iptv-org/iptv
TypeScript · ★ 122,873 · 🍴 6,600 · 📈 2,657 stars today
Collection of publicly available IPTV channels from all over the world
中文介绍 该项目汇集了全球公开可用的 IPTV 频道,通过整理和维护 M3U 播放列表,为用户提供了一个免费的电视直播源库。用户可将其导入到各类播放器中观看,适用于希望免费收看全球电视节目的用户。
TypeScript · ★ 122,873 · 🍴 6,600 · 📈 2,657 stars today
Collection of publicly available IPTV channels from all over the world
中文介绍 该项目汇集了全球公开可用的 IPTV 频道,通过整理和维护 M3U 播放列表,为用户提供了一个免费的电视直播源库。用户可将其导入到各类播放器中观看,适用于希望免费收看全球电视节目的用户。
Elixir · ★ 8,228 · 🍴 946 · 📈 33 stars today
A self-hosted data logger for your Tesla 🚘 [main maintainer=@JakobLichterfeld]
中文介绍 这是一个面向特斯拉车主的自托管数据记录器。它能持续记录车辆的行驶、充电等详细数据并生成可视化报表,帮助车主深入了解车辆状态和能耗。采用自托管方式保障数据隐私。
Python · ★ 30,157 · 🍴 2,449 · 📈 1,100 stars today
Give your AI agent eyes to see the entire internet. Read & search Twitter, Reddit, YouTube, GitHub, Bilibili, XiaoHongShu — one CLI, zero API fees.
中文介绍 该项目为AI代理赋予了浏览互联网的能力,可通过命令行直接读取和搜索Twitter、Reddit、YouTube等多个平台的公开信息,无需API密钥和费用。旨在方便开发者为AI代理集成网络信息获取功能。
TypeScript · ★ 10,628 · 🍴 3,434 · 📈 228 stars today
Meshery, the cloud native manager
中文介绍 Meshery 是一款云原生管理平台,用于管理、设计和操作基于 Kubernetes 的云原生基础设施。它支持多种服务网格和基础设施技术,旨在简化云原生环境的运维和配置工作。
Ruby · ★ 31,683 · 🍴 7,629 · 📈 431 stars today
Open-source live-chat, email support, omni-channel desk. An alternative to Intercom, Zendesk, Salesforce Service Cloud etc. 🔥💬
中文介绍 Chatwoot 是一个开源的客户支持平台,集成了实时聊天、邮件和全渠道客服功能,可作为 Intercom、Zendesk 等商业产品的替代品。适用于需要构建一站式客户沟通渠道的中小企业。
Java · ★ 126,899 · 🍴 15,135 · 📈 71 stars today
《Hello 算法》:动画图解、一键运行的数据结构与算法教程。支持简中、繁中、English、日本語,提供 Python, Java, C++, C, C#, JS, Go, Swift, Rust, Ruby, Kotlin, TS, Dart 等代码实现
中文介绍 《Hello 算法》是一本数据结构与算法的免费教程,通过丰富的动画图解和一键运行的代码示例,降低学习门槛。它支持多种编程语言,适合编程初学者和准备技术面试的开发者。
TypeScript · ★ 447,885 · 🍴 44,991 · 📈 736 stars today
freeCodeCamp.org's open-source codebase and curriculum. Learn math, programming, and computer science for free.
中文介绍 这是 freeCodeCamp.org 的开源代码库和课程体系,提供免费的数学、编程和计算机科学学习资源。用户通过完成项目和挑战来学习,旨在帮助自学者掌握编码技能。
HTML · ★ 18,146 · 🍴 1,171 · 📈 70 stars today
Open-source infrastructure for Computer-Use Agents. Sandboxes, SDKs, and benchmarks to train and evaluate AI agents that can control full desktops (macOS, Linux, Windows).
中文介绍 该项目为计算机使用代理(Computer-Use Agent)提供开源基础设施,包括用于训练和评估AI代理的沙盒环境、SDK和基准测试。目标是让AI能像人一样控制完整的桌面操作系统。
★ 352,307 · 🍴 83,567 · 📈 364 stars today
A complete computer science study plan to become a software engineer.
中文介绍 这是一个完整的计算机科学学习计划,旨在帮助人们通过自学成为软件工程师。内容涵盖算法、数据结构、操作系统等核心知识,专为技术面试和系统学习设计。
Python · ★ 33,078 · 🍴 5,411 · 📈 562 stars today
Learn it. Build it. Ship it for others.
中文介绍 该项目提供从零开始学习AI工程的实践指南,强调“学习、构建、交付”的完整流程。内容可能涵盖模型训练、部署和维护,适合希望系统掌握AI工程技能的学习者。
Python · ★ 2,384 · 🍴 444 · 📈 225 stars today
Music Assistant is a free, opensource Media library manager that connects to your streaming services and a wide range of connected speakers. The server is the beating heart, the core of Music Assistant and must run on an always-on device like a Raspberry Pi, a NAS or an Intel NUC or alike.
中文介绍 Music Assistant 是一个开源的媒体库管理器,它能连接你的流媒体服务账户(如Spotify)和各种音响设备,实现统一的音乐管理和播放控制。其服务器是核心组件,用于集中管理。
Python · ★ 17,280 · 🍴 2,563 · 📈 361 stars today
M3U Playlist for free TV channels
中文介绍 该项目提供免费的电视直播频道M3U播放列表。用户将列表链接导入到支持IPTV的播放器(如VLC、Kodi)中,即可收看各类免费电视频道,操作简单直接。
TeX · ★ 3,065 · 🍴 655 · 📈 489 stars today
Introduction to Autonomous Robots
中文介绍 这是一本关于自主机器人的入门教材,系统性地介绍了机器人学的基础概念、技术和应用。适用于学生、工程师或爱好者了解机器人的感知、规划和控制等核心知识。
PowerShell · ★ 48,020 · 🍴 1,938 · 📈 112 stars today
A simple, lightweight PowerShell script that allows you to remove pre-installed apps, disable telemetry, as well as perform various other changes to declutter and customize your Windows experience. Win11Debloat works for both Windows 10 and Windows 11.
中文介绍 这是一个轻量级的PowerShell脚本,用于优化Windows 11系统。它可以移除预装应用、禁用遥测和广告,执行多项自定义设置,帮助用户清理系统、提升隐私和性能。
Dockerfile · ★ 21,027 · 🍴 1,064 · 📈 188 stars today
Self-Hosting Guide. Learn all about locally hosting (on premises & private web servers) and managing software applications by yourself or your organization. Including Cloud, LLMs, WireGuard, Automation, Home Assistant, and Networking.
中文介绍 这是一份全面的自托管指南,涵盖了在本地或私有服务器上自行托管和管理软件应用的知识,包括云服务、大语言模型、WireGuard、自动化等主题,适合系统管理员和技术爱好者。
C# · ★ 3,684 · 🍴 161 · 📈 340 stars today
Free, open-source Windows optimization tool for performance, privacy, and simplicity.
中文介绍 OptimizerDuck 是一款免费、开源的Windows系统优化工具。它专注于提升系统性能、增强用户隐私保护并简化操作,为普通用户提供了一种轻量级的系统调整方案。
Python · ★ 6,362 · 🍴 467 · 📈 1,079 stars today
Security scanner for AI agent skills. Detect vulnerabilities, malicious patterns, and security risks.
中文介绍 SkillSpector 是由NVIDIA开发的AI代理技能安全扫描器。它能检测AI技能中的安全漏洞、恶意模式和潜在风险,旨在提升AI代理在执行复杂任务时的安全性和可靠性。
Python · ★ 30,275 · 🍴 5,194 · 📈 396 stars today
Kronos: A Foundation Model for the Language of Financial Markets
中文介绍 Kronos 是一个针对金融市场语言的基础模型。它旨在理解和处理金融领域的文本数据,可能应用于市场情绪分析、信息提取等任务,服务于金融分析师和量化开发者。
@satyanadella · 5.9M 粉丝 · 1.9M 阅 · 3.5K 赞 · 541 转
I’ve been thinking a lot about the future of the firm in an AI-driven economy. This transition is different than any previous platform shift. In the past, we used digital systems to enhance human
中文介绍 微软CEO探讨AI驱动经济下公司的未来,强调生态系统稳定性对前沿技术至关重要,指出这次平台转变不同于以往,需重新思考组织架构。
@BradGroux · 5.9K 粉丝 · 714.6K 阅 · 1.0K 赞 · 638 转
Most people still use coding agents like fancy autocomplete or a one-shot chat box. That leaves a lot of value on the table. The better pattern is to treat Codex like a durable operating loop:
中文介绍 分享将Codex编程代理视为持久运行循环的优化模式,而非一次性聊天框,能释放更多价值,关键工具:Codex,价值在于提升AI编程效率的工作流建议。
@Fintech03 · 34.9K 粉丝 · 438.8K 阅 · 501 赞 · 137 转
The critique that Indian IT services (the classic TCS, Infosys, Wipro, HCL cohort) are failing India in the current generative AI race is an incredibly popular talking point. It is easy to look at the
中文介绍 反驳印度IT服务在生成式AI竞赛中失败的批评,指出TCS、Infosys等从未旨在构建类似ChatGPT,而是专注企业服务,澄清行业误解。
@AnthonyNAguirre · 4.2K 粉丝 · 232.1K 阅 · 527 赞 · 38 转
I've been getting really bothered lately by something subtle but quite dangerous that I believe is currently going on and promises to get worse: Large numbers of very smart, capable, and important
中文介绍 表达对当前微妙但危险现象的担忧,涉及大量聪明、有能力的人可能被影响,预示问题加剧,属于社会警示,关注AI相关风险。
@matanSF · 20.2K 粉丝 · 123.1K 阅 · 529 赞 · 60 转
In 2023, we launched Factory with the mission to bring autonomy to software engineering. While others were using models to speed up coding, we set out to deploy autonomous Droids across the
中文介绍 介绍Factory 2.0,从编程代理升级到软件工厂,部署自主Droids实现软件工程自主化,关键工具:Factory、Droids,展示自动化新阶段。
@omarsar0 · 307.3K 粉丝 · 81.2K 阅 · 518 赞 · 66 转
Autonomous coding is moving from better prompting to better control systems. The important shift is that engineers are learning how to wrap agents in goals, evaluators, loops, and artifacts that let
中文介绍 指出自主编程代理正从优化提示转向优化控制系统,工程师学会用目标、评估器和循环包装代理,关键概念:自主编程、控制循环,分析技术趋势。
@AndrewCurran_ · 53.9K 粉丝 · 62.8K 阅 · 569 赞 · 61 转
If you used Fable while it was available, you know it is special in ways that will not show up on benchmarks. I post benchmarks all the time because they matter to many people, but for a long time
中文介绍 分享对Fable工具的体验,强调其独特价值不体现在基准测试中,呼吁关注实用性而非数字,关键工具:Fable,批评基准测试局限性。
@addyosmani · 400.1K 粉丝 · 52.9K 阅 · 522 赞 · 41 转
Coding agents are extraordinarily good now and getting better fast. The interesting consequence is that the hard part of engineering moved from writing code to deciding whether to trust it, which
中文介绍 观察到编程代理能力提升后,工程难点从写代码转移到决定是否信任代码,引发代理代码审查需求,关键概念:代理代码审查、信任,讨论行业挑战。
@unicity_labs · 125.6K 粉丝 · 47.6K 阅 · 534 赞 · 659 转
Programmatic agent usage moves onto a separate metered credit today. Here is what changes, and the controls we are building into AstridOS to manage it. What changed today Today, 15 June 2026,
中文介绍 说明Claude Agent SDK从2026年6月15日开始单独计费,并介绍AstridOS中的管理控制,关键工具:Claude、Agent SDK、AstridOS,产品更新影响开发者。
@zaimiri · 54.4K 粉丝 · 46.9K 阅 · 508 赞 · 48 转
Most people try to build their AI setup in one chaotic weekend. They install ten tools. Connect five APIs. Create a few automations. Add a giant system prompt. Then wonder why the whole thing feels
中文介绍 提供7天Hermes设置完整指南,反对在周末混乱构建AI设置,主张结构化方法,关键概念:Hermes设置、7天指南,实用教程帮助有序搭建环境。
@Dimillian · 51.8K 粉丝 · 38.2K 阅 · 558 赞 · 37 转
How to turn your phone into a Codex control center?? At first glance, it looks like a way to check on a Codex task from your phone. That is useful, but it misses the bigger idea. The power of Codex
中文介绍 介绍如何将手机作为Codex移动控制中心,不仅检查任务,更能进行工程管理,关键工具:Codex移动版,教程扩展Codex使用场景。
This story originally appeared in The Algorithm, our weekly newsletter on AI. To get stories like this in your inbox first, sign up here. When I landed in Seoul after a grueling 12-hour flight from San Francisco, I walked through an unmanned immigration checkpoint, where a machine scanned my face an
中文介绍 文章探讨韩国人对人工智能的热情,以首尔机场的无人值守移民检查站为例,展示AI在韩国的广泛应用场景。
中文介绍 新闻标题提及Anthropic Fable关闭、GLM-5.2发布和OpenRouter Fusion,但具体细节未提供。
OpenAI launches the Partner Network, investing $150M to help global partners accelerate enterprise AI adoption, deployment, and transformation.
中文介绍 OpenAI推出合作伙伴网络,投资1.5亿美元,旨在帮助全球合作伙伴加速企业人工智能的采用、部署和转型。
We are in the strangest timeline.
中文介绍 Fable和Mythos人工智能模型被正式认定为过于危险而无法发布,评论称当前时间线异常。
中文介绍 Hugging Face博客介绍olmo-eval工具,用于模型开发循环的评估工作台。
OpenAI introduces three Academy courses that help people build practical AI skills, create repeatable workflows, and apply agents in everyday work.
中文介绍 OpenAI推出三门学院课程,帮助人们掌握实用人工智能技能,建立可重复工作流程,并在日常工作中应用智能代理。
a quiet day lets us highlight a great concept from Peter Steinberger, Boris Cherny, and Andrej Karpathy
中文介绍 文章介绍Loopcraft概念,由Peter Steinberger、Boris Cherny和Andrej Karpathy提出,探讨堆叠循环的艺术。
Preply uses OpenAI to launch AI-generated lesson summaries, providing personalised feedback and language learning exercises.
