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2026-06-17

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freeCodeCamp/freeCodeCamp

TypeScript · ★ 448,566 · 🍴 45,040 · 📈 633 stars today

freeCodeCamp.org's open-source codebase and curriculum. Learn math, programming, and computer science for free.

中文介绍 freeCodeCamp 的开源代码库与课程体系,提供涵盖数学、编程和计算机科学的免费学习项目。它通过交互式编码挑战和项目实践,帮助零基础学习者系统掌握 Web 开发、数据科学等技能,是自学者进行结构化编程入门的流行平台。

swc-project/swc

Rust · ★ 33,967 · 🍴 1,417 · 📈 20 stars today

Rust-based platform for the Web

中文介绍 基于 Rust 构建的高性能 Web 工具链。它是一个极快的 TypeScript / JavaScript 编译器和打包器,用作 Webpack 或 Babel 的替代方案,可显著提升前端项目的构建速度,适用于对构建性能要求高的大型 Web 应用开发。

teslamate-org/teslamate

Elixir · ★ 8,407 · 🍴 956 · 📈 215 stars today

A self-hosted data logger for your Tesla 🚘 [main maintainer=@JakobLichterfeld]

中文介绍 一个可自托管的特斯拉车辆数据记录器。它通过连接特斯拉 API,收集并可视化展示车辆的续航、充电、驾驶习惯等详细数据,帮助车主深入分析和监控车辆状态,适合希望拥有完整数据所有权的技术型车主。

iptv-org/iptv

TypeScript · ★ 124,079 · 🍴 6,695 · 📈 1,197 stars today

Collection of publicly available IPTV channels from all over the world

中文介绍 一个聚合全球公开 IPTV 频道的资源集合。该项目维护一份不断更新的、来自世界各地的公开免费电视频道列表及对应的播放列表文件,用户可通过支持 M3U 格式的播放器软件(如 VLC)收看。

puppeteer/puppeteer

TypeScript · ★ 94,890 · 🍴 9,451 · 📈 56 stars today

JavaScript API for Chrome and Firefox

中文介绍 由 Google 开发的高级 Node.js 库,提供对 Chrome 或 Firefox 浏览器的自动化控制。开发者可通过 JavaScript 脚本模拟用户操作,完成网页截图、数据爬取、自动化测试等任务,是无头浏览器自动化的事实标准工具。

meshery/meshery

TypeScript · ★ 10,852 · 🍴 3,448 · 📈 228 stars today

Meshery, the cloud native manager

中文介绍 一个开源的云原生管理平台。它提供图形化界面,用于部署、管理和操作各类云原生基础设施,如服务网格、Kubernetes 等,旨在简化复杂的云原生环境运维,是 DevOps 和平台工程师的实用管理工具。

cypress-io/cypress

TypeScript · ★ 50,211 · 🍴 3,426 · 📈 13 stars today

Fast, easy and reliable testing for anything that runs in a browser.

中文介绍 专注于现代 Web 应用的快速、易用且可靠的端到端测试框架。它直接在浏览器中运行,提供实时重载、时间旅行调试等功能,极大简化了前端组件与集成测试的编写和调试流程。

music-assistant/server

Python · ★ 2,566 · 🍴 450 · 📈 157 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 一个免费的开源媒体库管理器。它能够连接用户的多个流媒体服务(如 Spotify、Tidal)和各种联网音箱设备,将分散的音乐资源统一管理并实现跨房间、跨设备的无缝播放控制。

Universal-Debloater-Alliance/universal-android-debloater-next-generation

Rust · ★ 7,312 · 🍴 315 · 📈 146 stars today

Cross-platform GUI written in Rust using ADB to debloat non-rooted Android devices. Improve your privacy, the security and battery life of your device.

中文介绍 一款用 Rust 编写的跨平台图形界面工具,通过 ADB 命令为未 root 的安卓设备卸载预装臃肿软件。它能有效提升设备的隐私安全性和电池续航,适合希望精简手机系统的用户。

OpenBMB/VoxCPM

Python · ★ 30,126 · 🍴 3,406 · 📈 408 stars today

VoxCPM2: Tokenizer-Free TTS for Multilingual Speech Generation, Creative Voice Design, and True-to-Life Cloning

中文介绍 VoxCPM 是一个先进的文本转语音(TTS)模型,具备多语言语音生成、创意音色设计和高保真声音克隆能力。它无需额外的音素编码器,提供了更自然、更具表现力的语音合成方案。

alibaba/zvec

C++ · ★ 10,457 · 🍴 607 · 📈 156 stars today

A lightweight, lightning-fast, in-process vector database

中文介绍 阿里巴巴开源的一个轻量级、超快速的进程内向量数据库。它专为在单个应用程序进程内高效存储和检索高维向量数据而设计,适用于对延迟极其敏感的机器学习模型在线推理等嵌入式场景。

rmyndharis/OpenWA

TypeScript · ★ 9,081 · 🍴 1,998 · 📈 185 stars today

Free, Open Source, Self-Hosted WhatsApp API Gateway

中文介绍 一个免费、开源的自托管 WhatsApp API 网关。它允许开发者通过 API 与 WhatsApp 服务进行交互,适用于需要将 WhatsApp 消息功能集成到自己业务系统或聊天机器人中的企业与个人开发者。

n0-computer/iroh

Rust · ★ 9,291 · 🍴 436 · 📈 334 stars today

IP addresses break, dial keys instead. Modular networking stack in Rust.

中文介绍 一个用 Rust 编写的模块化网络栈。其核心思想是用密钥(Keys)代替易变的 IP 地址进行设备寻址和连接,旨在构建更稳定、更可靠的点对点网络,用于解决分布式系统中的寻址与连接问题。

A frontier without an ecosystem is not stable

@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纳德拉探讨AI驱动经济中「公司」的未来,认为此次平台转变不同于以往,将重塑组织形态与价值创造方式,强调构建生态系统的重要性。

How To Build a Second Brain That Runs Itself With Obsidian (Full Course)

@eng_khairallah1 · 67.2K 粉丝 · 1.2M 阅 · 510 赞 · 73 转

You read maybe two hundred articles this year. A few dozen papers. Hundreds of threads. Save this Every second-brain method ever sold to you, Zettelkasten, PARA, the graph view, the daily note,

中文介绍 提供使用Obsidian构建可自动化运行的「第二大脑」完整课程,旨在整合Zettelkasten、PARA等方法,解决知识管理碎片化问题。

How To Build Your Own LLM from Scratch (The 5-Stage Pipeline Behind GPT and Claude)

@sairahul1 · 116.6K 粉丝 · 905.5K 阅 · 503 赞 · 102 转

Everyone talks about LLMs. Nobody explains how they actually work under the hood. GPT. Claude. Gemini. Llama. They all come from the same 5-stage pipeline. And once you understand it, you can build

中文介绍 拆解GPT、Claude等大语言模型背后的通用5阶段构建流水线,旨在帮助读者从底层理解LLM工作原理,并为自行构建提供路径。

Owning vs. Renting Intelligence

@lqiao · 95.4K 粉丝 · 501.6K 阅 · 509 赞 · 86 转

Mythos got shut down this week. Whether you agreed with the decision or not is almost beside the point. A company built on top of intelligence it didn't control suddenly found itself exposed to

中文介绍 以Mythos关闭为例,讨论AI时代「拥有智能」与「租用智能」的风险区别,强调在他人平台上构建业务存在根本性脆弱性。

Indian IT is Not Failing in AI - It Was Never Meant to Build ChatGPT

@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业在AI竞赛中失败」的流行观点,认为其传统业务模式本就不是为了从头构建ChatGPT这类前沿模型而设计。

Using Claude to go Viral on X… (Mr. Beasts Framework)

@mattepstein · 35.6K 粉丝 · 393.3K 阅 · 504 赞 · 26 转

Have you seen any of the launches below on your timeline? (you probably have).. What if I told you they all followed a repeatable viral science that can be 95% automatable with claude. In this

中文介绍 分享如何运用Claude和一套类似Mr. Beast的可重复框架,在X上实现病毒式传播,并指出其流程约95%可自动化。

How to Create Loops with Claude

@mikenevermiss · 10.8K 粉丝 · 261.4K 阅 · 568 赞 · 67 转

stop making prompts. start designing loops. a prompt gets you one response. a loop gets you a system that keeps working after you close the laptop. Boris Cherny, who runs Claude Code at Anthropic, put

中文介绍 提倡用「设计循环」代替「编写提示词」,以构建一个能在你离开后持续工作的AI系统。此概念与Claude Code负责人Boris Cherny的工作相关。

An extremely subtle brainwashing

@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 警示当前存在一种微妙的“洗脑”趋势:AI能力提升正潜移默化地影响顶尖人才的选择,可能引导其远离能带来更大社会价值的研究领域。

Lazymaxxing TikTok Slideshows: 600/month for $2

@athcanft · 19.1K 粉丝 · 205.6K 阅 · 514 赞 · 23 转

I've been mass-producing TikTok slideshows with AI and scheduling them weeks in advance. Zero filming. Zero editing. Zero daily posting grind. This article breaks down the exact system, step-by-step,

