon prediction branch using online reinforcement learning while keeping the pretrained chunk policy completely frozen. This makes the method compatible with...
Abstract:Piezoresistive tactile sensors are attractive for robotic manipulation because they are thin, lightweight, low-cost, and scalable to dense large-area sensing. However, existing systems still face a practical trade-off: recent reproducible designs emphasize accessibility and ease of reproduction, whereas high-fidelity readout architectures remain more difficult to fabricate, assemble, and deploy. We present HiPi, a reproducible high-fidelity piezoresistive sensing system for robotic manipulation. Building on a low-crosstalk readout principle, HiPi redesigns the complete hardware stack around reproducibility, deployability, and multi-sensor scalability. The system includes a compact readout PCB compatible with commercial PCB fabrication and assembly services, eliminating manual soldering; a smaller and lower-cost STM32-based MCU module; an optimized communication pipeline that...
Abstract:We introduce Embodied-R1.5, a unified Embodied Foundation Model (EFM) that integrates comprehensive embodied reasoning capabilities, spanning embodied cognition, task planning, correction, and pointing, within a single architecture toward general physical intelligence. Leveraging three automated data construction pipelines to significantly expand the data coverage of critical capabilities, we build a large-scale data system of over 15B tokens, and design a multi-task balanced RL recipe to alleviate heterogeneous task conflicts. We further introduce a Planner-Grounder-Corrector (PGC) closed-loop framework that enables a single model to autonomously execute and self-correct over long-horizon tasks. With only 8B parameters, Embodied-R1.5 achieves SOTA on 16 out of 24 embodied VLM benchmarks, surpassing leading models like Gemini-Robotics-ER-1.5 and GPT-5.4. Benefiting from the...
Abstract:In this paper, we introduce the Soft Lamprey-Inspired Dual Environment Robot (SLIDER) and a proper modeling and optimization procedure employed to design the robot. We represent the primary fluid environment actions - inertial effects, vortex forces, and viscous dissipation - using Lighthill's theory for large-amplitude elongated bodies. For structural design parameters such as internal pressure, tail size, and body stiffness, a fast, geometrically and materially nonlinear model is developed and validated. The fluid-structure interaction equations are solved implicitly with an efficient second-order box method. A pneumatic manifold robotic system is employed to actuate SLIDER in a quiescent water tank environment, allowing cross-comparison of computational and experimental results. We find that low-frequency swimming is dominated by resistant environmental forces, whereas...
Abstract:Realizing the vision of 6G connected robotics requires reconciling high-performance collaborative control with the rigid spectral limitations of physical wireless channels. In realistic collaborative sensing scenarios, spectral resources are quantized into finite physical resource blocks or orthogonal subcarriers, rendering simultaneous transmission by all agents infeasible. To address this, we propose Multi-Agent Semantic K-Scheduling (MASK), a control architecture designed to sustain robust, risk-aware coordination under strict instantaneous bandwidth caps. We introduce Arbiter-Assisted Semantic Information Gating (A-SIG), a lightweight coordination mechanism that enforces hard access constraints by scheduling only the top-K agents based on locally computed semantic importance scores. By aggregating these prioritized observations into a compact latent state, a...
Abstract:Vision-language-action (VLA) models can describe scenes and reason about them in language, yet still struggle to ground their actions in the dense 3D world around them. Existing approaches either inject features from a frozen 3D foundation model without an objective that ensures the policy uses them, or constrain geometry with sparse box and map losses that provide no dense spatial signal. We introduce VLGA, the first vision-language-action model supervised to reconstruct the dense 3D world it drives through. VLGA introduces geometry as a fourth modality alongside vision, language, and action through a dedicated expert supervised by a per-pixel pointmap regression loss against LiDAR. Extensive experiments conducted on challenging nuScenes and Bench2Drive datasets for open-loop and closed-loop evaluations, respectively, show the superiority of VLGA over counterpart VLA methods...
Abstract:High-precision robotic manipulation requires fine-grained spatial reasoning that is often difficult to achieve with RGB-only policies due to depth ambiguity and perspective scale issues. Policies that leverage 3D information directly, such as those based on point clouds, offer a stronger geometric prior over purely image-based ones, yet their performance remains highly task-dependent. We hypothesize that this discrepancy may be due to the spectral bias of neural networks towards learning low frequency functions, which especially affects architectures conditioned on slow-moving Cartesian features. We thus propose to map point clouds from Cartesian space into high-dimensional Fourier space, effectively equipping the point cloud encoder with direct access to high-frequency features. We experimentally validate the use of Fourier features on challenging manipulation tasks from the...