中文介绍 Preply结合人工智能与人工导师,利用OpenAI技术发布AI生成课程摘要,提供个性化反馈和语言学习练习。
中文介绍 新闻标题涉及OpenAI收购Ona、Anthropic政策回撤以及小米的MiMo代码,但具体内容未提供。
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 谷歌DeepMind资助研究数百万人工智能代理在线互动的潜在危险,其AGI安全与对齐研究负责人Rohin Shah指出代理大规模市场到来可能带来风险。
a quiet day lets us reflect on a great essay
中文介绍 文章反思Sarah Guo关于开放模型、模型实验室与代理实验室以及不可训练内容的见解。
Learn how BBVA scaled ChatGPT Enterprise to 100,000 employees and partnered with OpenAI to accelerate AI-powered banking transformation worldwide.
中文介绍 BBVA将人工智能置于银行业核心,与OpenAI合作,将ChatGPT企业版扩展到10万名员工,以加速全球银行的人工智能驱动转型。
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.
中文介绍 天体物理学家Chi-kwan Chan利用OpenAI的Codex工具构建黑洞模拟,协助科学家研究极端物理现象并检验爱因斯坦的广义相对论。
OpenAI plans to acquire Ona to expand Codex with secure, persistent cloud environments, enabling long-running AI agents across enterprise workflows.
中文介绍 OpenAI计划收购Ona,旨在通过安全持久的云环境扩展Codex功能,支持企业工作流中的长期运行人工智能代理。
OpenAI supports the EU Code of Practice on AI content transparency, advancing provenance standards and tools to help people understand AI-generated content.
中文介绍 OpenAI支持欧盟在确保可信人工智能生态系统方面的工作,参与欧盟AI内容透明度实践准则,推动溯源标准和工具以帮助公众理解AI生成内容。
第一作者: Jianzhe Lin · 方向: 安全研究
视觉语言模型自改进验证器任务特异性回归
Abstract:Verifier-driven self-DPO is a common recipe for self-improving production visual-language models. In this setup, a frozen verifier scores candidate generations, the top- and bottom-scoring candidates form a preference example, and DPO updates the learner. The deployment-time assumption is monotone: a stronger verifier should yield a stronger student. We show that this assumption can fail because verifier quality is highly task-specific. On a four-rung open-source verifier ladder across MathVista, MMMU, and BLINK, the same verifiers that are above-threshold and improve a Qwen-3-VL-2B student on MathVista become sub-threshold on MMMU, where their task-rubric accuracy drops to 8% to 23%. In this regime, every verifier we tested silently regresses the student, producing drops of 3.4 to 10.9 percentage points below the frozen baseline while the DPO training loss continues to...
论文介绍 本文探讨了使用验证器驱动的自监督改进方法(如自DPO)提升视觉语言模型时,验证器质量对任务的高度特异性可能导致性能反向退化的问题。研究通过在不同基准上构建验证器阶梯并进行实验,表明在特定任务上表现不佳的验证器会引导学生模型性能下降,挑战了“更强验证器总能带来更强模型”的部署假设。
第一作者: Ralf Gundelach · 方向: 网络安全
Bot检测网络测量浏览器自动化样本丢失隐私安全
Browser automation frameworks are essential tools for security and privacy research on the web, yet bot detection scripts increasingly probe their artifacts, threatening measurement validity as automated browsers may be blocked or served different content. Prior work measures detection deployment, while we measure blocking-induced sample loss. Through a literature survey of top-tier security, privacy, and web measurement venues, we find that 83% of papers omit any discussion of bot detection blocking. To address this gap, we conduct a measurement study of 10,000 websites across four browser configurations (40K page visits in total) to quantify detection prevalence and employed techniques. Using custom instrumentation to detect when sites probe for automation, we develop a taxonomy of bot detection techniques and measure how often they appear in practice. Chromium headless encounters a...
论文介绍 本文研究了网站Bot检测机制对网络测量研究有效性的影响。通过文献综述和大规模测量,作者发现绝大多数研究忽略了Bot检测导致的样本丢失问题。他们针对1万个网站进行了测量,量化了不同浏览器配置下检测技术的普遍性,揭示了自动化研究中数据收集所面临的挑战。
第一作者: Yuguang Zhou · 方向: AI 安全
LLM保护机制拒绝服务攻击推理循环AI安全自主代理
Abstract:LLM-based guardrails have emerged as a highly effective defense against prompt injection and jailbreak attacks in autonomous agents. However, we reveal that the very reasoning and task-following capabilities enabling this protection introduce a novel vulnerability: attackers can inject crafted data to trap the guardrail in extended reasoning loops, effectuating a systematic denial-of-service (DoS) attack. To systematically expose this threat, we design a beam-search optimization framework that crafts natural-language payloads to maximize guardrail reasoning length, utilizing an LLM proposer guided by a strategy bank. Based on the observation of guardrail's schema-following nature, we also provide another attack framework driven by mechanism-aware structural mutations with less computational load. The attack efficacy is systematically evaluated in two parts. First, in...
论文介绍 本文揭示了基于LLM的智能体保护机制的一个新漏洞:攻击者可通过注入特定数据,诱使保护机制陷入冗长的推理循环,从而对其发动拒绝服务攻击。研究设计了一种优化框架来生成此类攻击载荷,并在实验中验证了攻击的有效性,这凸显了为AI安全设计鲁棒防御机制时需考虑的新威胁。
第一作者: Taym Alshoghri · 方向: 密码学协议
医疗物联网后量子密码学联邦学习边缘计算数据隐私
Internet of Medical Things (IoMT) devices operate under strict resource constraints while handling highly sensitive health data, making security and privacy critical concerns. Federated learning (FL) further complicates this landscape, as model updates exchanged during training may unintentionally expose private medical information. Emerging quantum computing capabilities threaten the long-term viability of conventional lightweight cryptographic mechanisms, motivating the integration of Post-Quantum Cryptography (PQC) into IoMT systems. This article discusses key enabling technologies for quantum-resilient IoMT, including post-quantum key establishment, lightweight encryption, and edge-native orchestration. We propose a scalable Kubernetes-based framework that integrates PQC into FL-enabled IoMT environments and validate it on a Raspberry Pi testbed. Results demonstrate that...
论文介绍 本文探讨了如何为资源受限的医疗物联网设备提供量子计算威胁下的安全与隐私保护。研究提出了一种将后量子密码学集成到联邦学习框架中的可扩展方案,并基于树莓派测试床进行了验证。该工作旨在为构建能够抵御未来量子计算攻击的医疗物联网系统提供技术参考。
第一作者: Jacob Huckelberry · 方向: AI 安全
TinyML量化神经网络硬件安全对抗攻击攻击向量
Abstract:Most TinyML hardware accelerators focus on supporting Quantized Neural Networks (QNNs) to meet stringent constraints on power consumption and size. Despite this, the security aspects of quantization within TinyML hardware remain largely unexplored. Although previous studies indicate that QNNs demonstrate similar or enhanced robustness when compared to full-precision Deep Neural Networks (DNNs) against typical evasion attacks, no attack strategies tailored specifically for TinyML hardware have been proposed yet. This paper addresses this shortfall by demonstrating how a two-step attack pipeline can surpass the current state-of-the-art in the QNN context and shows the need for more hardware-aware security research.
论文介绍 本文指出了TinyML硬件中量化神经网络的安全性研究不足,并提出了一种针对硬件特性的两步攻击策略。研究表明,量化神经网络对针对TinyML硬件的特定攻击可能比预期更为脆弱,强调了在资源受限的嵌入式AI系统中需要进行领域特定的安全分析。
第一作者: Vijay Banerjee · 方向: 系统安全
实时系统安全开销弱硬实时网络物理系统权衡分析
In contemporary IoT edge devices with real-time requirements, security is primarily enforced through design-time parameters associated with security tasks, leading to mechanisms that operate in an \emph{opportunistic} manner. As a result, security checks are often performed as secondary operations. This approach can result in systems where no security tasks are executed due to high utilization by other tasks. An alternative approach taken in prior work is to add security mechanisms to every task in the system, resulting in substantially lower performance than that of a system with no security. These approaches have resulted in an \emph{all-or-nothing} scenario for edge device security, motivating numerous studies on the safety-security trade-off in real-time cyber-physical systems (RT-CPS). This study introduces an analytical framework -- REPOSE -- for evaluating the security...
论文介绍 针对物联网边缘设备中实时性与安全性的权衡难题,本文提出了一个分析框架REPOSE。该框架旨在量化评估在弱硬实时约束下,集成到任务调度中的安全机制所带来的性能开销,帮助设计者更精细地评估和优化系统的安全-性能平衡,避免“全有或全无”的极端情况。
第一作者: Fengyu Liu · 方向: 网络安全
网络安全AI基准测试网络靶场自主攻击多主机环境
Abstract:Frontier AI systems are increasingly capable of cybersecurity tasks, including codebase inspection, vulnerability detection, and exploitation. However, evaluating their offensive capabilities remains constrained by limited access to open, reproducible, multi-host cyber ranges. Existing public benchmarks capture isolated skills such as CTF solving, vulnerability reproduction, and exploit generation, but often abstract away realistic intrusion workflows: discovering exposed services, gaining a foothold, collecting internal information, and expanding compromise across hosts. This gap makes it difficult to observe emerging risks early, because frontier AI systems are rarely evaluated under realistic attack conditions. We introduce AgentCyberRange, the first open, multi-range infrastructure for measuring autonomous cyber attack capability in realistic cyber ranges. It combines 110...
论文介绍 为评估前沿AI系统的网络攻击能力,本文介绍了AgentCyberRange,一个首个开放的、基于真实网络靶场的多主机评估基础设施。它包含110个挑战任务,模拟了从服务发现到横向移动的完整攻击链,旨在弥补现有基准在反映真实攻击工作流方面的不足。
第一作者: Srijita Basu · 方向: 软件安全
软件安全代理工作流漏洞处理大语言模型角色分工
Abstract:Secure software engineering in practice is a multi-stage workflow involving vulnerability analysis, remediation, and fix verification. However, current LLM-based software security approaches often focus on isolated tasks such as detection or patch generation, with limited attention to agentic architectures reflecting industrial workflow. This creates a gap between existing LLM-based vulnerability-handling methods and real-world practices. In this paper, we study a role-based agentic workflow for vulnerability analysis and mitigation consisting of Planner, Analyzer, Fixer, and Verifier roles. To explore the effect of static analysis tool, the analyzer agent was integrated with the CodeQL in one of the workflows. The models used include nemotron-cascade-2:30b, qwen3-coder-next, and gpt-oss:120b. Our evaluation uses 25 real-world C/C++ vulnerabilities. The study reports 44%...
论文介绍 本文探索了使用基于角色的LLM代理工作流来自动化软件安全中的漏洞处理全流程,包括分析、修复和验证。研究比较了不同角色代理(规划、分析、修复、验证)的协作效果,并评估了集成静态分析工具的影响,为构建更贴近工业实践的AI辅助安全开发工具提供了思路。
第一作者: Zixuan Gu · 方向: AI 安全
分裂学习数据泄露大语言模型隐私保护模型反转攻击
Large language models (LLMs) are increasingly deployed in privacy-sensitive domains, where users must balance the risk of data exposure through external APIs against the high computational cost of local deployment. Split learning has therefore emerged as a promising paradigm for LLM fine-tuning and inference under limited local resources. However, it introduces new privacy risks. Prior work primarily studies leakage of private input prompts, typically via inversion attacks on intermediate representations, while the potential for sensitive information leakage through generative response outputs remains largely unexplored. In this work, we unveil novel vulnerabilities of Split-LLM by presenting Patched Model Inversion with Dual-Sided Initialization (PIDI), a two-stage attack that simultaneously targets both private input prompts and output responses in Split-LLM settings. It combines...
论文介绍 该研究关注分裂大语言模型中的隐私风险,提出PIDI攻击方法,能同时针对输入提示和输出响应进行数据泄露,揭示了新的安全漏洞。这有助于理解分裂学习场景下的隐私威胁,并为防御机制设计提供参考。
第一作者: Abdelmonim Naway · 方向: 安全研究
移动银行应用安全评估静态应用安全测试OWASP标准漏洞分析
Abstract:The rapid digitalization of the Sudanese financial sector has precipitated a surge in Mobile Banking Applications (MBAs); however, this growth has frequently outpaced rigorous security auditing. This study provides a comprehensive technical audit of the four most widely used Sudanese MBAs( Bankak, Fawry, Okash, and Sahil )collectively serving a user base of over 1.6 million. Utilizing Static Application Security Testing (SAST) via the Mobile Security Framework (MobSF) and Quixxi, the applications were evaluated against the OWASP Mobile Application Security Verification Standard (MASVS). Findings were mapped to Common Weakness Enumeration (CWE) identifiers to identify systemic vulnerabilities. Analysis revealed critical disparities in security posture. Bankak, the market leader, exhibited the highest risk profile (12 vulnerabilities), including a critical absence of SSL...
论文介绍 研究对苏丹四款主流移动银行应用进行安全审计,使用静态测试工具基于OWASP MASVS标准评估,识别出系统性漏洞,如SSL缺失。这为移动金融应用的安全改进提供了实际依据。
第一作者: Youngduk Kim · 方向: 软件安全
LLM代理技能跨模态攻击语言与代码安全基准防御策略
Abstract:Large language model (LLM) agents increasingly extend their capabilities at runtime by loading Agent Skills, which pair natural-language specifications (this http URL) with executable scripts and resources. Because a skill's behavior relies on both natural-language instructions and executable code, assessing its safety requires cross-modal reasoning, creating a new language-and-code attack surface. Attackers can present a benign workflow in this http URL while embedding implicit directives that steer the agent to exfiltrate sensitive files, even if the scripts appear harmless. This attack surface remains understudied; prior work treats skills merely as prompt-injection vectors or static code artifacts, leaving attacks emerging from cross-modal interactions largely unmeasured. In our evaluation, open-source and commercial skill scanners detect only 2%-8% and 9%-17% of such...