中文介绍 详细介绍一套用AI批量生产TikTok幻灯片并提前调度发布的系统,实现每月600条内容、日均成本约2美元,无需拍摄和剪辑。

Factory 2.0: From coding agents to software factories

@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 Factory公司分享其从「编码代理」到「软件工厂」的愿景演进,旨在通过部署自主机器人(Droids)为软件工程带来更高的自主性。

Zen and the Art of AI Research

@jxmnop · 50.7K 粉丝 · 114.1K 阅 · 504 赞 · 57 转

So you want to do AI research? It's true that no one really teaches you how. Not directly, anyway. But it turns out that the way to get started is pretty simple: some combination of (i) reading and

中文介绍 为想入门AI研究的人提供简洁建议:路径是广泛阅读(尤其论文)与动手实践(运行代码、修改实验)的结合,并无神秘捷径。

The Window Has Closed

@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 评论已下线的Fable模型,指出其特殊之处无法体现在基准测试中,表达对某些主观使用体验优于标准化指标的看法。

Agentic Code Review

@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 指出AI编码代理能力飞速提升,工程难点正从「编写代码」转向「决定是否信任代码」,提出「代理代码审查」的必要性。

Claude's June 15 Agent SDK billing split: what it means for Agent builders

@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 解读Claude于2026年6月15日起对Agent SDK编程性使用实施独立计费的变化,并介绍其工具AstridOS为此构建的成本管控功能。

The 7-day Hermes setup (full guide)

@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 提供一套分7天完成的「Hermes」AI环境设置指南,旨在系统化整合工具、API和自动化,避免一次性混乱搭建导致的系统臃肿。

My Thoughts on Loop Engineering

@samueljmcd · 857 粉丝 · 42.2K 阅 · 511 赞 · 52 转

Loop engineering is the new label. The hard part is the one it has always been. Verification. Tip: You can copy and paste this article into Claude and ask for the best insights if you don't want to

中文介绍 对「循环工程」这一新标签的思考,认为其核心难点一如既往在于「验证」,即如何确保自动化循环产出的结果可靠。

The 10 rules to ship truly polished UI with Claude

@kvnkld · 7.2K 粉丝 · 42.0K 阅 · 531 赞 · 25 转

People keep asking how the UI components I post end up looking so polished, or what prompts I use. So here’s a breakdown of the most important things: Polish is not a feature you prompt for. You can't

中文介绍 分享用Claude产出精致UI的10条规则,核心认知是「精致并非可提示出的功能」,它需要一套围绕设计、约束和迭代的系统方法。

Mastering Codex (Mobile) for Engineering

@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 探讨如何将手机变为Codex控制中心,不仅用于查看任务,更在于充分利用其异步执行能力,随时随地管理与推进工程任务。

Unlocking UK house-building with AI-accelerated planning

UK government partners with Google DeepMind to build a new AI-powered prototype aimed at faster housing decisions.

中文介绍 英国政府与谷歌DeepMind合作,旨在通过AI驱动的原型加快住房决策流程。

Want to get a data center online quickly? Give it some flex.

At the end of a tense and scoreless first half of a soccer match between the English men’s team and rival Germany, millions of Brits let out a collective sigh and did what they so often do in moments of stress: They made tea. That wave of electric kettles clicking on, however, caused a different…

中文介绍 文章探讨数据中心快速上线需电网具备灵活调度能力,以应对突发负荷。

Predicting model behavior before release by simulating deployment

OpenAI introduces Deployment Simulation, a method to predict AI model behavior before deployment using real conversation data to improve safety and evaluation accuracy.

中文介绍 OpenAI发布“部署模拟”方法,旨在通过模拟真实对话数据来预测AI模型行为,以提升安全性和评估准确性。

Why do South Koreans love AI so much?

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 文章探讨韩国全民喜爱AI的原因,涉及其技术应用普及度高。

Introducing the OpenAI Partner Network

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,将投资1.5亿美元,以帮助全球合作伙伴加速企业AI采用、部署和转型。

New OpenAI Academy courses for the next era of work

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推出三门新学院课程,旨在帮助人们构建实用AI技能、创建可重复工作流程并在日常工作中应用AI代理。

[AINews] Loopcraft: The Art of Stacking Loops

a quiet day lets us highlight a great concept from Peter Steinberger, Boris Cherny, and Andrej Karpathy

中文介绍 文章介绍了由Peter Steinberger、Boris Cherny和Andrej Karpathy提出的Loopcraft概念。

How Preply combines AI and human tutors to personalize learning

Preply uses OpenAI to launch AI-generated lesson summaries, providing personalised feedback and language learning exercises.

中文介绍 语言学习平台Preply利用OpenAI技术生成AI课程摘要,以提供个性化反馈和语言练习。

Google DeepMind is worried about what happens when millions of agents start to interact

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,关注数百万AI代理在线交互可能带来的潜在风险。

Di5Guise: 5G Privacy with vSIM

第一作者: Shirin Ebadi · 方向: 网络安全

Abstract:SIM cards have been the key building block of user authenticationand security in cellular networks. While they are meant to serve as privacy protecting elements in cellular communications, they can be the root cause of privacy loss. Current eSIMs come with a fixed device profile--comprising a secret key, a certificate, and a unique eUICC identifier--that permanently binds every subscriber profile provisioned on the device to that device profile. This binding enables an attacker with the vantage point of a cellular operator to correlate subscriber identities back to a single device, piecing together a complete pattern of life--online activities, movement patterns, and real-world identity--even when users rotate subscriber identities or employ traffic obfuscation techniques. To mitigate this concern, we introduce Di5Guise, a privacy-enhancing architecture that breaks this...

论文介绍 研究当前eSIM设备配置文件永久绑定导致的隐私泄露问题,攻击者可关联用户身份与设备。提出Di5Guise架构,通过打破这种绑定来增强5G网络中的用户隐私保护,防止生活模式被追踪。

The Ghosts of Polymarket: When Off-Chain Matches Meet On-Chain Reverts

第一作者: Yiming Shen · 方向: 区块链安全

Abstract:Polymarket has emerged as a prominent prediction market platform and one of the fastest-growing applications in DeFi. To achieve low-latency trading, it adopts a hybrid architecture that matches orders off-chain but settles them on-chain for final execution. This design creates a consistency gap we call Ghost Fills: an order that is successfully matched off-chain may later fail during on-chain settlement. To understand the security implications of this gap, we investigate such failed settlements by building GHOSTHUNTER, which reconstructs them from on-chain traces and attributes to concrete attack patterns. Across 1,952,440 reverted match-order transactions, we find that attackers exploit the time gap between matching and settlement to invalidate already matched orders before they are finalized on-chain. We then identify four attack vectors from these incidents: nonce bump...

论文介绍 分析Polymarket预测市场采用链下匹配和链上结算的混合架构中的安全漏洞,引入「Ghost Fills」概念。构建GHOSTHUNTER工具,从链上痕迹重建失败结算,识别攻击向量,如时间差攻击,提升DeFi应用安全性。

Cross-Silo De-Anonymization Under Local Differential Privacy: Threat Model, Phase Transition, and Coordination Necessity

第一作者: Ziniu Liu · 方向: 软件安全

When a person's records appear in k independent data silos, each protected by (epsilon, delta)-differential privacy, standard composition yields a valid (k*epsilon, k*delta)-DP guarantee for the joint output. This worst-case bound, however, does not answer the concrete inference question: at what k can an adversary actually identify a target person? This paper develops the information-theoretic framework needed to answer that question. We introduce cross-silo person-level DP (XSP-DP), a Pufferfish-style privacy notion whose adjacency relation captures all records of a single person across all silos simultaneously, and verify that the standard basic composition bound carries over to this adjacency model. Within this framework we prove that de-anonymization undergoes a phase transition at k* = Theta(log n / epsilon^2) (population size n, per-silo RR parameter epsilon): a Fano lower bound...

论文介绍 探讨在本地差分隐私保护下,跨多个数据孤岛的去匿名化威胁。引入跨孤岛人员级DP(XSP-DP)框架,证明去匿名化在特定条件下发生相变,为隐私保护提供理论依据。

Automated jailbreak attack targeting multiple defense strategies

第一作者: Qi Wang · 方向: AI 安全

Abstract:Large language models (LLMs) have demonstrated remarkable capabilities across a wide range of tasks. However, their safety remains a critical concern due to their susceptibility to adversarial prompt-based attacks. In this paper, we present UNIATTACK, an adversarial testing framework designed from a defense-oriented perspective to systematically construct effective black-box attack prompts. Unlike prior approaches that rely on static templates or iterative model-specific tuning, UNIATTACK extracts minimal but high-impact attack features from diverse existing attacks, optimizes them via a specialized attacker LLM, and composes them into flexible templates through automated refinement process. This feature-centric construction enables one-shot attacks that generalize across multiple models and safety categories, providing a practical tool for assessing LLM robustness. Our...