Abstract:Natural environments present a complex challenge to robotics perception systems. Current models, particularly vision foundation models, are largely trained on structured, urban environments leading to weaknesses in their perception for field robotics tasks. We showcase the limitations of current models using our recently released WildCross benchmark, a new cross-modal benchmark for place recognition and metric depth estimation in large-scale natural environments. WildCross comprises over 476K sequential RGB frames with semi-dense depth and surface normal annotations, each aligned with accurate 6DoF pose and synchronized dense lidar submaps. In this work, we provide an expanded analysis of the benchmark results from the recent WildCross benchmark, with particular emphasis on expanded metric depth estimation experiments. Access to the code repository and dataset for this work...
Abstract:Physiological awareness is important for service, social, and assistive robots that interact with humans in everyday environments. Remote photoplethysmography (rPPG) enables non-contact heart-rate (HR) estimation from an RGB camera, making it a promising sensing modality for robot-mounted vision systems. However, illumination variation remains a major barrier to robust deployment. This paper presents an end-to-end spatial-temporal transformer framework for remote HR estimation on a new dataset with varied illumination. Our estimator integrates PRNet-based 3D face alignment, clip-level illumination augmentation, the Residual Temporal Standardization Module, and controlled hybrid temporal-frequency supervision. The training objective combines a Soft-Shifted Pearson waveform loss with a spectral Kullback-Leibler divergence loss, where a tuned weight ($\mathbf{\beta}$) controls...
Abstract:Visual causal reasoning is essential for understanding and intervening in the physical world, requiring identification of causal variables from visual inputs and reasoning over intervention effects. Despite recent progress, large vision--language models (VLMs) remain brittle at such tasks, especially for interventional and counterfactual queries over multi-image inputs. Most existing explorations inject causal knowledge via textual prompts, leaving causal mechanisms external to model execution and limiting reliable control during inference. To address this problem, we propose BridgeVLM, which internalizes visual causal reasoning by inducing a causal graph from multi-image inputs and converting it into structured Causal Tokens executed by RAMP layers injected into the LLM decoder for causal message passing. We further introduce a unified training interface M3S for fine-grained...
Abstract:Robotic strawberry harvesting requires precise 6D pose estimation; however, collecting 6D pose ground truth in real agricultural fields is inherently challenging. Existing 6D pose estimation methods have therefore relied solely on synthetic data that lacks scene-level realism, leaving their performance under real agricultural field conditions unquantified. In this work, we present, to the best of our knowledge, the first real-world 6D pose ground truth dataset of strawberries collected in actual agricultural fields (12,040 images). We also introduce a synthetic dataset rendered in NVIDIA Isaac Sim, featuring scene-level realism and domain randomization. Nevertheless, our experiments reveal that a significant sim-to-real gap persists, underscoring the necessity of real agricultural field data for reliable evaluation. We further quantify the sim-to-real gap through baseline 6D...
论文介绍 机器人草莓采摘依赖于精确的6D姿态估计,但在真实农田中收集此类数据极具挑战。本文介绍了首个在真实农田中收集的草莓6D姿态真值数据集(12,040张图像)。同时,作者在NVIDIA Isaac Sim中渲染了具有场景真实感和领域随机化的合成数据集。实验结果表明,仿真与现实之间仍存在显著差距,凸显了真实农田数据对于可靠评估的重要性。
Abstract:Vision-Language-Action (VLA) models have shown strong performance in language-conditioned robotic manipulation, yet their robustness to linguistic variation remains poorly understood. In this work, we present the first systematic multilingual evaluation of VLA models by translating the LIBERO benchmark into ten languages, revealing severe performance degradation under non-English instructions, with success rates dropping by 30-50%. Through fine-grained analysis of task executions, we find that language influence is highly non-uniform across steps: certain steps exhibit strong language dependence and dominate overall task failure, while others are largely language-agnostic. Based on this insight, we propose a step-wise inference-time intervention that aligns representations according to step language sensitivity, substantially improving performance under linguistic variation...
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