论文介绍 该研究针对LLM代理技能的语言与代码跨模态攻击,提出SkillMutator基准来评估安全风险,并指出现有检测工具不足。这为代理技能的安全评估和防御机制开发提供了新框架。
第一作者: Stuti Kumari · 方向: 密码学协议
分层身份基签名指定聚合器格密码签名聚合后量子安全
Abstract:In hierarchical organizations, authenticating data from multiple users can be complex and resource-intensive. Hierarchical Identity-Based Signature with Designated Aggregator (HIBS-DA) provides an efficient solution by allowing users at different levels to generate signatures that can be combined into a single, compact signature. We first introduce the HIBS-DA framework and present the {\em{first}} lattice-based construction of HIBS-DA. Our scheme allows users at different hierarchical levels to generate individual signatures that can be aggregated into a single, compact signature, reducing communication and verification costs. The proposed construction is secure, correct, and resistant to forgery, making it suitable for large-scale environments such as universities, corporations, and government agencies.
论文介绍 研究提出基于格的HIBS-DA方案,允许分层组织中用户生成签名并聚合成单一签名,降低通信和验证成本。该方案具有抗伪造性,适用于大规模环境,提供后量子安全保护。
第一作者: Zixin Wang · 方向: 软件安全
软件供应链安全npm依赖网络中心性保护无标度网络防御策略
Abstract:The modern software supply chain, taking Node Package Manager (npm) dependency network for example, relies heavily on shared open-source dependencies. While this promotes rapid development, it introduces systemic vulnerabilities as well. Concerning this potential risk, we analyze the npm dependency network by modeling 53,481 packages and 78,520 dependency edges, and classify the network as a scale-free topology. Thus, we demonstrate its inherent vulnerability to targeted attacks on high-degree hubs. To mitigate this, we propose and evaluate a dual-pronged defense strategy consisting of Centrality-Based Node-Hardening and Dependency Weight Warning system. Moreover, by simulating the network under various attack scenarios, we prove that applying strict security protocols to just the top 1% of nodes, combined with pruning 30% of structurally trivial edges, prevents catastrophic...
论文介绍 研究分析npm依赖网络的无标度拓扑,揭示其易受针对高度中心节点攻击的漏洞。提出基于中心性的节点加固和依赖权重警告双重防御策略,以提高供应链安全性。
第一作者: Xilong Wang · 方向: 网络安全
代理浏览器同源策略跨源数据流安全基准防御机制
Abstract:Agentic browsers integrate autonomous AI agents into web browsers, enabling users to accomplish web tasks through natural-language instructions. The same-origin policy (SOP) is a fundamental browser security mechanism that prevents unauthorized automated cross-origin data flows induced by scripts. However, whether SOP remains effective in agentic browsers is an open question that has not been systematically studied. In this work, we bridge this gap. We first observe that an agentic browser can itself serve as an automated channel for cross-origin data flows, potentially leading to SOP violations. To investigate this phenomenon, we construct SOPBench, a benchmark for evaluating SOP violations in agentic browsers. Our evaluation shows that existing agentic browsers frequently violate SOP, both in benign settings and under attacks. To address this problem, we propose SOPGuard, an...
论文介绍 研究探讨代理浏览器中同源策略的有效性,构建SOPBench基准评估SOP违规,并提出SOPGuard防御方案。这揭示了代理浏览器的安全风险,为浏览器安全机制改进提供参考。
第一作者: Abel C. H. Chen · 方向: 密码学协议
车载通信安全凭证管理混合证书后量子密码隐私保护
Abstract:In recent years, the Institute of Electrical and Electronics Engineers (IEEE) and the European Telecommunications Standards Institute (ETSI) have developed a series of security communication standards for vehicular communications. These standards include mechanisms such as the Security Credential Management System (SCMS) and Butterfly Key Expansion (BKE) to protect vehicle privacy. However, these standards are mainly based on the Elliptic-Curve Cryptography (ECC), which may be vulnerable to attacks from quantum computing in the future. In response to this potential risk, this study proposes a hybrid certificate that combines the ECC with Post-Quantum Cryptography (PQC). This approach enables infrastructure systems to be built on cryptographic foundations that are more resilient to quantum-based attacks. Furthermore, this study presents a generalized pseudonym scheme that is...
论文介绍 研究针对车载通信标准基于ECC的量子计算风险,提出结合ECC和PQC的混合证书,并设计广义假名方案用于SCMS。这增强了系统的量子抗性,保护车辆隐私。
第一作者: Vikhyath Kothamasu · 方向: AI 安全
LLM代理安全分解攻击安全基准DeCompBench对抗滥用
Abstract:LLM-based Agents are becoming increasingly capable and widely deployed, creating growing incentives for adversarial misuse in the real-world. A key emerging threat is Decomposition Attacks \cite{glukhov2024breach, jones2024adversaries} in which a harmful task is broken into simpler, benign subtasks that evade safety mechanisms when executed separately but cumulatively fulfill the malicious intent. Although recent benchmarks assess agent safety in multi-turn and multi-tool-use settings, they do not explicitly capture this form of decompositional misuse and may not represent realistic adversarial execution flows. To this end, we introduce DeCompBench, a benchmark designed specifically to evaluate agentic safety under decomposition attacks. DeCompBench is created with a decomposition-by-design principle using a graphical framework and enables harmful task decomposition into...
论文介绍 研究引入DeCompBench基准,专门评估LLM代理在分解攻击下的安全性,其中有害任务被拆分为良性子任务以规避安全机制。这为代理安全研究提供了新工具,促进防御策略开发。
第一作者: Faruk Alpay · 方向: 系统安全
环境释放系统合唱掩蔽迹不可区分性有限证书微积分安全验证
This paper develops a finite certificate calculus for ambient release systems, staged probabilistic environments in which a protected coordinate is not observed directly but can remain statistically readable through visible roles, timing, repeated movement, bounded attention, linked rooms, and post-release state. The security notion, choric masking, requires the trace law induced by a protected locus to lie inside or near the convex hull of admissible cover traces under the tests available to a specified audience. For finite horizons, trace laws form polytopes, audiences induce measurement operators, and masking becomes intersection in the projected measurement space. Exposure is certified by separating hyperplanes, kernel obstructions, hypothesis-testing bounds, Fano-type localization lower bounds, and support separation in downstream rooms. The calculus distinguishes trace residue...
论文介绍 本文研究环境释放系统中的合唱掩蔽问题,旨在使敏感坐标在有限观众下保持统计不可读。核心方法是发展有限证书微积分,将迹定律视为多面体,通过测量算子投影,使用分离超平面等技术认证暴露。可能应用于隐私保护系统设计。
第一作者: Abhishek Reddypalle · 方向: 软件安全
软件供应链软件物料清单(SBOM)软件暗物质文件系统分析安全透明度
Abstract:Modern software supply chains have evolved into vast, heterogeneous networks where transparency - the granular understanding of all software components - is now a critical security requirement. While Software Bills of Materials (SBOMs) have emerged as the primary mechanism for this transparency, current industry practices rely on a metadata-centric paradigm that assumes an artifact is defined solely by its package manager declarations. We posit that this assumption is fundamentally flawed, creating a systemic visibility gap we define as Software Dark Matter (SDM). SDM represents the set of security-critical files present in an artifact's filesystem that are unaccounted for by its associated metadata. We implement a reference tool, DARKFILES, and use it to analyze four ecosystems of disjoint nature: DockerHub, Maven Central, plugin/extension marketplaces (Jenkins plugins and...
论文介绍 本文指出当前软件物料清单(SBOM)实践依赖元数据,导致安全关键文件存在可见性缺口,定义为「软件暗物质」。通过实现DARKFILES工具分析生态系统,揭示未被记录的文件。意义在于提升软件供应链的透明度和安全。
第一作者: Eric Yocam · 方向: 系统安全
侧信道攻击3D打印机主动电机噪声消除(AMNC)声学攻击振动泄露
Abstract:Active Motor Noise Cancellation (AMNC) ships in commercial fused deposition modeling (FDM) 3D printers as a hardware countermeasure against acoustic side-channel attacks that target intellectual property (IP). We present the first empirical evaluation of a deployed AMNC countermeasure, using a public dataset of synchronized acoustic and vibration recordings from two AMNC-equipped Bambu Lab printers across 12 object classes. AMNC fully neutralizes the acoustic channel: classification accuracy is indistinguishable from the 8.33% random baseline. The vibration channel, which AMNC does not target, still leaks. With summary statistics the leak is coarse and amplitude-driven (vibration accuracy approximately 31% pooled, 36-47% within-printer), while the waveform shape carries essentially nothing (frequency-only features at chance). A full-sequence temporal model that ingests the...
论文介绍 本文首次实证评估商用3D打印机中的主动电机噪声消除(AMNC)防护效果,针对声学侧信道攻击。研究发现AMNC完全中和声学通道,但振动通道仍泄露信息,通过摘要统计可部分分类。揭示AMNC的局限性,强调振动侧信道的安全风险。
第一作者: Sarah Allen · 方向: 区块链安全
人工智能区块链加密技术综述交叉研究
Abstract:The intersection of crypto x AI is spawning papers, products, online posts, and companies. All the surrounding buzz, though, obscures what exactly has been done, what the opportunities and challenges are, and what open questions deserve attention. This survey paper asks what AI can do for blockchain-based technologies (broadly construed as "crypto") (crypto x AI), and vice versa (AI x crypto). We systematize existing work, summarize key takeaways, highlight open research questions, and offer a perspective on pervasive industry misconceptions, concluding that AI and crypto are still in the very early stages of meaningful integration.
论文介绍 本文综述人工智能与区块链技术的交叉领域,系统化现有研究,探讨AI如何赋能区块链及反向影响。总结关键点并指出两者仍处于早期整合阶段,澄清行业误解。为跨领域研究提供系统视角和开放问题。
第一作者: Calvin Deutschbein · 方向: 软件安全
硬件安全RTL跟踪数据科学云就绪程序验证
Abstract:Hardware Security at Willamette is a Willamette University affiliated research group studying the hardware-software interface of security critical services. Within our program, we noticed many researchers spent considerable development time learning to understand and manually parse traces-of-execution of hardware designs which are used to identifying whether vulnerabilities or weaknesses arise at the hardware, software, or interface level. We propose the "RTL-Arrow" framework, a framework to compile performant binaries which bridge the hardware/data divide. We translate the outputs of simulated hardware execution, as "value change dumps" into modern data science workflows as cloud-ready "dataframes", to standardize program verification across the hardware and software levels. We describe our approach, its benefits, and lessons learned from the process of packaging and...
论文介绍 本文针对硬件安全研究中手动解析执行跟踪耗时且易错的问题,提出RTL-Arrow框架。该框架将值变化转储(VCD)编译为云就绪数据帧,桥接硬件数据鸿沟,支持数据科学工作流。可能标准化硬件和软件级别的程序验证。
第一作者: Calvin Deutschbein · 方向: 软件安全
信息流跟踪RTL迹安全验证属性挖掘硬件设计
Security validation is an important yet challenging part of the hardware design process, yet, by convention, validation engineers are tasked with defining the threat model, specifying the relevant security properties, detecting any violations of those properties, and assessing the consequences to system security, each of which is manually intensive and may introduce errors. The combined technologies of information flow tracking and specification mining represent an automated approach to property generation and validation, but prior work on information flow tracking on RTL trace data was limited to find cases under which information flowed between registers, without reproducing full paths to capture how sensitive information propagates through a design. With the introduction of new technologies accelerating hardware analysis, we develop a novel approach for constructing information flow...
论文介绍 本文开发新方法从RTL迹数据构建信息流路径,用于硬件安全验证的自动化属性生成和验证。结合信息流跟踪和规范挖掘,解决传统方法中属性手动定义易错的问题。可能提高硬件设计安全验证的准确性和效率。
第一作者: Mahdi Manavi · 方向: 网络安全
物联网访问控制区块链Hyperledger Fabric风险自适应
Abstract:Securing access control in large-scale Internet of Things (IoT) deployments requires mechanisms that adapt to risk while preserving low latency for benign traffic. Permissioned blockchains such as Hyperledger Fabric offer auditability through smart contracts, but static endorsement policies impose the same validation depth on all requests, regardless of security posture. We propose a risk-adaptive enforcement layer for Hyperledger Fabric that couples an off-chain LSTM-based risk oracle with deterministic on-chain checks. The oracle assigns each request to a tier (Low, Moderate, High) and issues a signed attestation bound to the client identity and target key/version. Endorsing peers verify the attestation in chaincode and enforce tier-conditioned SBE policies without modifying the ordering service or consensus. Experiments on a Fabric testbed show that tier-conditioned...
论文介绍 本文为物联网提出基于区块链的风险自适应访问控制,利用Hyperledger Fabric和链下LSTM风险预言机。通过分层策略自适应安全需求,实验显示能平衡安全与性能。意义在于提升物联网访问控制的智能化和灵活性。
第一作者: Rui Melo · 方向: 软件安全
社会工程学代码审查大语言模型(LLM)安全基准漏洞利用
Large language model (LLM) reviewers are increasingly used in pull-request (PR) workflows, where their approvals help decide which code is merged into a repository. This raises a question that benchmarks for static vulnerability detection or code generation do not address: can an automated reviewer reject a malicious contribution when the attacker controls both the code change and the accompanying PR text? We introduce SEVRA-BENCH (Social Engineering of Vulnerabilities in Review Agents), a benchmark that measures how often an automated reviewer approves such adversarial pull requests. Each malicious PR in SEVRA-BENCH is built from a real project commit that previously fixed a vulnerability listed in the Common Vulnerabilities and Exposures (CVE) database. We automatically invert that fix to restore the original vulnerable code and submit it as a pull request wrapped in one of 15...
论文介绍 本文针对大语言模型(LLM)在代码审查中的使用,提出SEVRA-BENCH基准来测量其批准恶意拉取请求的频率。基于CVE漏洞构建对抗性PR,评估自动化审查者的安全性。可能揭示LLM审查的漏洞并推动改进。
第一作者: Jianwei Wang · 方向: 安全研究
流式护栏未来感知推理安全对齐优化过度拒绝越狱攻击
Stream guardrails enable token-level safety detection before full responses are generated. However, they often make overly conservative judgements and block those sensitive but safe tokens, which is known as over-refusal. Due to lack of full context, they also fail to detect implicitly harmful content from jailbreaking. To address these challenges, we propose FreoStream, a novel streaming guardrail framework. Specifically, FreoStream fine-tunes a LoRA module to perform Future-Aware Reasoning when the base guardrail detects unsafe tokens. The reasoning process follows a Future-Reason-Judge paradigm: predict the future, reason about the full context and give the final judgement. This design can effectively reduce over-refusal by incorporating the future information. Moreover, we introduce the Safety-Aligned Optimization module that extracts the safety-aligned component from the reasoning...