论文介绍 针对大型语言模型的安全问题,提出UNIATTACK自动化攻击框架。该框架从防御视角提取攻击特征,优化并生成通用越狱提示,可用于评估多种模型和防御策略的鲁棒性。

From Third-Party to First-Party: Measuring and Protecting Against Modern Web Tracking Mechanisms

第一作者: Christian Böttger · 方向: 网络安全

Web user tracking has always been a cat-and-mouse game between privacy-conscious users and trackers. Recently, this conflict has driven a shift from third-party tracking toward first-party tracking (FPT) and server-side tracking (SST). By relocating tracking logic to the browser's first-party context or the website's backend, these mechanisms obscure data flows and render traditional client-side detection tools increasingly ineffective. Despite the growing adoption of these techniques, our understanding of their deployment at scale remains limited, and generalized protection mechanisms are lacking. In this work, we conduct a large-scale measurement of top sites to assess this shift and the prevalence of FPT and SST. We develop a provider-independent methodology to detect these mechanisms and find that over 54% of analyzed sites now deploy FPT or SST-related techniques. By clustering...

论文介绍 研究现代网络跟踪向第一方和服务器端跟踪的转变。通过大规模测量发现超过54%的网站部署相关技术,开发独立于提供商的检测方法,并提出保护机制应对隐私挑战。

SoK: Taxonomizing the Low-Level Attack Surface of Modern Web Browsers

第一作者: Han Zheng · 方向: 软件安全

Abstract:The web browser remains one of the most exposed remote attack surfaces on end-user systems, and memory-corruption flaws continue to play a central role in real-world browser exploitation. Despite a decade of intensive browser testing and bug-disclosure efforts, the community still lacks an explicit, defense-oriented systematization of the browser's low-level attack surface. Prior SoKs have surveyed browser vulnerabilities and mitigation techniques. However, these perspectives remain fragmented, leaving open a central question: how is the low-level attack surface of modern web browsers structured, and which parts of this surface remain underexplored by existing security testing? We approach this primary question through three sub-questions. (RQ1) How is the browser's attack surface structured along input classes and components? (RQ2) Where do memory corruption vulnerabilities...

论文介绍 系统化分析现代Web浏览器的低级别攻击面,解决现有研究碎片化问题。通过分类输入类和组件,识别内存破坏漏洞的关键区域,为安全测试提供方向。

A data-driven security quantification framework for IoT-based systems

第一作者: Alhassan Abdulhamid · 方向: 系统安全

Abstract:The Internet of Things (IoT) is integral to modern cyber-physical systems. Quantitative cybersecurity assessment in IoT environments remains challenging due to heterogeneous system architectures, evolving threat landscapes, and the limited availability of reliable probabilistic exploitability data. Although Attack Tree Analysis (ATA) provides a structured framework for modelling potential attack paths leading to system compromise, conventional ATA quantification often relies on subjective expert judgement or heuristic scoring schemes, which can introduce uncertainty and reduce analytical reproducibility. This study introduces a data-driven probabilistic security framework for IoT-based safety-critical systems by integrating Model-Based Systems Engineering (MBSE), ATA, and empirical vulnerability data. In the proposed framework, SysML models capture system architecture, from...

论文介绍 提出针对物联网系统的数据驱动安全量化框架,整合模型工程、攻击树分析和漏洞数据,以改进传统依赖主观判断的方法,提高安全评估的客观性和可重复性。

DoubtProbe: Black-Box Jailbreak Defense via Structural Verification and Semantic Auditing

第一作者: Xuanyu Yin · 方向: 安全研究

As large language models (LLMs) are increasingly deployed in user-facing systems, black-box jailbreak defense has become an important practical problem. Existing defenses often rely on known-attack coverage, prompt-level semantic judgment, or local runtime control, yet these paths can become unstable under evolving prompt packaging, expression rewriting, and structure manipulation. We observe that many black-box jailbreaks do not remove the harmful goal, but reorganize the information needed to express and execute it, thereby evading safety alignment while remaining recoverable during generation. Motivated by this observation, we propose DoubtProbe, a dual-branch inference-time defense framework that combines structural verification with semantic auditing and formulates black-box jailbreak defense as consistency checking under controlled transformation. The structural branch extracts a...

论文介绍 针对大型语言模型的黑盒越狱防御问题,提出DoubtProbe框架。该框架结合结构验证和语义审计,通过一致性检查检测并防御越狱攻击,提升模型安全性。

Measurement Study of Post-Quantum Readiness of Internet: 2026

第一作者: Vanishka Mohan Dubey · 方向: 密码学协议

The emergence of quantum computing presents a fundamental challenge to the security of current Internet communication systems. Transport Layer Security (TLS), which forms the backbone of secure web communication, predominantly relies on classical public-key cryptographic algorithms such as RSA and elliptic curve cryptography (ECC), both of which are susceptible to quantum attacks. This paper conducts a large scale empirical evaluation of post-quantum readiness across 32,011 domains, with a primary focus on real-world TLS deployments across diverse sectors by analysing negotiated TLS parameters, including protocol versions, cipher suites, key exchange mechanisms, and certificates. The results indicate that while modern protocols like TLS 1.3 and QUIC are gaining adoption, 15.70% of domains especially in critical sectors such as banking and government still rely on TLS 1.2. Furthermore...

论文介绍 量子计算的发展对现行互联网通信安全构成根本性威胁。本研究对32,011个域名的后量子准备度进行了大规模实证评估,重点分析了TLS部署中的协议版本、密码套件、密钥交换机制及证书等参数。结果表明,尽管TLS 1.3与QUIC等现代协议正在普及,仍有15.70%的域名(尤其在银行和政府等关键领域)依赖易受量子攻击的TLS 1.2。该研究揭示了当前互联网向后量子密码体系迁移的现实挑战与差距。

A Formal Resilience Framework for Cyber-Physical Embodied Systems under Device-Level Cyberattacks

第一作者: Alberto Giaretta · 方向: 系统安全

Abstract:In cyber-physical systems (CPSs), fault tolerance is traditionally achieved by analysing sensor and actuator outputs, detecting progressive drift or sudden failures, and initiating suitable tolerance mechanisms. Reasonable under general failure models, this approach fails to capture nuanced disruptions caused by cyberattacks, which may employ subtle strategies. This is particularly critical in embodied CPSs, where computational and physical devices not only have an active role in task completion, but also in embodiment preservation (that is, maintaining the system's physical integrity). To prevent structural physical damage, embodied CPSs require a framework that enables proactive response to cyberattacks. This paper proposes a formal dependability framework that incorporates IDS information into resilience evaluation predicates, enabling assessment of tolerance to disruption...

论文介绍 针对网络物理系统(CPS),特别是需要维护物理完整性的「具身」CPS,传统基于传感器输出的容错方法难以应对网络攻击的细微破坏。本文提出一个形式化的韧性评估框架,将入侵检测系统(IDS)信息整合到评估谓词中,旨在实现对设备级网络攻击的前瞻性响应与韧性量化评估,以预防结构性物理损坏。

Transferable Self-Evolving Playbooks for Agentic Security Auditing

第一作者: Ziyue Wang · 方向: 软件安全

Abstract:An LLM agent for vulnerability discovery and validation is more than a model. It combines three components: an LLM for code analysis, an agent harness such as Codex or OpenCode for navigation, tool use, and execution, and an audit playbook, domain-specific procedural knowledge that guides the LLM and harness toward vulnerability discovery. Prior work relies on human-supplied playbooks, including prompt engineering, manual workflows, knowledge bases, and heuristics. This raises two research questions: Acquisition - is human curation necessary, and can playbook creation be automated? Transfer - can an evolved playbook transfer the audit procedure to weaker agents, improving their capability? We present EvoHunt, a playbook evolution environment over open-source repositories for security auditing. Three agents drive the evolution loop: an audit agent rolls out the current playbook...

论文介绍 基于大语言模型的安全审计智能体不仅依赖模型本身,还需领域特定的「审计手册」来指导发现漏洞。现有手册通常由人工编写。本文提出EvoHunt,一个用于安全审计的开源手册演化环境,通过审计、演化和评估三个智能体驱动的循环,实现审计手册的自动化创建与优化,并探究演化出的手册是否可迁移至能力较弱的智能体以提升其审计效能。

MPX: A Unified Systolic Array for Matrix and Polynomial Multiplication

第一作者: George Alexakis · 方向: 密码学协议

Abstract:Polynomial multiplication is a fundamental kernel in Fully Homomorphic Encryption (FHE) and post-quantum cryptography (PQC) and is commonly accelerated through Number Theoretic Transforms (NTTs). To avoid the cost of designing dedicated cryptographic accelerators, recent efforts have mapped NTT computations onto existing systolic matrix engines, enabling the reuse of AI hardware for cryptographic workloads. In this work, we take the opposite approach. We observe that the wavefront dataflow of systolic arrays naturally aligns with the accumulation pattern of polynomial multiplication and leverage this correspondence to design MPX, a dual-mode systolic array that supports both matrix multiplication and direct polynomial multiplication within the same hardware fabric. Experimental results show that extending a conventional systolic array with this dual-mode capability requires...

论文介绍 多项式乘法是全同态加密和后量子密码学中的核心运算,通常借助数论变换加速。现有方法倾向于将数论变换映射到为AI设计的脉动阵列引擎上。本文反其道而行,设计了一种名为MPX的双模式脉动阵列架构,其波前数据流天然适配多项式乘法的累加模式,能够在同一硬件结构内支持高效的矩阵乘法与直接多项式乘法,旨在实现硬件复用。

MIPSBLEED: Uncovering Microarchitectural Timing Leaks in Pervasive Embedded Processors

第一作者: Ahmed Najeeb · 方向: 系统安全

Abstract:Despite their age, MIPS processors remain deeply embedded in routers, industrial controllers, and IoT systems, yet their security against modern side-channel attacks has received little attention. This paper exposes how Simultaneous Multithreading (SMT), a feature increasingly used to boost performance in these environments, creates powerful cross-core timing channels on MIPS-based platforms. We introduce MIPSBLEED, a systematic analysis and exploitation framework that uncovers leakage in three shared microarchitectural components: the L1 data cache, L1 instruction cache, and the execution engine. Through carefully crafted assembly-level probes and quantitative leakage assessment, we demonstrate practical, high-resolution timing attacks that operate without requiring privileged access. Our evaluation reveals significant information leakage across all three channels and...

论文介绍 MIPS处理器仍广泛应用于路由器、工业控制器和物联网设备,但其抵御现代侧信道攻击的安全性备受忽视。本文揭露了MIPS平台上同时多线程(SMT)特性如何在L1数据缓存、L1指令缓存和执行引擎三个共享微架构组件中产生跨核时序信道,并提出了MIPSBLEED框架,通过精心设计的探测程序展示了无需特权访问即可实施高精度时序攻击的可行性。

FEnc$^2$: Unifying Data Packing for Efficient Private Inference via Convolution and Architecture-Aware Fragment Encoding

第一作者: Ran Ran · 方向: 密码学协议

Abstract:Fully Homomorphic Encryption (FHE) enables privacy-preserving machine learning but incurs extreme computational and memory overhead. These costs come not only from expensive low-level primitives, including Number Theoretic Transform (NTT), rotation, and key-switching, but also from inefficient ciphertext packing at the application level. Existing packing strategies typically preserve either neighboring data elements or feature grouping, but not both, leading to wasted ciphertext slots, excessive rotations, and inflated ciphertext counts. We propose FEnc2, a unified and principled fragment-based encoding framework for CKKS-based private convolutional neural network inference. FEnc2 optimizes slot utilization, rotation complexity, and ciphertext density through two components: 1)Conv-aware Encoding, which analytically selects an optimal fragment size to decouple spatial...

论文介绍 基于全同态加密的隐私保护机器学习面临极高的计算与内存开销,部分源于应用层低效的密文打包策略。现有策略通常无法同时兼顾数据元素的邻近性和特征分组,导致密文槽位浪费和旋转开销增加。本文提出FEnc²,一个针对CKKS方案的统一编码框架,通过卷积感知编码和架构感知分片编码两个组件,优化槽位利用率、旋转复杂度和密文密度,以提升隐私卷积神经网络推理的效率。

The Proxy Knows Too Much: Sealing LLM API Routers with Attested TEEs

第一作者: Sipeng Xie · 方向: AI 安全

Abstract:Agents increasingly access large language models (LLMs) through API routers. A router terminates the client's transport-layer security session and opens a separate upstream session, so it holds the full interaction in plaintext. This makes the router an application-layer man-in-the-middle: it can rewrite agent tool calls, swap dependencies for typosquatted packages, trigger attacks only under audit-evading conditions, and passively exfiltrate secrets. Existing client-side defenses are evadable. We propose AEGIS, a provider-transparent attested API router whose data path is a client-verified faithful passthrough. AEGISconfines plaintext handling to a small hardware-enclave component while leaving authentication, scheduling, accounting, and management on the untrusted host. The client verifies the enclave before releasing plaintext. The host can neither read nor alter the...

论文介绍 智能体越来越多地通过API路由访问大语言模型。路由作为应用层中间人,能以明文形式持有全部交互内容,存在重写工具调用、窃取秘密等风险。现有客户端防御措施易被规避。本文提出AEGIS,一种经过认证的、对提供商透明的API路由器,其数据路径是一个客户端可验证的直通通道。AEGIS将明文处理限制在受硬件enclave保护的小型组件内,从而防止主机读取或篡改数据。

From Refusal Geometry to Safety Geometry: Harmfulness--Refusal Coupling under Dynamic Adversarial Fine-Tuning

第一作者: Wenhao Lan · 方向: 密码学协议

Abstract:Safety alignment requires language models to refuse harmful requests without losing the ability to answer benign ones. Existing robustness evaluations, however, do not reveal whether a model has learned to recognize harmfulness, to activate a refusal policy, or to couple these two processes. We study this question with a dual safety-geometry protocol that measures harmfulness carriers, refusal carriers, and their coupling across aligned instruction-tuned anchors and matched Mistral-7B-v0.1 SFT/R2D2 training trajectories. The aligned anchors validate the protocol: refusal-side interventions reopen attack success more strongly than harmfulness-only interventions, while harmfulness and refusal carriers remain nearly orthogonal. Along the Mistral trajectory, R2D2 exhibits a high-coupling early phase with strong fixed-source robustness, saturated safe-prompt refusal, and collapsed...

论文介绍 语言模型的安全对齐要求其拒绝有害请求的同时,保留回答良性请求的能力。本文研究「有害性识别」与「拒绝策略激活」这两个过程是否被模型学习并耦合。研究提出一种双安全几何协议,通过测量「有害性载体」和「拒绝载体」及其耦合度,在指令微调锚点和特定训练轨迹上进行分析,旨在从几何视角揭示模型安全机制的内在结构与动态演变。

Dynamic Malicious Skills in Agentic AI

第一作者: Tianhao Chen · 方向: 软件安全

Abstract:Skills are a key enabling component of agentic AI. While they enhance agents' capabilities, they also introduce new attack surfaces. In this work, we investigate one such attack surface by demonstrating dynamic malicious skills. By embedding malicious instructions in natural-language documentation (e.g., this http URL), an attacker can induce an agent to dynamically inject malicious logic into an otherwise benign skill during execution. We evaluate this attack across agentic frameworks such as OpenHands and Claude Code, showing that dynamic malicious skills can successfully introduce a range of malicious behaviors at runtime with non-trivial success rates. To mitigate this vulnerability, we propose a system-level defense that prevents dynamic modification of skills using operating system kernel-enforced read-only mounts. Our evaluation demonstrates that this defense...

论文介绍 本文研究代理AI中技能组件引入的新攻击面,展示动态恶意技能攻击。攻击者通过在自然语言文档中嵌入恶意指令,诱导代理在运行时动态注入恶意逻辑。评估在OpenHands和Claude Code上显示攻击有效。提出系统级防御,利用操作系统内核强制只读挂载防止技能修改。

SPARK: Security Knowledge Priming and Representation-Guided Knowledge Activation for LLM-based Secure Code Generation

第一作者: Xiaoyun Xu · 方向: 软件安全

Abstract:Large language models routinely generate code with exploitable security flaws. Prior literature attributes this limitation to a lack of security expertise, steering current defense mechanisms toward heavy fine-tuning or external knowledge retrieval, which introduces significant computational overhead and data bias through redundant code examples. Contrary to this view, we argue that pretraining corpora are already rich in security material. The bottleneck is activation: without an explicit and brief cue, statistical pressure toward common training-distribution patterns suppresses the model's safety-relevant representations. We present SPARK, an inference-time security harness that activates this latent knowledge without any retraining. The harness has two parts. Component~I retrieves a few of the relevant Common Weakness Enumeration (CWE) entries for each coding task and...

论文介绍 针对LLM生成不安全代码的问题,本文认为预训练数据已含安全知识但需激活。提出SPARK,一个推理时安全工具,无需重训练即可激活潜在知识。通过检索相关Common Weakness Enumeration (CWE)条目来引导模型生成更安全代码。应用可提升代码安全性。

did:crdt: Coordination-Free Decentralised Identifiers via Signed CRDTs

第一作者: Hugo O'Connor · 方向: 区块链安全

Abstract:Existing Decentralised Identifier (DID) methods require coordination, an agreed global order of operations, to update a DID document: blockchain-anchored methods incur fees and latency; lightweight peer methods (did:key, did:peer) offer no update mechanism; and Sidetree methods still require blockchain ordering for finality. We present did:crdt, a DID method that targets W3C DID Core and removes the need for coordination entirely: there is no ledger, no sequencer, and no global total order. Each DID document is composed of signed Conflict-Free Replicated Data Types (CRDTs), one per document field, each chosen so that concurrent edits merge deterministically. By the CALM Theorem, the state-merge path is then confluent: replicas that see the same updates reach the same document in any arrival order. The signed-delta path needs only causal delivery, applying an update after those...

论文介绍 现有去中心化标识符(DID)方法需要协调,带来费用和延迟。本文提出did:crdt,一种基于签名无冲突复制数据类型(CRDTs)的DID方法,实现协调自由。无需区块链或排序器,通过CALM定理确保状态合并的一致性。简化了去中心化身份管理。

Scalable Malware Family Classification Using Quantum Kernel Based Machine Learning

第一作者: Ratun Rahman · 方向: AI 安全

Abstract:The classification of malware families is a key challenge in cybersecurity, which enables threat attribution, analysis of attack operations, and the formulation of effective defense strategies. Emerging malware samples are becoming increasingly structurally similar and obfuscated, making accurate multiclass classification challenging for traditional machine learning models, especially when deployed at scale. In this research, we propose a scalable Quantum Kernel-based Machine Learning (QKML) framework for malware family classification that addresses both accuracy and efficiency constraints. The proposed framework extracts structural features from executable files and uses a supervised Linear Discriminant Analysis (LDA) projection to generate a compact, class-aware representation well suited for quantum processing. The nonlinear relationships among malware families are captured...