论文介绍 针对流式护栏在AI安全中因缺乏完整上下文而产生的过度拒绝和越狱攻击检测不足问题,本文提出FreoStream框架。核心方法包括利用LoRA模块进行未来感知推理,遵循未来-推理-判断范式预测未来上下文,并引入安全对齐优化模块。该设计旨在减少误报,提高token级安全检测的准确性和效率。
第一作者: Shawn M. Reynolds · 方向: 软件安全
区块链互操作性安全威胁分类攻击对策智能合约漏洞跨链安全
Abstract:Blockchain interoperability enables independent blockchain systems to communicate and exchange assets across heterogeneous networks. However, the lack of comprehensive security mechanisms remains a critical weakness -- one that attackers have already exploited to cause hundreds of millions of dollars in asset losses. This paper presents a systematic identification and classification of security threats facing interoperable blockchain systems, along with corresponding countermeasures for each. We organize threats into five categories: (1) core blockchain attacks, (2) network attacks, (3) interoperability-specific attacks, (4) social engineering, and (5) code vulnerabilities, with particular attention to smart contract weaknesses. For each identified threat, we analyze its attack surface and propose effective defensive strategies. The resulting taxonomy provides a structured...
论文介绍 本文系统识别和分类区块链互操作性中的安全威胁,将其组织为核心区块链攻击、网络攻击、互操作性特定攻击、社会工程和代码漏洞五类。针对每类威胁分析攻击面并提出防御策略,为增强跨链系统的安全性提供结构化指导。
第一作者: Luca Ferrari · 方向: 软件安全
大型语言模型代码混淆检测Android安全语义推理实证研究
Abstract:Android applications (apps) developers increasingly rely on code obfuscation techniques to hinder reverse engineering and protect intellectual property. However, obfuscation also reduces the effectiveness of static analysis and vulnerability detection tools, creating challenges for Android security analysis. Existing approaches for detecting obfuscation in Android apps predominantly rely on handcrafted heuristics, engineered features, or task-specific learning pipelines, which may struggle to generalize across evolving obfuscation strategies. This paper presents a large-scale empirical study investigating the capability of Large Language Models (LLMs) to detect obfuscation in Android apps through semantic reasoning. Our study evaluates whether off-the-shelf LLMs can identify obfuscated code without relying on handcrafted rules, predefined signatures, or dedicated model...
论文介绍 本文进行大规模实证研究,评估大型语言模型通过语义推理检测Android应用中代码混淆的能力。研究旨在解决现有方法依赖手工启发式规则的问题,探索LLMs在无预定义规则下的检测潜力,以提高安全分析工具的泛化性。
第一作者: Ruixiang Qian · 方向: 软件安全
模糊测试变异测试大型语言模型测试预言机增强自动化测试
Fuzz drivers are essential components of greybox fuzzing, as they encapsulate target interfaces, define test spaces, and largely determine fuzzing effectiveness. Existing fuzz drivers typically rely on crash-based oracles for security testing, overlooking library functionality and limiting bug detection capability. In this paper, we present the first study on metamorphic-based fuzz oracle enhancement (MFOE), which augments existing fuzz drivers with metamorphic-based oracles derived from metamorphic relations (MRs). Since constructing and integrating such oracles requires substantial domain knowledge, automating MFOE is challenging. To address this challenge, we propose MetaFOE, an LLM-based framework that automatically generates and integrates metamorphic-based oracles. We evaluate MetaFOE on OSS-Fuzz drivers using three modern LLMs and five prompt strategies. MetaFOE generates 3,475...
论文介绍 本文提出MetaFOE框架,首次研究利用大型语言模型自动生成和集成变异测试预言机,以增强模糊驱动。该框架从变异关系中派生预言机,弥补传统基于崩溃的预言机的不足,旨在提高模糊测试的bug检测能力和自动化水平。
第一作者: Lom M. Hillah · 方向: 软件安全
贝叶斯校准幻觉包导入检测LLM代码生成风险评估CI门禁
We present a Bayesian calibration layer for slopsquat detectors -- those that flag hallucinated package imports in code produced by large language models (LLMs). Where existing pipelines emit binary decisions (flag / do-not-flag), our layer emits a Beta-posterior probability per detection, derived from a 3-category epistemic taxonomy that explicitly classifies each prior as empirically calibrated, constructively argued, or engineering-judgement-traced. Beyond the primary 200/404 registry channel, the calibrated layer exploits PyPI metadata signals -- package age, release count, author descriptor, summary -- to surface registered-but-suspicious packages that a binary registry detector misses, which is the realistic post-LLM-emission attacker regime. The resulting risk-aware primitive is directly consumable by downstream CI gates and supports principled threshold decisions across...
论文介绍 本文引入贝叶斯校准层,用于检测大型语言模型生成代码中的幻觉包导入。与二元决策不同,该方法提供概率风险评估,利用PyPI元数据信号识别可疑包,支持持续集成中的阈值决策,以增强代码安全性。
第一作者: Jose Luis Lima de Jesus Silva · 方向: AI 安全
多智能体强化学习网络安全响应安全契约约束优化图注意力网络
Abstract:Autonomous network-security response systems promise to reduce Security Operations Centre (SOC) reaction latency, but reward-only multi-agent reinforcement learning (MARL) can improve security reward while remaining non-deployable. We present a safety-contract graph MARL framework and instantiate it as ACD$^3$-GAT (Adaptive Constrained Counterfactual Decisioning with a Graph Attention Network encoder), an architecture that separates simulator observations from reusable operational budgets, constrained optimization, graph state encoding, and counterfactual action screening. We evaluate the method in CAGE Challenge 4, where agents operate under budgets for Mean Time to Recover (MTTR), false-positive response, and firewall change-management disruption. Across the benchmark, every unconstrained method violates the SOC downtime budget in 100% of evaluated episodes, with mean...
论文介绍 本文提出安全契约图多智能体强化学习框架ACD³-GAT,用于自主网络安全响应。该架构在约束优化下管理操作预算,如平均恢复时间和误报率,结合图状态编码和反事实动作筛选,以提高系统的可部署性和实际应用性。
第一作者: Ataberk Olgun · 方向: 安全研究
内存表征DRAM实验室基础设施DRAM Bender内存瓶颈
Abstract:Real memory chip characterization yields insights into fundamental operational characteristics of modern memory, enabling new mechanisms that improve memory performance, robustness, security, and energy efficiency. We describe our large-scale DRAM characterization laboratory for understanding DRAM. A key building block of this laboratory is DRAM Bender, a versatile and easy-to-use modern DRAM characterization infrastructure. We have updated DRAM Bender to i) introduce support for new types of characterization experiments, ii) expand on its DRAM interface standard support, and iii) make it easier to use at large scale. This paper introduces these updates for the first time. We hope our infrastructure enables the community to discover new problems and solve critical memory scaling issues, enabling the overcoming of the huge memory bottleneck that plagues modern computing systems.
论文介绍 本文介绍大规模DRAM表征实验室,更新DRAM Bender工具以支持新类型表征实验、扩展接口标准并提升易用性。该基础设施旨在促进内存研究,帮助社区发现新问题并解决内存瓶颈,以提升计算系统性能。
第一作者: Yue Xu · 方向: 机器人操作 · 来源: cs.RO
自我中心视角机器人学习数据收集残差策略数据效率
Abstract:Robot learning from real-world demonstrations is currently constrained by data scaling. Universal Manipulation Interface (UMI) provides an efficient robot-free data collection interface, yet current UMI-style pipelines often collect redundant demonstrations and lack global scene context. To improve data efficiency, we present EgoGuide, a collection interface that records synchronized wrist and head/egocentric observations and couples them with online visual-geometric data quality guidance. We also introduce a Gated Egocentric Residual Policy for robust learning from a viewpoint-varying egocentric camera, allowing head/egocentric context to correct ambiguous local observations while preserving stable wrist-view control. Real-world experiments show that EgoGuide reduces the required number of data episodes and improves data efficiency. The residual policy further improves...
论文介绍 本文提出EgoGuide接口,通过同步手腕和头部/自我中心视角观察,结合在线视觉几何指导,提高机器人演示数据收集效率。引入门控自我中心残差策略,从变化视角中稳健学习,旨在减少所需数据量并提升学习效果。
第一作者: Yongyan Cao · 方向: 导航与运动 · 来源: cs.RO
全身阻抗MPC物理人机交互浮动基座机器人接触一致控制安全交互
Abstract:Floating-base robots must balance under rigid contact constraints while interacting safely with humans. Existing whole-body control~(WBC) frameworks allocate the full joint space to locomotion or rely on fixed-gain impedance feedback that accumulates steady-state error under sustained physical human--robot interaction~(pHRI) forces. This paper extends the authors' fixed-base two-layer Impedance MPC to floating-base platforms through a three-level architecture: a centroidal MPC plans contact forces over a 500\,ms horizon; a priority-driven WBC layer resolves balance into joint torques through contact-consistent null-space projection; and the residual null space is governed by a receding-horizon quadratic program~(QP) that predicts and rejects pHRI disturbances using a Kalman-augmented state. A contact-consistent feedback linearization reduces the arm end-effector plant to a...
论文介绍 针对浮动基座机器人在物理人机交互中既要保持平衡又要保证交互安全的问题,现有全身控制框架存在局限性。本文提出一种三层架构的全身阻抗模型预测控制方法:通过质心MPC规划接触力,采用优先级驱动的全身控制层进行力矩分配,并利用滚动时域二次规划在残差空间预测与抑制交互扰动。该方法旨在实现安全且稳定的物理交互。
第一作者: Yongyan Cao · 方向: 机器人操作 · 来源: cs.RO
阻抗MPC灵巧手控制扰动估计约束优化安全柔顺操作
Abstract:Dexterous hands must simultaneously track precise finger trajectories and maintain safe, compliant contact -- objectives in tension for any fixed-gain controller. We present an actuator-agnostic Impedance Model Predictive Control (Impedance MPC) framework for dexterous fingers, instantiating the constant-$A_d$ offset-free architecture established for physical human-robot interaction (pHRI); its stability, recursive-feasibility, and input-to-state-stability guarantees are inherited by preserving the architectural assumptions. An algebraic feedforward reduces the tendon transmission -- hydraulic, cable, pneumatic, twisted-string, or series-elastic -- to a constant-coefficient double integrator, so the QP cost inverse is precomputed offline and a 10-step receding-horizon quadratic program runs at 500\,Hz while enforcing hard constraints on contact force (ISO/TS 15066), actuation...
论文介绍 灵巧手控制需同时满足精确轨迹跟踪与安全柔顺接触,这对固定增益控制器构成挑战。本文提出一种执行器无关的阻抗模型预测控制框架,通过代数前馈将不同传动方式简化为统一模型,使得包含硬约束的滚动时域优化问题可以高速求解。该框架旨在实现高精度且符合安全标准(如ISO/TS 15066)的灵巧手操作。
第一作者: Anna-Maria Velentza · 方向: 具身智能 · 来源: cs.RO
教育人机交互机器人信任任务情境外观影响社交辅助机器人
Abstract:Socially assistive robots (SARs) are increasingly deployed in educational and information-sharing contexts, supported by advances in large language models that enable fluent real-time interaction. Despite the growing diversity of robot embodiments, it remains unclear whether a single robot appearance is appropriate across different interaction tasks or whether trust depends primarily on contextual factors. In this study, we examine how robot appearance and task type jointly influence trust in robots. Using a within-subjects video-based experiment (N = 81), participants evaluated three robots with distinct appearances while performing three educationally relevant tasks: teaching, procedural instruction, and personal-information discussion. Results from repeated-measures analyses show a strong main effect of task on trust, with participants reporting the highest trust during...
论文介绍 社交辅助机器人在教育场景中的应用日益广泛,但其信任度受何种因素影响尚不明确。本研究通过视频实验探讨机器人外观与任务类型(如教学、程序指导、信息讨论)如何共同影响信任。结果表明,任务类型对信任有主导作用,为机器人设计需适配具体任务提供了实证依据。
第一作者: Hongzhan Yu · 方向: 具身智能 · 来源: cs.RO
潜在空间建模分布外检测控制敏感性机器人学习生成式动力学模型
Abstract:Generative dynamics models enable planning in challenging robotic systems, but safe deployment requires reliably detecting policy-induced out-of-distribution (OOD) transitions. Existing methods typically treat the learned dynamics as fixed and attach post hoc support surrogates. We show that these surrogates can fail when the dynamics are locally insensitive to critical action choices: unsupported control actions may produce latent predictions that resemble demonstrated transitions, suppressing OOD signals despite large true predictive errors. To address this, we introduce support-conditioned control-sensitivity regularization, which promotes sensitive local response to control input changes in learned dynamics in high-support training regions. This preserves control-induced variation while limiting unstable extrapolation due to weak empirical support. Experiments in...
论文介绍 基于生成式动力学模型的规划方法需要可靠的分布外检测以确保安全。现有方法可能因模型对控制动作不敏感而失效。本文引入支持条件化控制敏感性正则化,通过促进学习到的动力学对控制输入变化具有敏感的局部响应,在保证高支持区域内控制诱导变化的同时,限制弱支持区域的不稳定外推。
第一作者: Francesco Capuano · 方向: 机器人操作 · 来源: cs.RO
开源平台灵巧操作机器人学习人形手仿人操作
Abstract:Robotics manipulation research increasingly focuses on two-finger parallel grippers for their effectiveness, affordability, and ease of teleoperation. Grippers are nonetheless limited by their form factor, often requiring bimanual setups even for simple reorientation tasks. Anthropomorphic hands are a more natural platform for dexterous robot learning -- closer to the human hand, and capable of learning from human video -- yet they remain hard to use in learning research: even where open and accessible hand hardware exists, the software for control, simulation, teleoperation, and retargeting is scattered in one-off code bases, and largely disconnected from the robot-learning ecosystem. In this work, we introduce the \orca~learning stack, an open-source research stack for dexterity as a first-class robot learning domain. Our \orca~stack unifies low-level control, simulation...