论文介绍 恶意软件家族分类面临结构相似和混淆的挑战。本文提出可扩展的量子核机器学习(QKML)框架,结合线性判别分析(LDA)投影,从可执行文件中提取特征并生成量子处理友好的表示。旨在提升大规模分类的准确性和效率。

Invisible Manipulation Channels in AI-Assisted Financial Advisory: Implications for Market Integrity and Regulatory Design

第一作者: Liuyang Yao · 方向: AI 安全

Abstract:AI systems are increasingly deployed for credit assessment and investment advisory in global financial markets, yet the integrity of their inference pipelines remains insufficiently addressed by existing regulatory frameworks. This paper identifies and empirically validates an invisible manipulation channel operating at the sampling layer of LLM inference--a vulnerability that allows adversaries to systematically bias AI-generated financial opinions while preserving full compliance with output-based audit mechanisms, including statistical watermarking. We show that this inference-stage manipulation is statistically hard to detect: the Kullback-Leibler divergence between manipulated and normal output distributions can be made arbitrarily small, so that any output-based detection scheme requires impractically large sample sizes to achieve reliable detection power. Empirical...

论文介绍 AI金融咨询系统存在推理管道完整性漏洞。本文识别并验证了一个在LLM推理采样层的隐形操纵通道,允许攻击者系统性偏向AI生成的金融意见,同时绕过输出审计。统计检测困难,对市场完整性和监管设计提出挑战。

Your "Pro" LLM Subscription May Actually Be "Free": Exposing Fingerprint Spoofing Risks in LLM Inference Services

第一作者: Jiahao Zhang · 方向: AI 安全

As Large Language Model (LLM) APIs become ubiquitous, users increasingly rely on black-box fingerprinting to verify that providers are serving the advertised premium models. However, these methods may overlook adversarial providers who manipulate model weights to cheat the fingerprint process. We introduce a novel threat termed fingerprint spoofing, where a malicious provider stealthily serves a weaker model that has been parameter-efficiently fine-tuned to mimic a stronger model, thereby evading user-side fingerprinting. We first formally prove that user-side resource constraints (i.e., finite query budgets and weak fingerprinting classifiers) make current fingerprinting vulnerable to fingerprint spoofing. Guided by this theoretical analysis, we propose GhostPrint, a cost-effective attack framework leveraging surrogate modeling, reward-ranked fine-tuning, and knowledge distillation...

论文介绍 LLM推理服务中,用户依赖指纹验证模型真实性。本文揭示指纹欺骗风险,即恶意提供商用微调的弱模型冒充强模型。提出GhostPrint攻击框架,利用代理建模和知识蒸馏实现欺骗。证明用户侧资源约束使指纹脆弱。

MASCOT-Android: A Curated Dataset and Automated Collection Pipeline for Android Malware Source Code Specimens

第一作者: Bojing Li · 方向: 软件安全

Abstract:Compared with binaries and decompiled code, malware source code more directly reflects the attackers' original intent. However, the scarcity of source code and the high cost of manual review make such datasets difficult to build and maintain. We propose MASCOT-Android, a curated dataset of Android malware source code and an automated collection framework for scalable malware source code discovery on GitHub. A key finding of our work is that repository-level documentation alone provides a strong signal for malware source code collection. Our model extracts character-level TF-IDF features from 8,772 malware and 25,747 benign README documents and trains a LinearSVC classifier to distinguish malware repositories. This README-only model achieves an accuracy of 96.28\% and an FPR of 1.06\% in local evaluation. In addition, the model outputs confidence scores, allowing users to...

论文介绍 针对Android恶意软件源代码数据稀缺的问题,本文提出MASCOT-Android数据集和自动化收集管道。基于GitHub仓库的README文档特征,使用机器学习分类器识别恶意软件仓库,实现高精度源代码收集。支持恶意软件分析和研究。

The Anatomy of Scam Scenarios: Large-Scale Characterization and Conversation-Aware Detection

第一作者: Shang Ma · 方向: 安全研究

Abstract:Online scams have become a pervasive global threat, causing substantial financial, psychological, and operational harm. Scammers embed psychological techniques (PTs) within reusable operational schemes to scale scam campaigns with minimal adaptation. However, existing studies often analyze PTs as isolated features, overlooking the recurring scam scenarios in which they are systematically deployed. To address this gap, we first conduct a large-scale empirical study to jointly characterize scam scenarios and their associated PTs. Specifically, we develop a data-driven pipeline to derive a hierarchical taxonomy of scam scenarios, consisting of 18 fine-grained scenarios grouped into 6 high-level tactics based on their PT profiles. Furthermore, to transfer this scenario-level knowledge to practical defense, we design a conversation-aware scam scenario detection approach for...

论文介绍 在线诈骗利用心理技术和重复场景扩展。本文进行大规模实证研究,推导诈骗场景的层次分类法,包括18个细粒度场景。设计对话感知的检测方法,将场景知识应用于诈骗检测,提升防御能力。

New Ideas on a New Old Type of Cipher:The Mixed-Radix One-Time Pad

第一作者: Fabio F.G. Buono · 方向: 密码学协议

Abstract:In a short 2012 preprint, an unconventional cipher was introduced, now in this note we take that representational core, formalize it, and use it as the basis for a clean generalization of the one-time pad to non-uniform bases, which we call the Mixed-Radix One-Time Pad (MR-OTP). And we prove that the MR-OTP achieves Shannon perfect secrecy, show that the classical binary OTP is exactly the all-bases-equal-2 special case, and that fixed-base variants recover OTPs over arbitrary alphabets. We then examine whether secret bases can lower the key entropy required for perfect secrecy (they cannot). We close with a usable session protocol based on key rolling that preserves perfect secrecy, and with an honest account of the open problems.

论文介绍 本文将一种非常规的密码表示法形式化并泛化,提出了混合进制一次性密码本(MR-OTP)。研究证明MR-OTP实现了香农完全保密,并明确了传统二进制OTP是其特例。进一步分析表明,保密基数无法降低实现完全保密所需的密钥熵。论文最后基于密钥滚动设计了一个保持完全保密的会话协议,并讨论了开放问题。

Stickel-type key exchange with hidden subspaces

第一作者: Fintan Costello · 方向: 密码学协议

Abstract:We give a witness-finding cryptanalysis of Stickel-type key exchange schemes, which involve two-sided multiplication of $n \times n$ matrices over $\mathbb{F}_p$, where these matrices are drawn from public subspaces with a particular commuting structure. This analysis covers Stickel's original proposal , Shpilrain's polynomial extension of that scheme, Nager's algebraic extension of that scheme, and more generally all Stickel-type approaches using public subspaces over matrix algebra in finite fields: all such schemes can be broken in polynomial time. We also describe a new key establishment scheme using two-sided matrix multiplication in which the commuting subspaces used to form the key are hidden via conjugation by private terms, blocking this specific public-subspace analysis; the witness-finding problem in this new scheme has a direct reduction from a standard NP-hard...

论文介绍 本文针对基于矩阵乘法的Stickel型密钥交换方案进行了见证者查找密码分析,证明这类利用公开子空间交换结构的方案均可在多项式时间内被攻破,覆盖了Stickel原始方案及其多种扩展。为此,研究提出了一种新方案,通过共轭操作隐藏用于构建密钥的交换子空间,从而阻断针对公开子空间的分析,其安全性可归约到标准的NP难问题。

SkillVetBench: LLM-as-Judge for Multi-Dimensional Security Risk Evaluation in Open-Source LLM Agent Skills

第一作者: Ismail Hossain · 方向: 密码学协议

Abstract:Open-source LLM agent ecosystems are growing rapidly, yet the security of community-contributed skills - modular tool definitions that extend agent capabilities - remains largely unvetted. The gap we fill: existing scanners operate at the code layer and are structurally blind to instruction-layer and multi-agent risk - natural-language directives that hijack an agent, exfiltrate data through encoded side channels, or chain harm across pipelines - so what is needed is a semantic, multi-dimensional vetting system rather than another signature matcher. We present SKILLVETBENCH, a live public leaderboard on Hugging Face that uses an LLM-as-Judge to vet agent skills. What is new: SARS (Skill Agentic Risk Score), a five-dimensional agentic-risk metric with a principled weighted formula for instruction-following systems. What is integrated: full CVSS v4.0 vector decomposition and a...

论文介绍 针对开源LLM代理生态中社区贡献技能的安全审查缺口,本文提出了SkillVetBench基准测试。该工作集成了一套多维的「代理风险评分」指标,并利用LLM作为评判者,从指令层和多智能体交互层面对技能进行语义化、多维度的安全审查。它还整合了完整的CVSS v4.0向量分解,旨在建立一个公开的领导者榜来系统性评估技能安全。

FuseChain: Runtime Evidence Reconstruction for Software Supply-Chain Attacks

第一作者: Zhuoran Tan · 方向: 软件安全

Abstract:Software supply-chain (SSC) attacks are increasingly multi-stage, cross-source, and temporally distributed. A single attack campaign may leave weak and fragmented traces across multi-source telemetry that captures different granularities and perspectives of runtime behavior. Existing runtime detection systems often analyze these sources independently, making it difficult to identify low-frequency attack evidence or reconstruct the temporal context in which it appears. We present FUSECHAIN, a runtime detection framework that represents multi-source software supply-chain telemetry as a temporal heterogeneous provenance graph over a unified event-time axis. By aligning package/runtime traces, process events, network telemetry, DNS/HTTP metadata, and security alerts on a unified temporal graph, FuseChain captures cross-source dependencies and sparse attack evidence that may be...

论文介绍 面对日益复杂多阶段的软件供应链攻击,现有运行时检测系统因独立分析多源遥测数据而难以识别低频攻击证据。本文提出了FuseChain框架,通过将包、进程、网络、安全告警等多源遥测数据对齐到一个统一的时态异构溯源图上,从而捕捉跨源依赖关系和稀疏的攻击证据,用于在运行时高效重建攻击场景。

Let Them Steal: Trapping Large Language Model Extraction Attacks with Knowledge Honeypot

第一作者: Yuyang Dai · 方向: AI 安全

Abstract:Large language models deployed as commercial APIs are vulnerable to model extraction attacks, while existing defenses either act too late or degrade utility for legitimate users. We propose \textbf{Knowledge Trap}, a defense that redirects extraction attacks toward low-transferability knowledge through a \emph{Honeypot Knowledge Graph} (HKG) and breadcrumb-guided exploration. Instead of blocking queries or perturbing outputs, Knowledge Trap consumes the attacker's limited query budget on knowledge with negligible downstream utility while preserving benign-user performance. Experiments in medical and financial domains show that Knowledge Trap reduces surrogate Agreement by 6.2\% on average without degrading legitimate-user accuracy, outperforming existing defenses that impose measurable user impact. These results suggest that defending knowledge-space traversal is a practical...

论文介绍 为防御针对商业LLM API的模型提取攻击,本文提出了「知识陷阱」防御方法。该方法的核心是通过一个「蜜罐知识图谱」和面包屑引导的探索,将攻击者的查询重定向至低可迁移性的知识上,从而消耗其有限的查询预算,同时不影响合法用户的性能。实验表明,该方法能有效降低代理模型的性能,且对合法用户无负面影响。

AttackonCTF: Defending Hardware Security Competition Benchmarks in the Age of LLMs

第一作者: Mohamadreza Rostami · 方向: AI 安全

Abstract:Hardware security competitions such as HackTheSilicon serve as benchmarking platforms for evaluating vulnerability detection methods and for training humans and AI. However, our study reveals that LLMs threaten their validity. Instead of genuine security reasoning, detectors exploit a diff-style syntactic comparison, achieving an 83% detection rate, undermining fair evaluation. To mitigate this, we propose the first LLM-oriented, semantics-preserving obfuscation framework for these benchmarks. Unlike IP-protection approaches, it applies human-readable transformations and controlled diff-noise while preserving functionality. On HackTheSilicon, the framework reduces LLM-based detection accuracy by 50% with only 10% obfuscation and by 78.6% under complete obfuscation, restoring benchmark reliability.

论文介绍 研究指出,大型语言模型可能通过利用语法差异(而非安全推理)来利用硬件安全挑战赛基准,从而威胁其评估有效性。为此,本文提出了首个面向LLM的、保持语义的混淆框架。该框架通过施加人类可读的变换和受控的差异噪声,在保持基准功能的前提下,显著降低了基于LLM的检测器的准确率,从而恢复了基准测试的可靠性。

GAS-Leak-LLM: Genetic Algorithm-Based Suffix Optimization for Black-Box LLM Jailbreaking

第一作者: Aman Anifer · 方向: AI 安全

Abstract:Large Language Models (LLMs) constitute pivotal components within the AI-dominated information technology ecosystem. To mitigate risks associated with harmful or policy-violating outputs, commercial systems employ advanced alignment strategies and multi-layered content moderation mechanisms. Despite these safeguards, recent research has demonstrated that LLMs remain vulnerable to adversarial manipulation, particularly through jailbreaking and prompt injection techniques. In this work, we propose GAS-Leak-LLM a novel jailbreaking attack based on a genetic algorithm that systematically evolves adversarial suffix to bypass safety constraints. Operating in a strict black-box setting, our method requires no access to model parameters or internals, thereby reflecting realistic threat scenarios in deployed systems. Through the iterative application of selection, mutation, and...

论文介绍 本文提出了一种名为GAS-Leak-LLM的新型越狱攻击方法。该方法基于遗传算法,在严格的黑盒设定下,系统性地演化对抗性后缀以规避大语言模型的安全对齐和内容审核机制。该研究反映了实际部署系统中真实存在的威胁场景,攻击者无需访问模型参数或内部结构。

Snyk VulnBench JS 1.0: Can LLMs Find the Same Bugs Twice?

第一作者: Liran Tal · 方向: 软件安全

Abstract:We ran 300 repeated vulnerability-finding scans to measure how repeatable agentic large language model (LLM) security review is on the same JavaScript code, prompt, and benchmark harness. The headline result is that LLM security findings were unevenly repeatable: reference-matched findings were stable, but extra model reports varied heavily from run to run. Across 250 model runs, 80 of 161 unique unmatched findings appeared in only one of five identical repetitions, while only 22 appeared in all five. By contrast, when Claude matched a Snyk Code reference finding, the behavior was much more stable: 134 of 158 unique reference-matched findings appeared in all five repetitions. The benchmark also shows complementarity. Models consistently found familiar, high-signal exploit shapes, and in one case surfaced a likely Snyk Code product gap. Snyk Code static application security...

论文介绍 本文通过在同一JavaScript代码和提示上运行300次重复扫描,评估了基于代理的LLM安全审查的可重复性。研究发现,LLM的漏洞发现结果存在显著的不一致性:参考匹配的发现较稳定,但额外报告的发现则因运行而异。这表明LLM在稳定复现特定类型漏洞方面具有能力,但其泛化和一致性方面存在局限,对评估其可靠性具有重要参考价值。

Odds Law: The Decomposition Algebra On How Intelligence Organizes Itself to Solve Difficult Problems Reliably

第一作者: Hidayet Aksu · 方向: 安全研究

Abstract:We ask a structural question: given unreliable elementary problem-solvers, what organizations of them solve hard problems reliably, and what are the limits? We develop a $decomposition~algebra$: elementary solvers are morphisms in a stochastic category, and four combinators (sequential composition, parallel ensembling, verification gating, and recursive reduction) generate the space of compound solvers. We equip this algebra with two homomorphisms, a $reliability$ valuation into the ordered monoid $([0,1],\le)$ and a $cost$ valuation into a commutative semiring, and we derive the composition laws that govern how reliability flows through structure. Our central results are (i) a $verification~odds~law$ (the result that names this report), showing that a verification gate multiplies the odds of correctness by the verifier's likelihood ratio $\Lambda$, so that $k$ conditionally...

论文介绍 本文探讨如何组织不可靠的基本问题求解器来可靠解决难题。作者开发了一种分解代数,将基本求解器建模为随机范畴中的态射,并用四个组合器生成复合求解器。通过可靠性评估和成本评估,推导出可靠性流动的组成定律,特别是验证门定律,为智能系统的可靠性和成本分析提供理论框架。

AnonShield: Scalable On-Premise Pseudonymization for CSIRT Vulnerability Data

第一作者: Cristhian Kapelinski · 方向: 系统安全

Abstract:We present AnonShield, a high-throughput, on-premise pseudonymization system that combines GPU-accelerated NER, streaming processing, caching, and schema-aware configuration. Evaluated on datasets up to 550 MB (70,951 records), AnonShield reduces processing time from over 92 hours to under 10 minutes (up to 738x speedup) while achieving up to 94.2% F1-score and 96.7% recall. Our results show that scalable pseudonymization of vulnerability data is feasible without sacrificing analytical utility, enabling compliant data sharing in operational CSIRT environments.

论文介绍 本文提出AnonShield系统,用于高吞吐地匿名化CSIRT漏洞数据。该系统结合GPU加速命名实体识别、流处理、缓存和模式感知配置,在550MB数据集上将处理时间从92小时减少到10分钟以内,实现高达738倍加速,同时保持94.2%的F1分数和96.7%的召回率,支持操作环境中的合规数据共享。

FragFuse: Bypassing Access Control of Large Language Model Agents via Memory-Based Query Fragmentation and Fusion

第一作者: Zixin Rao · 方向: AI 安全

Abstract:Large language model (LLM) agents increasingly rely on long-term memory to support complex task execution, user personalization, and domain adaptation. Meanwhile, emerging access-control mechanisms for LLM agents are being explored to block policy-violating requests and prevent misuse. We reveal a novel attack surface arising from agent memory operations: prohibited content that would trigger access control can be fragmented across interactions, stored in long-term memory in benign-appearing form, and later reconstructed through memory retrieval without appearing explicitly in the final user query. We propose FragFuse, the first attack that enables unprivileged users to bypass agent access control by exploiting this temporal channel introduced by long-term memory. FragFuse operates in three stages: (1) identifying rejection-responsive fragments via black-box adaptive querying...