论文介绍 灵巧操作研究依赖于易于使用的硬件和软件平台,但当前工具链分散且与主流机器人学习生态脱节。本文介绍ORCA学习栈,这是一个开源的灵巧操作研究栈,统一了低层控制、仿真、遥操作和动作重定向等核心组件,旨在为人形手的灵巧学习提供一个集成化、易用的基础设施。
第一作者: Zihao Li · 方向: 导航与运动 · 来源: cs.RO
延迟证据任务因果记忆路径签名视觉运动模仿记忆机制
Abstract:Robots under autonomous operation may require decisions based on evidence that is no longer visible. We study \emph{delayed-evidence} tasks, where an early cue disappears before a later decision point, so visually similar observations can require different actions. In these settings, the current observation is not a sufficient state for control. We introduce TRAjectory-routed Causal Evidence (TRACE), a memory framework for visuomotor imitation policies. TRACE stores task-relevant visual and robot-state evidence, such as object identity, target choice, or route-dependent state, in a fixed-size latent memory that remains bounded over long episodes. Instead of indexing memory by raw time or manually provided task labels, TRACE uses \emph{path signatures}: compact, order-sensitive features of the executed robot-state trajectory. These signatures do not store the visual cue itself...
论文介绍 在延迟证据任务中,关键视觉线索可能在决策前消失,要求机器人具备记忆能力。本文提出TRACE记忆框架,它使用路径签名(执行轨迹的顺序敏感特征)作为索引,将任务相关的视觉与状态证据存储于固定大小的潜在记忆中。该方法旨在为视觉运动策略提供一种有界、因果相关的记忆机制。
第一作者: Seoyoon Kim · 方向: 机器人操作 · 来源: cs.RO
扩散策略单相机操作视觉条件化模仿学习空间注意力
Abstract:Recent visual imitation learning systems have widely adopted multi-camera setups with wrist-mounted cameras as the de facto standard. However, manipulation from a single global view remains challenging, as the policy should capture fine-grained interaction details and identify task-relevant regions without local wrist views. To address this challenge, we present Spatially Conditioned Diffusion Policy (SCDP), a diffusion-based visuomotor policy that achieves precise and robust manipulation in a single-camera setting. Our key idea is that end-effector trajectories can serve as visual attention anchors that reflect task-relevant regions. Building on this idea, SCDP consists of two key components: (i) a visual encoder that produces multi-scale feature maps to capture both broader context and fine-grained visual features, and (ii) a spatial conditioning module that samples...
论文介绍 从单一全局视角进行精细操作极具挑战,因为策略需同时捕捉细节与识别任务区域。本文提出空间条件化扩散策略,其核心思想是将末端执行器轨迹作为反映任务相关区域的视觉注意力锚点。该方法包含多尺度视觉编码器和空间条件模块,旨在仅使用单个RGB相机即可实现精确鲁棒的操作学习。
第一作者: Władysław Pałucki · 方向: 导航与运动 · 来源: cs.RO
运动学数据集四足机器人模仿学习数据收集Unitree Go2
Abstract:The recent popularity of robotics, combined with the steadily decreasing cost of robotic hardware, has lowered the entry barrier to robotics research and enabled rapid advancements in the field. One of the primary examples is the Unitree Go2 quadruped robot, which is often used by researchers in the areas of locomotion, navigation, control, and others. Many researchers use the Go2 robot in combination with techniques like imitation learning, reinforcement learning, and behavioral cloning to allow machine learning systems to take full control of the robot. At the same time, many of those techniques require demonstration data consisting of the robot's kinematics information and actions applied to the motors. Obtaining such data is difficult, requires building complex pipelines, and can take significant time. To aid in those kinds of efforts, we present Kine2Go - a dataset with...
论文介绍 针对四足机器人学习研究中演示数据获取困难、耗时的问题,本文介绍了Kine2Go数据集。该数据集包含Unitree Go2机器人在多种步态和运动下的运动学信息与控制指令,旨在为模仿学习、强化学习等方法提供开箱即用的训练数据,降低研究门槛。
第一作者: He Zhang · 方向: VLA 通用模型 · 来源: cs.RO
视觉语言动作模型端到端系统机器人学习栈模型部署
Abstract:In this report, we present Hy-Embodied-0.5-VLA, abbreviated as HyVLA-0.5, an end-to-end system that spans the full robot learning stack: data collection, model design, continued pre-training and supervised fine-tuning, RL post-training, and real-world deployment. Each component serves a distinct role in this stack.
论文介绍 本文介绍了 HyVLA-0.5,一个端到端的机器人学习系统。该系统涵盖数据收集、模型设计、预训练与微调、强化学习后训练及现实世界部署的完整流程。研究旨在构建一个统一的视觉语言动作模型学习栈,各组件在系统中各司其职,以支持从模型训练到实际机器人执行的完整链路。
第一作者: Ge Wang · 方向: VLA 通用模型 · 来源: cs.RO
弹性查询强化学习计算自适应视觉语言动作模型
Abstract:Vision-language-action (VLA) models are powerful action generators for robot manipulation, but they are typically executed with fixed inference and replanning schedules. This rigidity ignores the uneven difficulty of robot control: contact-rich or uncertain states may need more computation and fresher feedback, while easier states can often be handled with fewer inference steps and longer open-loop execution. We propose Elastic Queries Reinforcement Learning (EQRL), a framework that makes each VLA policy query elastic. A lightweight latent-schedule adaptor jointly selects the latent input, denoising budget, and action chunk length, without fine-tuning the underlying VLA model. To make scheduling difficulty-aware, EQRL trains a critic over the joint latent-schedule action and derives a state difficulty signal from critic ensemble disagreement. This signal guides compute toward...
论文介绍 视觉语言动作模型在执行时通常采用固定的推理与规划频率。本文提出弹性查询强化学习框架,使每个模型查询具备弹性。该框架通过一个轻量级适配器,依据状态难度信号,联合选择潜在输入、去噪预算和动作块长度,从而将更多计算资源导向困难状态,实现自适应的策略执行。
第一作者: Haidong Hou · 方向: 导航与运动 · 来源: cs.RO
跌倒恢复双足轮式机器人力引导学习教师学生框架
Abstract:Fall recovery is critical for autonomous legged locomotion. Existing methods have demonstrated that some legged robots, such as humanoids and quadrupeds, are capable of fall recovery from diverse postures by utilizing arms or coordinating multi-legs to generate support forces. Without arms or other legs to provide supportive assistance, a bipedal-wheeled robot must rely solely on the actuation of its legs, making recovery particularly difficult. To address this, we introduce FTSR (Force-guided Teacher-student framework with Stage-wise Rewards). The force-guided method constructs an external auxiliary force during simulation training that correlates directly with the robot's real-time height, explicitly formulating this force as an optimizable constraint. Through constrained reinforcement learning, the policy is guided toward reducing force dependency gradually and increasing...
论文介绍 针对无臂双足轮式机器人难以跌倒恢复的问题,本文提出了一种基于力引导的教师学生框架。该方法在仿真训练中构建与机器人高度相关的外部辅助力,并通过约束强化学习,逐步引导策略减少对辅助力的依赖,最终使机器人学会仅依靠自身腿部驱动从各种姿态中恢复直立。
第一作者: Weiqi Huang · 方向: 导航与运动 · 来源: cs.RO
平面图引导多模态导航统一导航任务模仿学习
Abstract:Floor plans encapsulate compact spatial priors, enabling agents to navigate unseen scenes more efficiently. While prior work has explored floor plan-guided navigation, it has focused mainly on PointNav and a limited set of environments. To bridge this gap, we introduce FloVerse, a new task for floor plan-guided embodied navigation that unifies PointNav, ObjectNav, and ImageNav. To support FloVerse, we assemble FloVerse-1.6K, a large-scale dataset of 1.6K scenes from HM3D and Gibson 4+, paired with corresponding floor plans, comprising 240K expert trajectories and 12M RGBD frames. We further propose ThreeDiff, a two-stage imitation learning policy comprising a planner, a diffusion-based multimodal goal-reasoning module trained via masked-modality modeling, and a refiner, a depth-based trajectory-refinement module for safe execution. Extensive experiments demonstrate that (1)...
论文介绍 为提升智能体在未见场景中的导航效率,本文提出了 FloVerse 任务,统一了点导航、物体导航和图像导航。研究构建了包含大规模场景、轨迹和RGBD帧的数据集FloVerse-1.6K。同时,提出了一种两阶段模仿学习策略ThreeDiff,包含基于扩散的多模态目标推理模块和深度轨迹优化模块,以实现安全高效的导航。
第一作者: Yanzhao Guo · 方向: VLA 通用模型 · 来源: cs.RO
仿人手连杆驱动生物力学协同灵巧操作
Abstract:Diffusion-based Vision-Language-Action (VLA) policies have demonstrated strong capability in modeling expressive and multimodal action distributions. However, their reliance on iterative sampling introduces substantial inference latency, which limits their applicability to reactive closed-loop robot manipulation. To address this limitation, we propose \texttt{ReactVLA}, a lightweight and low-latency VLA framework for real-time robotic manipulation. \texttt{ReactVLA} combines two complementary designs: (1) an improved Mean Flow (iMF) action generator that reduces expensive multi-step diffusion sampling to one-to-few-step action generation, and (2) Attention Residuals (AttnRes), a dynamic depth-wise feature routing mechanism that replaces uniform residual accumulation to better preserve task-relevant multimodal representations. We evaluate \texttt{ReactVLA} on large-scale...
论文介绍 设计兼具功能灵巧性与机械简洁性的仿人手是重大挑战。本文受人手协同运动启发,提出了 SyLink Hand。该手结合了生物力学协同原理与连杆传动机构,通过运动捕捉数据分析关节运动相关性,优化自由度配置和连杆结构,从而在紧凑、低成本的架构中实现了外观、运动学和功能的高度仿人。
第一作者: Hao Wu · 方向: 机器人操作 · 来源: cs.RO
拟人化机械手协同作用连杆驱动运动学分析灵巧操作
Abstract:Designing anthropomorphic robotic hands that balance functional dexterity with mechanical simplicity remains a significant challenge. Inspired by human hand synergies, this paper presents the SyLink Hand, an anthropomorphic dexterous hand that integrates biomechanical synergy principles with linkage-driven transmission mechanisms to achieve a high degree of anthropomorphism in appearance, kinematics, and functionality within a compact and cost-effective architecture. Biomechanical analysis of natural hand motions using motion capture gloves reveals strong kinematic correlations among hand joints, providing the basis for a simplified yet functional degree-of-freedom (DOF) configuration. Guided by these synergistic characteristics, optimized linkage mechanisms are employed to coordinate multiple joint motions and reproduce natural finger trajectories. A novel spherical four-bar...
论文介绍 本研究旨在解决设计拟人化机械手时功能灵巧性与机械简单性之间的平衡问题。受人手协同作用启发,作者提出SyLink Hand,通过运动捕捉分析揭示手部关节的运动学相关性,并基于此优化连杆驱动机制。该设计实现了高度拟人化的外观、运动学和功能,同时保持结构紧凑和成本效益。可能应用于机器人操作领域,提升机械手的灵活性和实用性。
第一作者: Abhinaw Priyadershi · 方向: VLA 通用模型 · 来源: cs.RO
安全认证场景特定安全包络驾驶VLA故障严重性
Abstract:Safety certification of Vision-Language-Action (VLA) driving planners under ISO 21448 (SOTIF) rests on an Operational Design Domain (ODD) specification that answers two complementary questions: when does the planner start to fail, and how severely does it fail once it does? We evaluate Alpamayo R1, a 10B-parameter open-weight driving VLA, on 15,968 (clip, attack) pairs. We find a conservative-aggregate gap: an aggregate safe threshold of $\sigma \leq 50$ under a 15% average displacement error (ADE) budget masks well-sampled scenarios that tolerate the top of the tested grid ($\sigma = 70$). A Gaussian Mixture Model (GMM) on the changed-explanation subset identifies six discrete severity bands (BIC-optimal $k{=}6$), so two perturbation conditions with the same mean error can differ materially in their share of high-severity (C4/C5) failures. Joining the two analyses on the same...
论文介绍 驾驶视觉语言动作模型的安全认证需明确其故障起始条件与严重程度。本文评估了一个大型驾驶VLA在大量扰动场景下的表现,发现聚合安全阈值可能掩盖场景间的差异。研究通过高斯混合模型识别了离散的故障严重性带,从而能够构建场景特定的、更精细的安全包络,为安全认证提供更细致的评估依据。
第一作者: Yinqiang Zhang · 方向: 具身智能 · 来源: cs.RO
BIM集成室内定位差异感知LiDAR定位
Abstract:Accurate and robust localization is a fundamental requirement for service and inspection robots, particularly in feature-sparse indoor environments where traditional systems struggle due to a lack of distinct landmarks. While prior maps can enhance robustness, precise and compact maps capturing real-world details are often unavailable for new or frequently changing environments. This paper presents BIM-Loc, a novel discrepancy-aware LiDAR-based localization method that directly integrates Building Information Models (BIM) from the design phase. BIM-Loc simultaneously estimates trajectories aligned with the BIM coordinate system and identifies discrepancies between real-world observations and the as-designed BIM in an online fashion. Our core contributions include: (1) a novel multi-hit ray casting strategy for efficient BIM-point data association and projection of 3D...
论文介绍 针对特征稀疏室内环境中机器人定位的难题,本文提出了 BIM-Loc 方法。该方法直接集成设计阶段的建筑信息模型,在线估计与BIM坐标系对齐的轨迹,同时识别现实观测与设计模型之间的差异。其核心包括一种高效的多命中光线投射策略,用于BIM点关联,从而实现利用先验设计信息的鲁棒定位。
第一作者: Litian Liang · 方向: 机器人操作 · 来源: cs.RO
柔顺控制力矩反馈外骨骼遥操作实时触觉反馈
Abstract:For robots to work safely in household environments, they need to be compliant and react to torque and force feedback during contact. However, the majority of existing data collection pipelines still lack the ability to capture force and torque data for learning active compliant policies. In this paper, we present Universal Manipulation Exoskeleton (UME), an upper-limb exoskeleton that provides real-time haptic torque feedback while recording whole-arm configurations and joint torque signals for teleoperation. With transparent torque feedback, human operators can even unsheathe kinematically constrained objects while blindfolded. UME is low-cost, lightweight, and portable. Equipped with an embedded IMU, it enables teleoperation for mobile manipulation. With our proposed universal retargeting algorithm, UME can teleoperate a range of robots, including the 7DoF OpenArm, 7DoF...