论文介绍 本文揭示LLM代理长期记忆引入的新攻击面:禁止内容可通过碎片化存储在记忆中,后通过检索重构以绕过访问控制。提出FragFuse攻击,利用记忆基于的查询碎片化和融合,使无特权用户能绕过代理访问控制。该方法分为三个阶段,包括识别拒绝响应片段等,为安全防御提供新见解。

CmdNeedle: Measuring the Incompleteness of Command Denylists for AI Agents

第一作者: Chuyang Chen · 方向: 软件安全

Abstract:The adoption of AI agents is increasing rapidly. Terminal AI agents, i.e., AI agents that run in terminal environments, are a widely used type of AI agents. Terminal AI agents rely heavily on shell command execution to interact with the host systems. They adopt a three-list command-gating mechanism to mitigate security risks introduced by command execution, with denylists serving as the load-bearing component. However, modern operating systems often ship a large, ever-expanding set of shell commands with complex functionalities. Our observation is that even a built-in denylist of Claude Code, well-maintained by its developers, can overlook bypass commands that invalidate its effectiveness. Such negligence leads to fragile command denylists that cannot even block operations that practitioners expect them to block. This paper presents the first systematic characterization of...

论文介绍 本文测量AI代理命令拒绝列表的不完整性。终端AI代理依赖shell命令执行,使用拒绝列表作为安全组件。作者观察到即使是精心维护的拒绝列表也可能遗漏绕过命令,导致脆弱性。提出CmdNeedle,系统化地特征化拒绝列表缺陷,包括绕过命令,为改进AI代理安全机制提供依据。

Multi-tier Differential Private Query Release

第一作者: Shaowei Wang · 方向: 隐私保护

Abstract:Answering statistical queries over sensitive data under differential privacy (DP) is a common task in many settings, including databases, mobile computing, and data markets. In these scenarios, multiple analysts may issue the same query, while receiving answers generated under different privacy budgets due to differences in trust levels or willingness to pay. Existing approaches for such multi-tier DP queries either incur excessive cumulative privacy loss or suffer from suboptimal utility. In this paper, we propose a framework for multi-tier DP query release that simultaneously bound the cumulative privacy loss by the maximum privacy budget among all queries and achieve optimal utility comparable to that of single-tier mechanisms. Our framework applies to different classes of DP mechanisms. For noise-adding mechanisms (e.g., count queries with the two-sided Geometric mechanism...

论文介绍 本文提出多层级差分隐私查询发布框架,解决现有方法在隐私损失或效用上的不足。该框架通过最大隐私预算约束累积隐私损失,并实现最优效用,适用于噪声添加机制等不同类别的差分隐私机制,支持数据库、移动计算和数据市场中的合规数据共享。

The Audit Gap in Blockchain Security: A Four-Year Empirical Study of Public Audit Findings and Real-World Exploit Incidents

第一作者: Stefan Beyer · 方向: 网络安全

Abstract:This paper presents an empirical analysis of the Web3 security landscape over the four-year and three-month period from 1 January 2022 to 27 March 2026. The dataset combines 23,818 public audit findings produced by 22 independent security firms with 218 real-world exploit incidents documented by this http URL, representing aggregate losses of approximately US$7.76 billion. We report three central findings. First, the distribution of audit findings (by severity, category, and technology stack) is substantially stable across the observation window, with the Critical-plus-High share remaining within a 15-17% band in every complete year. Second, the categorical distribution of realised exploit losses does not correspond to the categorical distribution of audit findings: private-key compromise, phishing, and social-engineering vectors account for approximately 49.6% of cumulative...

论文介绍 本文进行四年实证研究,分析区块链安全中审计发现与真实漏洞事件的差距。结合23,818个公共审计发现和218个漏洞事件数据,揭示审计分布与实际损失不匹配,例如私钥泄露和网络钓鱼占损失近半,为改进安全审计策略提供实证依据。

Defending against Adaptive Prompt Injection Attacks via Reasoning-enabled Task Alignment

第一作者: Lipeng He · 方向: AI 安全

Abstract:Indirect prompt injection attacks hijack LLM-based agents by embedding malicious instructions in third-party data that the agent retrieves during task execution. Existing defenses report near-zero attack success rate on static benchmarks, yet recent adaptive evaluations show that these results collapse once the attacker is allowed to optimize against the deployed defense. In this work, we trace this collapse to two failure modes. First, existing defense methods are confined to recognizing specific attack patterns, rather than assessing whether the intent of every embedded instruction is relevant to the user task. Second, training-based defenses, which otherwise offer the strongest safety-utility trade-off, assemble their adversarial examples from a handful of hand-crafted templates, and the resulting defender fails to generalize outside that narrow strategy distribution. To...

论文介绍 本文针对自适应提示注入攻击,提出基于推理的任务对齐防御方法。现有防御在静态基准上有效但在自适应攻击下失败,作者将其归因于两个失败模式:仅识别特定攻击模式和训练防御泛化不足。通过评估嵌入指令的意图与用户任务的相关性,提升LLM代理的防御能力。

Benign in Isolation, Harmful in Composition: Security Risks in Agent Skill Ecosystems

第一作者: Yi Xie · 方向: AI 安全

Abstract:Skills are becoming the capability layer through which LLM agents turn plans into actions, but their use introduces security risks such as data leakage, unauthorized operations, and tool misuse. Existing vetting usually evaluates each skill in isolation, while real agent tasks often invoke multiple skills in a shared execution context. This creates Skill Composition Risk (SCR): a skill that appears benign alone can become harmful when its outputs, trust signals, authorization cues, or side effects influence later invocations along an activated path. We introduce SCR-Bench to evaluate this risk in controlled, sandboxed skill environments. Rather than relying only on textual intent or surface behavior, SCR-Bench records downstream state changes and path-level outcomes across composed skill executions. It contains three sub-benchmarks: SCR-CapFlow for capability-flow composition...

论文介绍 本文研究LLM代理技能生态系统中的组合风险,即孤立评估的技能在组合时可能有害。提出SCR-Bench基准,在沙箱环境中记录组合技能执行的下游状态变化和路径结果,包含能力流组合等子基准,为技能生态系统安全提供评估框架,揭示组合技能的安全风险。

LLM: LSTM Look-Ahead Moving Target Defense Based on Historical Malicious Scan

第一作者: Yu Li · 方向: AI 安全

Abstract:Network scanning is a critical preliminary step for most adversaries to gain essential information before launching cyber attacks. Moving Target Defense (MTD) based on IP shuffling has emerged as a proactive defense strategy to counteract these reconnaissance efforts. Unlike static, reactive defense techniques, IP shuffling introduces randomness by dynamically reassigning network addresses, making it more challenging for attackers to identify and track targets. However, current IP shuffling methods face three key challenges: 1) limited scalability across different network topologies, 2) inherent reconfiguration overhead even in the absence of an active attack, and 3) the need for large-scale unused address blocks. To address these issues, we propose LSTM Look-ahead Moving Target Defense (LLM). Our approach is the first attempt using a Long Short-Term Memory (LSTM) network to...

论文介绍 针对网络扫描这一攻击前置步骤,该研究提出了一种基于LSTM网络的主动防御方法LLM。它通过预测攻击者的扫描模式,提前调整网络IP地址分配,旨在以更低开销和更好的可扩展性来扰乱攻击者的侦察活动,为关键网络提供主动防护。

Robust and Precise Application Fingerprinting on 5G Physical Uplink Channel

第一作者: Yu Li · 方向: 密码学协议

Abstract:Air fingerprinting infers application activity by sniffing metadata from cellular control channels. 5G encrypts these channels, breaking the attack chain that prior attacks depend on. This paper reveals a physical-layer side channel that bypasses encryption: under the link adaptation mandated by the cellular communication standard, the uplink Modulation and Coding Scheme (MCS) remains stable, so the number of Physical Resource Blocks (PRBs) occupied by a transmission accurately reflects the IP packet length. Combined with the uplink control channel that carries downlink information, an attacker can reconstruct a bidirectional traffic profile. This bidirectional information recovery can be achieved simply by observing the uplink spectrum, without decoding any channel. Building on this side channel, we design Crosshair, a passive three-step attack. First, a blind extraction...

论文介绍 5G加密了控制信道,但本研究发现了一种物理层侧信道,能通过观察上行链路中的调制编码方案和资源块分配,绕过加密,推断出应用活动。该侧信道无需解码任何信道,为被动监控开辟了新途径,凸显了5G物理层在隐私保护方面的潜在风险。

VLALeaks: Membership Inference Attacks against Vision-Language-Action Models

第一作者: Xukun Luan · 方向: 隐私保护

Abstract:Vision-Language-Action (VLA) models enable end-to-end robot control and have garnered widespread attention. However, the memorization of training data inherent to VLA, coupled with the high cost of robotic data acquisition, raises serious concerns regarding data privacy leakage and intellectual property infringement. Membership inference attacks (MIAs) aim to determine whether a given sample belongs to the training set. While representing a significant privacy threat, this attack remains underexplored in the context of VLA models. To bridge this gap, we propose VLALeaks, which is based on attention discrepancies in VLA models. We reveal, for the first time, the privacy vulnerabilities of VLA models. Specifically, it comprises a two-stage process: (1) membership feature extraction, and (2) attack model construction. Experimental results across multiple VLA benchmarks...