论文介绍 机器人在家庭环境中安全工作需要柔顺控制,但现有数据收集缺乏力矩数据来学习主动柔顺策略。本文提出通用操作外骨骼UME,一种上肢外骨骼,提供实时力矩反馈并记录全臂配置和关节力矩信号用于遥操作。UME低成本、轻便、便携,配备IMU支持移动操作,通过通用重定向算法可遥操作多种机器人。
第一作者: Young-Rang Seo · 方向: 具身智能 · 来源: cs.RO
本体感觉状态估计足式机器人惯性-腿部令牌化注意力机制接触条件
Abstract:In this paper, we propose a method that applies Inertial-Leg (IL) tokenization to an attention-based network for proprioceptive state estimation in legged robots. Unlike existing learning-based state estimators that concatenate all sensor measurements into a single flat vector, the proposed architecture represents inertial measurements and leg-wise measurements as individual tokens and uses an attention mechanism to learn the relative importance of each this http URL design allows the network to reweight each measurement according to the current contact condition, reflecting the fact that the reliability of forward kinematic measurements depends on whether the corresponding foot is in contact. Unlike conventional contact-aided estimators, however, the proposed method learns this behavior without relying on an explicit contact estimator or on explicit measurement updates based...
论文介绍 针对足式机器人的本体感觉状态估计问题,本文提出GAIT方法,应用惯性-腿部令牌化到基于注意力的网络。与传统方法将传感器测量连接为单一向量不同,该方法将惯性和腿部测量表示为独立令牌,使用注意力机制根据接触条件重加权测量,无需显式接触估计器,提高状态估计准确性。
第一作者: Keyi Zhu · 方向: 导航与运动 · 来源: cs.RO
苹果采摘机器人双臂机器人模块化基础模型感知轨迹生成
Abstract:Robotic apple harvesting offers a promising solution to labor shortages in commercial orchards, but low throughput and poor performance in orchard environments hinder its commercial adoption. This paper presents a modular dual-arm apple harvesting robot that uses a vertically stacked arms to enable simultaneous operation in the upper and lower zones of a single tree, simplifying platform positioning from multi-tree lateral repositioning to single-tree stops. Compared to our prior horizontal dual-arm system, the platform integrates 5 advances: (1)a foundation-model-based perception pipeline combining Grounding-DINO and EfficientViT-SAM for robust fruit localization in unstructured outdoor environments; (2)7th-order jerk-bounded trajectory generation paired with a Control Barrier Function safety filter to achieve fast yet safe arm motions; (3)a linear sweep harvesting strategy...
论文介绍 机器人苹果采摘面临吞吐量低和环境适应性差的问题。本文提出模块化双臂苹果采摘机器人,垂直堆叠手臂实现同时操作,简化平台定位。集成基础模型感知、安全轨迹生成和线性扫掠策略等五项进步,以提高果园中的采摘效率和性能。
第一作者: Duc Minh Nguyen · 方向: VLA 通用模型 · 来源: cs.RO
视觉-语言-动作策略扩散模型选择性扩散噪声鲁棒性动作平滑
Abstract:Diffusion-based Vision-Language-Action (VLA) policies enable strong generalization in robotic manipulation, but remain sensitive to spurious visual correlations and noisy action generation, leading to brittle behavior under perturbations. We introduce Selected Diffusion Noise (SDN), a simple, training-free test-time method that improves both robustness and success rate by leveraging the diffusion noise space as a controllable degree of freedom. SDN dynamically samples noise vectors that are maximally separated from a reference set to mitigate reliance on spurious cues, while selecting candidates that yield more coherent action trajectories. This dual objective encourages stable behavior even under object-masked observations and reduces action jitter without modifying model parameters. We evaluate SDN on two simulation benchmarks (Google Robot, Widow-X) and two real-world...
论文介绍 基于扩散的视觉-语言-动作策略在机器人操作中泛化能力强,但对虚假视觉相关性和噪声动作敏感。本文引入选择性扩散噪声SDN,一种无需训练的测试时方法,通过动态采样扩散噪声减少对虚假线索的依赖,平滑动作轨迹,提高鲁棒性和成功率。
第一作者: Yao-Ting Huang · 方向: 机器人操作 · 来源: cs.RO
触觉手套多指二维方向力反馈绞盘驱动遥操作
Abstract:Humans rely on directional fingertip forces to probe and regulate contact during manipulation, yet most wearable haptic gloves render only vibration or single-axis force, leaving force direction ambiguous. Without directional cues, users must infer contact force from vision alone, often leading to over-pressing, inconsistent control, and reduced precision in robotic teleoperation. We present the N2D Haptic Glove, a multi-finger wearable device that renders planar flexion-extension fingertip forces using capstan-drive transmissions for high-transparency force feedback. Through benchtop validations and a user study involving haptic teleoperation of a robotic arm and hand, we demonstrate that compared to visual-only and single-axis haptic baselines, planar fingertip feedback significantly reduces contact force error during precise manipulation, improves trial-to-trial...
论文介绍 现有触觉手套缺乏方向性力反馈,导致操作精度降低。本文提出N2D触觉手套,一种多指可穿戴设备,使用绞盘驱动传输实现平面屈伸指尖力反馈。通过实验验证,该手套能显著减少接触力误差,提高遥操作中的精度和一致性。
第一作者: Shoya Umemura · 方向: 具身智能 · 来源: cs.RO
下水道管道检查机器人铰接差速机构X形连杆越障能力控制方法
Abstract:This paper proposes, an improved version of the 3 in sewer pipe inspection robot equipped with an emergency evacuation mechanism. The low traction force and poor stepover capability, which were challenges of the first version, have been improved by simply connecting the propulsion units. The coupled propulsion units feature a differential mechanism capable of posture changes via a single wire, enabling adaptation to pipe diameter variations. To traverse obstacles like pipe joints, a control method was devised that detects obstacle contact through current load on the drive wheel motors and slackens the wire. This method was verified through simulated pipe experiments. Load comparisons were made using current waveforms applied to the drive wheels. Our proposed control method significantly improved the step-over capability of the new articulated robots.
论文介绍 现有下水道检查机器人牵引力低、越障能力差。本文提出改进的3英寸机器人,采用铰接差速机构和X形连杆,通过控制方法检测障碍物接触并松弛线缆,以适应管径变化和越障。实验验证表明该方法显著提高了机器人的越障能力。
第一作者: Bernhard Paus Graesdal · 方向: 具身智能 · 来源: cs.RO
半定松弛无碰撞运动规划非凸问题多项式曲线理论分析
Abstract:We study semidefinite relaxations for collision-free motion planning. We focus on a point robot moving from start to goal through spherical obstacles in $\mathbb{R}^n$, subject to path continuity constraints and squared derivative costs; a setting that is conceptually simple yet captures the hardness of collision-free motion planning. We formulate this problem exactly as a nonconvex problem over polynomial curves, and present a natural semidefinite relaxation. We contribute two key theoretical insights; to our knowledge this is the first theoretical analysis of semidefinite relaxations for collision-free motion planning. First, we show that solving the convex relaxation is equivalent to solving, to global optimality, a related motion planning problem in a potentially higher-dimensional space. This geometric interpretation yields necessary and sufficient conditions for...
论文介绍 无碰撞运动规划是一个复杂问题。本文研究半定松弛方法,将问题精确表述为多项式曲线上的非凸优化,并提出凸松弛。理论分析表明,解决凸松弛等价于在更高维空间中解决相关运动规划问题,提供了可行性条件。
第一作者: Monisha Mushtary Uttsha · 方向: 导航与运动 · 来源: cs.RO
连续距离场映射高斯溅射非溅射高斯空间视角机器人任务
Abstract:Recent Gaussian splatting (GS) methods have shown that scenes can be represented efficiently with optimisable Gaussians for high-quality reconstruction and rendering. In this paper, building on this principle, we introduce SplatlessDF, a continuous distance field (DF) mapping framework that uses anisotropic Gaussian elements from a spatial rather than photometric perspective. SplatlessDF directly parameterises the Gaussians and optimises to recover a differentiable DF, enabling distances and gradients to be queried in the spatial domain for downstream robotic tasks such as navigation. Furthermore, SplatlessDF can be coupled with 2D Gaussian splatting (2DGS), providing a unified framework based solely on Gaussian primitives that can learn continuous DF and surface models and supports photometric rendering. We consider two settings: a standalone DF-only formulation and a joint...
论文介绍 高斯溅射方法可用于场景重建。本文提出SplatlessDF,从空间视角使用各向异性高斯元素,优化可微分距离场,支持距离和梯度查询用于机器人导航。该框架可与二维高斯溅射结合,学习连续距离场和表面模型,并支持光度渲染。
第一作者: Zhitian Zhang · 方向: 多模态具身 · 来源: cs.RO
多模态学习缺失模态注意力机制条件变分自编码器机器人感知
Abstract:Learning with missing modalities is a fundamental challenge in multimodal robot learning, as real-world robotic systems often operate in environments with incomplete sensor data. Attention-based models are appealing for processing multimodal data because they can handle multiple modalities with a single backbone network. However, most multimodal models assume that all modalities are available during both training and inference, limiting their applicability in robotic perception and decision-making. In this paper, we introduce a multimodal model designed to handle missing modalities during both training and inference. The model is formulated as a conditional variational autoencoder (CVAE) and incorporates a transformer-based architecture that leverages attention mechanisms to learn a unified, fixed-dimensional representation, even when some modalities are missing. We show that...
论文介绍 该论文针对多模态机器人学习中因传感器数据不完整导致的缺失模态挑战,提出一种基于注意力机制的鲁棒预测模型。模型采用条件变分自编码器和transformer架构,能够在训练和推理阶段处理缺失模态,学习统一的固定维度表示,从而增强机器人在非理想环境下的感知和决策能力。
第一作者: Namai Chandra · 方向: VLA 通用模型 · 来源: cs.RO
视觉-语言-动作模型物理约束具身操作推理时框架即插即用
Abstract:Vision-Language-Action (VLA) models excel at mapping visual inputs and natural language instructions directly to robotic control policies. However, because they are trained primarily to fit behavioural demonstration data, they do not explicitly enforce fundamental physical principles such as rigid-body dynamics or contact constraints. This exposes a critical physics gap: standard temporal smoothing applied on top of single-step or chunked VLAs trades trajectory quality for added failures that short-term memory cannot resolve. To bridge this gap, we introduce PhysVLA (Physics-VLA), a plug-and-play, inference-time framework designed to wrap any frozen VLA backbone without retraining, fine-tuning, or weight access, with less than 1 ms of overhead per control step. PhysVLA intercepts the predicted control action, captures only the simulator or system state, and applies a...
论文介绍 该论文指出视觉-语言-动作(VLA)模型在训练时主要拟合行为示范数据,但未明确强制物理原理如刚体动力学,导致物理间隙。为此提出PhysVLA,一个即插即用的推理时框架,可包裹任何冻结的VLA骨干网络,通过拦截预测动作并应用物理约束来桥接该间隙,提升机器人操作的物理合理性。
第一作者: Ivan Valuev · 方向: 导航与运动 · 来源: cs.RO
无人机导航扩散模型可靠性感知视觉语言模型轨迹生成
Abstract:Autonomous UAV navigation is conventionally solved by pipelines that separate perception, mapping, and planning into distinct stages, which propagates errors, accumulates latency, and requires environment-specific retuning. End-to-end generative models remove these interfaces by mapping raw observations directly to trajectories, but inherit a subtle failure mode: trained on clean data, they cannot recognise when an observation is unreliable, and treat degraded regions such as glass, mirrors, and overexposed surfaces as valid evidence for planning. We present a reliability-aware diffusion planner for 3D UAV navigation. It conditions trajectory generation on the observation together with a scene-level reliability heatmap that marks where perception cannot be trusted, produced by a lightweight network that distils the open-vocabulary reasoning of a vision-language model within...
论文介绍 该论文针对自主无人机导航中端到端生成模型无法识别不可靠观测(如玻璃、镜面)的问题,提出一种可靠性感知的扩散规划器。它基于观测和场景级可靠性热图生成轨迹,热图由轻量级网络从视觉语言模型蒸馏而来,标记感知不可信区域,从而提高导航的鲁棒性。
第一作者: MoniJesu James · 方向: 导航与运动 · 来源: cs.RO
多智能体导航视觉语言模型终身学习无需训练探索
Abstract:End-to-end navigation policies trained on large simulation corpora degrade sharply when transferred to out-of-distribution scenes, categories, or goal modalities. Modular pipelines such as Modular GOAT are bottlenecked by closed-set object detection recall, while 3D snapshot-memory systems (e.g. 3D-Mem) accumulate dense, view-dependent representations that are heavy to maintain. We present AnyGoal, a training-free multi-robot architecture that places a Vision-Language Model (VLM) at the core of frontier-based exploration and coordinates agents through a shared 2D Gaussian Bayesian Value Map (BVM). The BVM maintains a per-pixel (mu, sigma^2) posterior over goal relevance, updated via precision-weighted fusion of VLM scores through a depth-cone mask, and is never reset between subtasks, yielding lifelong evidence accumulation. Frontiers are ranked by a convex blend of a...
论文介绍 该论文提出AnyGoal,一个无需训练的多机器人导航架构。它将视觉语言模型置于前沿探索核心,并通过共享的二维高斯贝叶斯价值图协调智能体。该图维护每个像素的后验概率,通过视觉语言模型得分更新,实现终身证据积累,适用于分布外场景和多种目标模态。
第一作者: Jeffrin Sam · 方向: VLA 通用模型 · 来源: cs.RO
视觉-语言-动作模型微调种子彩票输出级正则化单GPU输出崩溃
Abstract:Fine-tuning a vision-language-action model (VLA-JEPA) on a single GPU should be simple: load a pretrained checkpoint, run training, deploy. There is a hidden danger. Run the same fine-tuning code thirteen times -- same data, same architecture, different random seed -- and twelve runs produce a robot succeeding 91--94% of the time, while one run silently degrades to 65.2%: a 29 pp gap with no error message, no warning, and no way to predict which seed will fail. We call this the seed lottery. We trace the cause to output collapse: the action predictor quietly learns to produce nearly identical outputs regardless of what the robot sees. Existing weight-level methods (L2, EWC) are structurally blind to this collapse -- they penalize weight changes, but collapse occurs in directions weights can move freely without affecting outputs, a gap we formalize via the Jacobian null-space...
论文介绍 该论文揭示在单GPU上微调视觉-语言-动作模型时存在的“种子彩票”问题,即不同随机种子导致成功率巨大差异。通过追踪原因发现是输出崩溃,即动作预测器学习产生几乎相同的输出。提出输出级正则化方法,在输出空间施加约束,从而稳定微调过程。
第一作者: Hongyu Zhou · 方向: 策略学习 · 来源: cs.RO
领域自适应策略学习核表示四旋翼控制非平稳扰动
Abstract:We present an algorithm for efficient domain-adaptive policy learning via kernel representations. Learning domain-adaptive policies is challenging since it requires an environment representation that is both sufficiently expressive to model complex sim-to-real gaps during offline training, and computationally efficient enough to support rapid online adaptation during deployment. For instance, a quadrotor may encounter time-varying, non-stationary disturbances, such as sudden gusts of wind, payload shifts, or transitions between distinct flight regimes with and without ground effects. To address these challenges, we model unknown disturbances using a differentiable kernel approximation based on random Fourier features. During the offline training phase, we randomly sample kernel coefficients and bandwidth parameters to generate a rich diversity of disturbance profiles. We then...
论文介绍 该论文提出一种基于核表示的领域自适应策略学习算法,应用于四旋翼飞行器在非平稳扰动下的控制。通过随机傅里叶特征近似核函数,离线训练时采样扰动分布,实现高效在线适应,旨在处理时间变化扰动如风载荷或地面效应。
第一作者: Yitao Jiang · 方向: 具身智能 · 来源: cs.RO
世界模型物体动量隐藏漂移视觉预测机器人学习
Abstract:World models in robot learning predict future states from visual observations and actions, enabling agents to reason about the consequences of their controls. However, many action-conditioned models are evaluated in settings where motion is dominated by immediate control, whereas aquatic surface vehicles and other real-world objects continue moving under inertia and are displaced by hidden ambient drift, such as water currents or wind. We propose FlowMo-WM, an end-to-end trainable visual world model that infers object-centric motion state and a predictive long-history context associated with hidden drift from image-action histories without direct supervision of flow fields. FlowMo-WM factorizes image-action history into a short-history latent state, trained to summarize object-centric motion, and a longer-history context, trained to summarize slowly varying exogenous...
论文介绍 该论文提出FlowMo-WM,一个端到端可训练的视觉世界模型,从图像-动作历史中推断物体中心运动状态和预测长期上下文,用于处理隐藏环境漂移如水流或风。模型分解历史为短期状态和长期上下文,无需直接监督流场,适用于水下车辆等场景。
第一作者: Seungjae Lee · 方向: 具身智能 · 来源: cs.RO
世界模型3D轨迹可扩展性交互点机器人学习
Abstract:World models that capture how actions induce physical change enable scalable robot learning without reliance on embodiment-specific action labels. Pixel-space video models provide broad visual priors but expend model capacity on dense appearance reconstruction, while direct action models require embodiment-specific labels that hinder scalability. We present $\mu_0$, a scalable world model based on 3D traces. Rather than predicting dense pixels or directly modeling actions, $\mu_0$ forecasts smooth 3D trajectories for salient interaction points such as objects, tools, hands, and contact regions, yielding a compact, embodiment-agnostic motion interface. To enable training from diverse video sources, our TraceExtract system automatically extracts 3D supervision by selecting keypoints, constructing globally aligned traces, and associating motion segments with hierarchical language...
论文介绍 该论文提出μ0,一个基于3D轨迹的可扩展世界模型,通过预测显著交互点的平滑3D轨迹而非密集像素,实现具身无关的运动接口。TraceExtract系统自动提取3D监督,从多样视频源训练,支持可扩展的机器人学习,无需依赖特定具身的动作标签。
第一作者: Carlos Cueto Zumaya · 方向: 机器人操作 · 来源: cs.RO
占用接地房间分割分层3D场景图室内机器人
Abstract:Hierarchical 3D scene graphs (3DSGs) for indoor robots organize geometric and semantic information across spatial scales, with a room layer that connects object-level perception to room-scale reasoning. Existing systems construct this layer from different spatial substrates (\eg{} place clusters, wall planes, or segmentation outputs), and as a result, room nodes are not evaluated on a common geometric criterion. We present an occupancy-grounded 3DSG pipeline in which room nodes are anchored to tracked free-space regions derived from occupancy decomposition, giving each room an explicit polygonal footprint. We evaluate the pipeline on 12 Matterport3D scenes by matching predicted room polygons to annotated room instances and compare against Hydra, a representative state-of-the-art place-connectivity baseline. The results show that occupancy-grounded anchoring recovers...
论文介绍 该研究针对分层3D场景图中房间节点缺乏统一几何标准的问题,提出一种占用接地的3D场景图管道。核心方法是将房间节点锚定到从占用分解中跟踪的自由空间区域,从而为每个房间提供明确的多边形足迹。该方法基于Matterport3D场景进行评估,旨在提升室内机器人的场景理解能力。
第一作者: Ruining Li · 方向: 具身智能 · 来源: cs.RO
关节化3D对象运动规范部件分割泛化能力
Abstract:Reconstructing articulated 3D objects is important for animation, gaming, and robotic simulations. Recent neural networks can estimate the articulated structure of 3D objects, but their generalization remains limited by the scarcity of annotated data for this task. To address this gap, we introduce Instruct-Particulate, a model that takes a 3D mesh together with a target kinematic specification, including part descriptions, connectivity, joint types, and optional point prompts, and predicts the corresponding kinematic part segmentation and joint motion parameters. The kinematic specification disambiguates the task and allows the model to target annotations of different granularity, thereby making it possible to use more abundant heterogeneous training data. At test time, the kinematic specification can be obtained automatically from large-scale vision-language models, so the...
论文介绍 本文研究关节化3D对象重建的泛化限制,提出Instruct-Particulate模型。该模型接受3D网格和运动规范作为输入,包括部件描述、连接性等,预测运动部件分割和关节运动参数。运动规范有助于消除歧义,从而利用异质训练数据。该方法可应用于动画、游戏和机器人模拟领域。
第一作者: Qingping Zeng · 方向: VLA 通用模型 · 来源: cs.RO
视觉语言动作模型编码器迁移骨干规模冻结骨干嫁接
Abstract:Vision-language-action (VLA) policies typically inherit their vision encoder from upstream VLM releases, but it is unclear whether an encoder choice validated on a small VLA transfers to a larger backbone. We introduce a frozen-backbone grafting diagnostic: the vision tower of a released VLA is replaced by a candidate encoder under a fixed protocol (adaptive average pooling, LayerNorm, and a single trainable linear projector), with the language model and action expert frozen. Across four encoders, two LIBERO suites, two backbones (SmolVLA-450M and $\pi_{0.5}$-3.3B), and two-to-three seeds per cell (40 main grafting runs plus native, LoRA, pooling, and zero-/shuffled-image controls, all scored by offline action MSE), the small-backbone winner does not reliably select the large-backbone top tier: SigLIP is best on SmolVLA across both suites, while on $\pi_{0.5}$ DINOv2-small...
论文介绍 该研究探讨视觉语言动作模型中编码器选择在不同骨干规模下的迁移可靠性。作者引入冻结骨干嫁接诊断方法,在固定协议下替换视觉编码器,评估跨多个编码器、任务和骨干的性能。结果表明,在小骨干上表现最佳的编码器不一定适用于大骨干,为VLA模型设计提供了实证参考。
第一作者: Ying Li · 方向: 机器人操作 · 来源: cs.RO
世界动作模型4D表示空间寄存器令牌机器人操作
Abstract:World action models (WAMs) have recently shown promise in jointly modeling future observations and executable robot actions. However, most existing WAMs still operate in 2D video or latent spaces, where visually plausible rollouts miss the 3D spatial constraints and occluded contact geometry required for precise manipulation. While geometric foundation models offer strong priors for recovering dense 3D structure and motion from visual observations, forcing WAMs to predict the dense 4D representation introduces costly geometric decoding and slows down causal action generation. To address the trade-off, we present WAM4D, a fast 4D world action model that uses lightweight spatial register tokens as training-time future-depth readouts to transfer pretrained geometric priors into a causal video-action transformer, then removes the register branch for lightweight action inference...
论文介绍 本文针对世界动作模型在2D空间中缺乏3D约束及4D预测计算成本高的问题,提出WAM4D方法。核心是使用轻量级空间寄存器令牌作为训练时未来深度读出,以转移预训练几何先验到因果视频-动作变换器中。这有助于在推理时实现快速动作生成,适用于精确机器人操作场景。
第一作者: Xiangyu Huang · 方向: VLA 通用模型 · 来源: cs.RO
视觉语言动作模型知识蒸馏实时推理自动驾驶
Abstract:Vision-Language-Action (VLA) models have shown strong potential for end-to-end autonomous driving by jointly modeling visual perception, language reasoning, explainability and action prediction. However, their large vision-language backbones and reasoning modules introduce substantial inference latency and thereby prevent their deployment in the unforgiving reality of the road networks. We propose RT-VLA, a lightweight, distilled VLA model that transfers the driving and reasoning capabilities of the state-of-the-art SimLingo model into a compact student through multi-level supervised distillation. RT-VLA preserves language-based reasoning and supports post-hoc explanation through offline language analysis of safety-critical driving moments without adding latency to real-time control. Compared to the SimLingo teacher, RT-VLA maintains competitive closed-loop driving and...
论文介绍 该研究解决视觉语言动作模型在自动驾驶中因模型庞大导致推理延迟高的问题。作者提出RT-VLA,通过多级监督蒸馏将教师模型SimLingo的能力转移到紧凑学生模型。RT-VLA保持了基于语言的推理能力,支持事后解释,且不增加实时控制延迟,提升了部署可行性。
第一作者: Haozhe Jiang · 方向: 策略学习 · 来源: cs.LG
扩散策略策略优化自蒸馏强化学习
Abstract:RL post-training has become increasingly pivotal for improving diffusion policies, but existing diffusion policy-gradient methods are often unstable and cannot achieve reliable policy improvement. We identify the cause as the double-drift phenomenon: optimizing a variational surrogate can let the ELBO separate from the true log-likelihood, which then makes the resulting proxy policy gradient misaligned with the true policy gradient of expected return. We propose \textbf{DiPOD}, a diffusion policy optimization framework that maintains tight-bound behavior throughout training by interleaving self-distillation with policy-improving gradient updates. This leads to a simple and practical algorithm: augmenting each diffusion policy-gradient update with an on-policy ELBO regularizer. Across diffusion language model post-training and continuous-control diffusion policies, DiPOD...
论文介绍 本文分析扩散策略梯度方法不稳定的双漂移现象,即优化变分代理导致梯度不对齐。为此提出DiPOD框架,通过交错自蒸馏和策略改进梯度更新,维持训练中的紧密行为。该框架旨在提升扩散策略优化的稳定性,可应用于强化学习中的策略训练任务。
第一作者: Jixuan Chen · 方向: 具身智能 · 来源: cs.CL
具身智能体模块化规范支架系统组件化设计
Abstract:LLM agents are increasingly built not as single model calls, but as scaffolded systems that combine reasoning, memory, reflection, action execution, and learning. While such scaffolds often improve performance, they are often embedded in tightly coupled pipelines, making it difficult to isolate component contributions, compare alternative designs, or understand how module interactions shape agent behavior. We introduce AgentSpec, a modular specification framework that represents embodied agents as typed compositions of reusable policy components with standardized interfaces. AgentSpec standardizes the interfaces among perception, memory, reasoning, reflection, action, and optional learning, enabling components to be swapped and recombined under controlled conditions. We instantiate this framework across DeliveryBench, ALFRED, MiniGrid, and RoboTHOR, and analyze reasoning...
论文介绍 该研究关注LLM智能体支架系统因紧密耦合而难以理解组件贡献的问题。作者引入AgentSpec,一个模块化规范框架,将智能体表示为可重用策略组件的类型化组合,并标准化组件间接口。这支持组件的交换和重组,有助于智能体的设计、分析与比较。
美股技术面整体呈现上行倾向:S&P 500 ETF (SPY) 和纳斯达克100 ETF (QQQ) 均形成多头排列,价格高于20日、50日及200日均线,RSI 分别处于60.4和62.5的正常偏高区域,且接近52周高点,显示持续动量。然而,个别权重股如微软 (MSFT) 呈空头排列,RSI 42.7,反映板块内部分化。加密货币市场情绪极度恐慌,恐慌贪婪指数仅为23,总市值2.35万亿美元,比特币主导率56.5%。尽管比特币 (BTC-USD)、以太坊 (ETH-USD) 和 Solana (SOL-USD) 近期触发MACD金叉,但价格仍远低于50日和200日均线,空头排列未改,RSI 在43-50区间,反弹乏力。中概股技术面普遍承压:阿里巴巴 (BABA) RSI 29.4已超卖,价格低于所有均线;拼多多 (PDD) 和京东 (JD) 同样空头排列,RSI 在30-40区间。商品与外汇市场信号混合:黄金期货 (GC=F) RSI 44.5,趋势中性;原油期货 (CL=F) 因近5日大跌11.1%,RSI 34.4接近超卖,技术面偏弱;美元指数 (DXY) 多头排列,RSI 55.9接近52周高点,而美元/人民币 (USDCNY=X) 虽MACD金叉但空头排列,RSI 33。宏观指标中,VIX恐慌指数 RSI 44.8,死叉后空头排列,波动率下降;10年期美债收益率 (^TNX) RSI 48.8,多头排列,显示利率上行压力。整体各资产类技术面分化显著。
当前价格744,RSI 62.5处于正常偏高区域,显示看涨动量。价格高于SMA20(723.25)、SMA50(684.99)和SMA200(626.23),形成多头排列。近1日涨幅3.14%,接近52周高点仅差0.62%,MACD为9.73但低于信号线12.83,整体技术结构偏向看涨。
当前价格112.55,RSI 29.4已进入超卖区域,表明卖压较强。MACD为-5.24低于信号线-3.73,价格显著低于SMA20(124.81)、SMA50(130.14)和SMA200(149.53),空头排列明确。近5日下跌6.26%,技术指标一致指向下行趋势。
当前价格6.76,RSI 33接近超卖,MACD出现金叉(-0.0124 vs -0.0133),但价格仍低于所有主要均线(SMA20 6.78, SMA50 6.8, SMA200 6.96),空头排列。接近52周低点,多空信号矛盾,呈现中性整理状态。
VIX 恐慌指数
10Y 美债收益率 (%)
美元指数 DXY
S&P 500 ETF
Nasdaq 100 ETF
Apple
Microsoft
Nvidia
Alphabet
Tesla
Meta
Bitcoin
Ethereum
Solana
阿里巴巴 (BABA)
拼多多 (PDD)
京东 (JD)
腾讯控股 (0700.HK)
黄金期货
WTI 原油期货
美元 / 人民币
本报告基于公开行情数据计算的技术指标,仅供技术指标解读参考,不构成任何投资建议或预测。技术分析具有局限性,过去走势不代表未来表现,市场存在不确定性,投资者需自行评估风险并谨慎决策。
President Trump and Iran’s lead negotiator have signed an agreement that was expected to open the Strait of Hormuz. But the specific terms of the deal have not been released, and Israel’s leader appears not to be fully on board.
中文摘要 美国总统特朗普与伊朗首席谈判代表签署了一项预期将开放霍尔木兹海峡的初步协议,但具体条款尚未公布。以色列总理似乎并未完全支持该协议。
Experts say criminal networks favour Sri Lanka due to ease of getting tourist visas and limited regulation on sim cards and internet connections Experts have warned that Sri Lanka is emerging as a hub for transnational cybercrime, after a crackdown in south-east Asia pushed Chinese-run criminal netw
中文摘要 专家警告称,斯里兰卡正成为跨国网络犯罪中心,此前东南亚的打击行动迫使犯罪网络转移。原因包括该国旅游签证获取便利以及对SIM卡和互联网连接的监管有限。
Producers will need time to ramp up output, while port bottlenecks and heightened demand will keep US prices up.
中文摘要 分析指出,在美伊达成结束战争的协议后,美国燃油价格将需要“数月”时间才能恢复正常。生产商需要时间提高产量,港口瓶颈和需求高涨也将维持价格高位。
Eight people are believed to have died after a US Air Force B-52 Stratofortress crashed shortly after takeoff
中文摘要 一架美国空军B-52同温层堡垒轰炸机在加利福尼亚州起飞后不久坠毁,据信造成8人死亡。
Trump says Strait of Hormuz will be open from Friday but there is still confusion about the exact contents of the agreement.
中文摘要 美国总统特朗普表示,旨在结束与伊朗战争的协议已经签署,细节将“很快”公布。他称霍尔木兹海峡将于周五开放,但协议的确切内容仍存在混乱。
California’s Democratic Governor claims President Donald Trump has launched a criminal investigation against him.
中文摘要 加州民主党州长加文·纽森声称,特朗普总统已对他启动刑事调查。
Backlash to US-Iran deal grows in Israel as Iranian vessels pass through Strait of Hormuz after US lifts naval blockade.
中文摘要 特朗普称与德黑兰的谅解备忘录已通过电子方式签署。美伊协议在以色列国内引发反弹,与此同时,在美国解除海上封锁后,伊朗船只通过了霍尔木兹海峡。
The short-term truce hasn’t been made public, and the long-term peace deal it is supposed to yield doesn’t exist yet, so there is much still unknown about any agreement between the adversaries.
中文摘要 美伊协议的核心仍存在大量未解问题。短期停火条款未公开,而其预期达成的长期和平协议尚不存在,因此双方之间的任何协议仍有许多未知数。
Why did Hungary’s pronatalist approach deliver an early rise in births only then to fall back? And what lessons does it offer to other countries desperate to lift fertility?
中文摘要 文章探讨了匈牙利鼓励生育政策的经验教训。该政策在短期内提升了出生率,但随后回落,分析了其对其他试图提高生育率国家的启示。
Democrats demanded an immediate briefing and even Republicans conceded they had no information on an agreement the administration has declined to release.
中文摘要 由于缺乏信息,美国参议员们对美伊协议持谨慎态度。民主党要求立即进行情况通报,而共和党也承认政府未向他们公布协议内容。
The claims also prompted a response from UK media regulator Ofcom, who called them "deeply concerning".
中文摘要 针对澳大利亚《初婚》节目的指控,该国监管机构称其“令人不安”。英国媒体监管机构Ofcom也称这些指控“令人深感关切”。
“The struggle has not ended,” a defiant Prime Minister Benjamin Netanyahu told Israelis.
中文摘要 以色列总理内塔尼亚胡表示,尽管美伊达成协议,以色列仍将维持在黎巴嫩的军事力量。他宣称“斗争尚未结束”。
There are glimpses of happiness in the Democratic Republic of Congo's fight against the virus that has killed more than 170.
中文摘要 BBC探访了刚果民主共和国埃博拉疫情的中心,报道了在抗击已导致超过170人死亡的病毒的过程中,仍能看到的欢乐景象。
From fuel switches to engine failures, here are the biggest mysteries around the Air India crash inquiry.
中文摘要 文章回顾了印度航空事故调查一年后仍悬而未决的六个主要疑问,涉及燃料开关、发动机故障等多个未解之谜。
French president Emmanuel Macron met with Trump and congratulated him for signing the new Iran agreement.
中文摘要 美国总统特朗普抵达法国参加七国集团领导人峰会,并宣扬与伊朗达成的和平协议。法国总统马克龙与特朗普会面,并祝贺他签署了新的伊朗协议。
The top executive at Woodside Energy Group Ltd.’s $17.5 billion liquefied natural gas project in Louisiana has departed, effective Monday, just over a year after she was hired, according to a company memo seen by Bloomberg.
中文摘要 伍德赛德能源集团路易斯安那州液化天然气项目总裁突然离职,该项目价值175亿美元,离职在周一生效,距她入职仅一年多。
Helium-3 is expensive and demand is forecast to soar, so some are planning to mine it on the moon.
中文摘要 氦-3价格昂贵,需求预计大幅增长,因此一些人计划在月球上开采它。
A government spokesman tells the BBC that the current offer "does not do enough to protect consumers or the environment".
中文摘要 英国政府反对泰晤士水务的救援交易,使其更接近国有化。政府发言人称,当前报价未能充分保护消费者和环境。
The highest volatility in rupiah corporate bonds in four years is threatening to dent record issuance by companies in Southeast Asia’s largest economy at a time when government policy swings have hurt international investor confidence in Indonesian assets.
中文摘要 印尼卢比企业债券波动性达四年最高,威胁该国企业的创纪录债券发行。政府政策变动损害了国际投资者对印尼资产的信心。
Customers at some of the largest retail brokerage firms in the US each received at least a single share in SpaceX’s $86.2 billion IPO, underscoring how the offering was designed to give individual investors a sizable role.
中文摘要 美国部分大型零售券商客户每人至少获得SpaceX价值862亿美元IPO中的一股,显示此次发行旨在让散户投资者发挥重要作用。
Emma Reynolds’ warning increases prospect of the nationalisation of Britain’s biggest water company
中文摘要 英国环境大臣对泰晤士水务100亿英镑的救援交易表示质疑,增加了这家英国最大水务公司国有化的可能性。
A single trader on Polymarket lost nearly $1 million when Cabo Verde fought Spain to a stunning draw on Monday in one of the most unlikely outcomes in recent World Cup history, powered by a 40-year-old goalkeeper who left the pitch in tears.
中文摘要 在Polymarket上,一名交易员因佛得角与西班牙战平而损失近100万美元。这场比赛是世界杯历史上不太可能的结果之一,40岁的守门员赛后泪洒赛场。
Gold held a gain after US President Donald Trump said the Strait of Hormuz could reopen on Friday, likely easing an energy and inflation shock that has roiled global markets.
中文摘要 黄金价格保持上涨,因美国总统特朗普表示霍尔木兹海峡可能在周五重开,这有望缓解困扰全球市场的能源和通胀冲击。
Private equity firm IG4 Capital, fresh off a deal to take control of petrochemical giant Braskem SA, is now setting its sights on sugar and ethanol producer Raizen SA, another major Brazilian company in distress.
中文摘要 私募股权公司IG4 Capital在完成对石化巨头Braskem的收购后,计划收购糖和乙醇生产商Raizen的债务,以寻求获得多数股权。Raizen是另一家陷入困境的巴西主要公司。
South London football club is enjoying its most successful ever period
中文摘要 水晶宫足球俱乐部的美国亿万富翁老板正探索出售该俱乐部。这家南伦敦俱乐部正处于其历史上最成功的时期。
Asian equities edged higher as traders took stock of a relief rally fueled by the US-Iran deal to reopen the Strait of Hormuz, while awaiting rate decisions in Australia and Japan.
中文摘要 亚洲股市小幅上涨,交易员评估美国-伊朗协议推动霍尔木兹海峡重开引发的缓解性反弹,同时等待澳大利亚和日本的利率决定。
Oil steadied after the biggest drop in more than two weeks as traders, shippers and producers waited for details of a US-Iran deal that’s intended to pave the way for the full reopening of the Strait of Hormuz.
中文摘要 油价在经历两周多来最大跌幅后企稳,交易员、船运商和生产商等待美国-伊朗协议的细节,该协议旨在为霍尔木兹海峡的全面重开铺平道路。
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免责声明:别笑话我。真的很可怜,大佬哑然失笑,壮士嗤之以鼻那种 我学历低(高中)没文化,好吃懒做不想好好打螺丝,后来就写网文了。 就是那种最底层,写充库文的。 AI出来后我就一直想,这玩意能不能来写网文呢? …… 是可以的。 问题在于,AI的文字还凑合,指节发白、声音不高 这些指纹,其实不难,用python跑正则都可以消灭。我现在用的是几乎无限tokens,不花钱的某家消灭。 哎,当时真是傻,花重金买了一块4090,然后又买了8根48g 内存,信心满满打造本地不花钱的个人AI! 然鹅…… 从京东200块钱雇来帮我装电脑的小哥说,主板只支持4根内存啊,8根插不进去——就这么几个孔,真插不进去,臣
戾气还是太重了 10 个帖子 - 8 位参与者 阅读完整话题
在实现手机远程控制(第三方api登录态)codex桌面版的功能开发中,几乎把坑都给踩遍了,终于,成功实现了这一功能并炼进了skills。 本该早些发布的,被四六级备考给拖住进度了 skills: 【开源】Codex桌面版部分功能(Fast Mode、插件市场、道德限制、手机远程控制和 Computer Use 等)被限制?一个skills解决!【6.15重磅更新】 使用教程: 先仔细阅读skills使用说明,然后让agent进行修复。 修复完成后需要在代理的环境下,打开设置->连接->添加,等待弹出二维码,用登录了chatgpt的手机扫描二维码(账号需要开启“多重身份验证”和“为 Codex
28 个帖子 - 23 位参与者 阅读完整话题
这就不是公益推广了吧. 学业繁忙,实在无力维护。某些人滥用的太厉害,实在有心无力。 等到暑假有时间了,在继续吧(也不一定),谢谢。 主贴: 【HelloAI CN+】DeepSeek复活了 5 个帖子 - 5 位参与者 阅读完整话题
好几天了这是第一次蹬上any 佬们,这是何意味? *看到佬们几分钟这么多回复,声明一下不是质疑,就是遇到了图一乐昂。按楼下说的很可能是第一次say hi的时候选了肥波5的原因,导致第二次问你是什么模型的时候,它可能附带了什么提示词了 咱也不懂,应该就素酱紫。 52 个帖子 - 45 位参与者 阅读完整话题
本帖使用社区开源推广,符合推广要求。我申明并遵循社区要求的以下内容: 我的帖子已经打上 开源推广 标签: 是 我的开源项目完整开源,无未开源部分: 是 我的开源项目已链接认可 LINUX DO 社区: 是 我帖子内的项目介绍,AI 生成、润色内容部分已截图发出: 是 以上选择我承诺是永久有效的,接受社区和佬友监督: 是 佬友们,接着https://linux.do/t/topic/2394586 讨论 为了高效的科研,尽量发论文毕业,我从 openai 刚出来就在使用各种 AI 模型,并且从今天年初使用 openclaw 的时候就在研究迭代各种 skill。本着开源的态度,我把自己的这套 “自
今年1月份投稿的Elsevier论文,今天终于中了,特作纪念。 说来惭愧,这篇论文还是24年7月份开始构思和做实验的。因为实验结果一直不理想,一直拖到25年才终于定下初稿。一开始投的1区,后来不出所料被拒了。继续修改投了现在这个2区(具体的名字就不说了)经过二审后终于录用。直到现在打开doi号看到自己的网页版和可以下载的pdf版,依然还有一种不真实的感觉。这是我的第一篇论文,我还是很用心的,像是自己的孩子一样。至于论文是什么,就不给佬们献丑了。 最后祝L站的佬友们,也能论文顺利,一投就中 28 个帖子 - 14 位参与者 阅读完整话题
本来因为我号池PLUS号不多了,已经关闭了GPT渠道 做公益站真的很矛盾,每次看到号池见底 这个是昨天新搭建的服务器渠道 18 个帖子 - 18 位参与者 阅读完整话题
事先声明:我并非有意带节奏,但是接连问了两个管理都没有人理我(可能是比较忙),这事对我真的很重要,迫于无奈,我只好发帖求助 事情是这样的,我从去年开始追求连续365天上线,可是Discourse论坛系统出了问题,我在阅读时间为0的这一天很明确的上线了,而且不是上线了事,是浏览了不少帖子 我已经连着上了10个月了,这是最后两个月,我不想因为这种bug断掉,只好发帖求助 49 个帖子 - 30 位参与者 阅读完整话题