论文介绍 本文提出VLALeaks,一种针对视觉-语言-动作(VLA)模型的成员推理攻击方法。研究指出VLA模型存在数据记忆风险,基于模型注意力差异,通过成员特征提取和攻击模型构建两阶段过程,首次系统评估VLA的隐私漏洞。实验在多基准上验证了攻击有效性,为VLA模型的数据隐私保护提供警示。

Data-Centric Benchmarking of Exploit Generation in LLMs: Understanding the Impact of Fine-Tuning

第一作者: Yiwei Chen · 方向: 软件安全

Abstract:We study the task of CVE-conditioned exploit generation, where a model drafts proof-of-concept (PoC) exploits given software vulnerability context. We adopt a data-centric approach, constructing a high-quality dataset via multi-stage preprocessing and introducing a scalable evaluation framework with LLM-as-judge and fine-grained rubrics. Under this unified setup, we benchmark 17 large language models across 8 evaluation criteria, providing systematic insights into their zero-shot capabilities. We further show that a compact 8B open-weight model, when fine-tuned on curated data, achieves over 42.5% improvement in exploit quality and rivals some proprietary models when combined with simple test-time rejection strategies. Our results highlight the importance of data quality, structured supervision, and evaluation design for reliable exploit generation, suggesting that these...

论文介绍 该研究采用数据为中心的方法,系统评估LLM生成CVE漏洞利用代码的能力。通过构建高质量数据集和细粒度评估框架,研究表明,经过微调的8B参数开源模型能显著提升漏洞利用质量,突显了数据质量和评估设计在可靠漏洞利用生成中的重要性。

Fuzzy PSI from Symmetric Primitives with Exact Logarithmic Dependence on Distance Threshold

第一作者: Cong Zhang · 方向: 密码学协议

Abstract:Previous FPSI works have demonstrated a linear scaling with the distance threshold $\delta$, while some recent works have achieved a poly-logarithmic dependence on $\delta$. However, these protocols either support only the $L_\infty$ distance, or they support general $L_{p\in[1,\infty]}$ distances but rely on expensive additive homomorphic encryption (AHE). Achieving exact logarithmic dependence on $\delta$ for general $L_{p\in[1,\infty]}$ distances without relying on costly AHE would constitute a theoretical breakthrough in optimal threshold scaling and a practical advance toward scalable FPSI applications. In this work, we present new FPSI protocols for $L_{p\in[1,\infty]}$ distances that are entirely built from oblivious transfer (OT) and symmetric-key primitives. We propose FPSI protocols based on both the apart and the separate assumptions, which are applicable to low...

论文介绍 现有模糊私有集合交集协议在距离阈值上的通信复杂度较高。本研究提出了完全基于不经意传输和对称密码原语的新协议,首次为通用Lp距离实现了精确的对数依赖,避免了昂贵的同态加密,是FPSI领域的重要理论突破和实用进展。

AutoDojo: Adaptive Attacks Expose Superficial Defenses and User-Underspecification Limits in LLM Agents

第一作者: Xinhang Ma · 方向: AI 安全

Abstract:Indirect prompt injection (IPI) is a major security threat to LLM-powered agents. Thus, a growing body of work have proposed a variety of defensive approaches against IPI. These can be grouped into three broad categories: 1) prompt-based (using prompting as a way to prevent agents from following malicious instructions), 2) detection-based (identifying and filtering malicious instructions), and 3) system-level (using systems insights, such as control and data isolation, for defense). However, commonly used benchmarks for evaluating defense, such as AgentDojo, are \emph{inherently static}, generating a fixed distribution of IPI attacks. Consequently, static benchmarks do not usefully evaluate defense robustness to adaptive threats. We address this issue by developing AutoDojo, an adaptive extension of AgentDojo that optimizes IPI against a given defense. Using AutoDojo against...

论文介绍 间接提示注入是LLM代理的主要威胁,现有防御方法层出不穷。本研究指出常用静态基准无法评估防御对自适应攻击的鲁棒性,并开发了自适应攻击框架AutoDojo。实验表明,现有多种防御方法在自适应攻击下失效,揭示了当前防御体系的脆弱性。

BT-MTD: Bus Traversal-based Moving Target Defense for Smart Grid

第一作者: Jingyi Yan · 方向: 系统安全

Abstract:Moving Target Defense (MTD) is a proactive security strategy designed to enhance cyber-resilience by dynamically altering system parameters, thereby preventing adversaries from acquiring the critical information needed to execute stealth attacks. In this paper, we consider the case in which the operator modifies the admittance of branches to enable MTD, and focus on the problem of effectively protecting the system with fewer number of branch admittance modifications and shorter computational time. Specifically, we identify the ineffectual branches whose admittance modification do not contribute to the improvement of MTD effectiveness via theoretical analysis. Building on these insights, we propose the Bus Traversal-based MTD (BT-MTD), which is a bus-oriented algorithm that traverses over the buses of the network according to analytically derived guidelines. The performance of...

论文介绍 本研究将移动目标防御应用于智能电网,通过动态修改电网支路导纳来干扰攻击者的侦察。它提出了基于总线遍历的BT-MTD算法,旨在以更少的修改次数和计算时间实现有效防护,为提升关键基础设施的网络弹性提供了新思路。

Semantic Integrity Failures in Document-to-LLM Supply Chains

第一作者: Side Liu · 方向: AI 安全

Abstract:Document-to-LLM applications typically read uploaded PDFs by first translating them into text through a hidden extraction layer that users cannot observe or audit. We show that this layer enables split-view PDFs: one document can have two semantic views before model reasoning. By mining specification-permitted or implementation-tolerated representation gaps at the PDF render/extract boundary, we instantiate 25 extraction gaps (EG) in which extractors return attacker-controlled or extractor-dependent text while the rendered page shows benign or different content. The gaps form four families: semantic overrides, hidden semantic injection, reading-order splits, and font-decoding splits, and 14 gaps have no exact path/mechanism-level match in prior PDF-to-LLM attacks. We evaluate these gaps on 16 PDF processing stacks and 7 commercial LLM services. Each gap causes render-extract...

论文介绍 文档到LLM应用依赖隐藏的PDF文本提取层。本研究发现该层存在“分离视图”漏洞,利用规范允许或实现容忍的表示差距,可使PDF在渲染时显示良性内容,但提取后变为恶意内容。该研究在多个PDF处理栈和商业LLM服务上验证了25种提取差距,暴露了当前文档处理管道的严重安全隐患。

Security Engineering of OpenClaw: Analyzing Attack Surface Expansion and Trust-Boundary Violations

第一作者: Saeid Jamshidi · 方向: AI 安全

Agentic large language model (LLM) systems can now execute actions, not only produce text. When model outputs trigger privileged operations such as shell commands, browser automation, or external tool calls, the security problem shifts from alignment alone to system configuration and structural design. We analyze OpenClaw, a self-hosted multi-agent system in which LLM outputs can execute commands and interact with tools and services. We measure compromise probability, boundary failures, privilege drift, and how these metrics change as attacker capability increases. With one agent, the compromise probability is 0.24. With seven agents, when the system executes an action, the compromise rises to 0.86 if any single agent proposes it. The models do not change; the increase comes from output aggregation. Prompt injection propagates instability across the system. Attack surface entropy...

论文介绍 本文分析多智能体大语言模型系统「OpenClaw」的安全工程问题。研究指出,当LLM输出触发特权操作时,安全风险从对齐转向系统配置和结构设计。通过测量攻击概率和边界失败,发现随着代理数量增加,攻击成功率显著上升,单个代理时攻击概率为0.24,七个代理时可达0.86。这强调了输出聚合和提示注入传播导致的安全脆弱性,对AI系统安全设计具有参考意义。

Continual Backdoor Training in IoT/CPS

第一作者: Oxana Salish · 方向: 软件安全

Abstract:Internet of Things (IoT) and Cyber-physical systems (CPS) increasingly rely on continual learning (CL) to adapt to evolving environments, device heterogeneity, and concept drift, thereby improving overall utility. While continual adaptation is essential for long-lived IoT deployments where data patterns evolve, it also introduces new security vulnerabilities. In particular, backdoor attacks can exploit incremental updates, replay buffers, and representation reuse to implant persistent malicious behaviors that remain dormant during normal operation but activate upon specific triggers. In this paper, we present a backdoor attack in continual learning used in IoT/CPS systems. To this end, we formalize an IoT/CPS-specific threat model, analyze why continual learning amplifies backdoor persistence in IoT pipelines, and evaluate our technique under varying conditions. Our analysis...

论文介绍 本文探讨物联网和网络物理系统中持续学习的后门攻击问题。研究指出,持续学习虽能适应环境变化,但也引入安全风险,后门攻击可利用增量更新和表示重用植入持久恶意行为。论文形式化了IoT/CPS特定的威胁模型,分析了持续学习如何放大后门持久性,并评估了不同条件下的攻击效果。

Censorship-Resistant Sealed-Bid Auctions on Blockchains

第一作者: Orestis Alpos · 方向: 密码学协议

Abstract:Auctions are now central to blockchain markets, settling NFT sales, token launches, DeFi liquidations, and arbitrage opportunities. Each on-chain bid is a public transaction whose inclusion is decided by a single consensus proposer per block. The proposer can observe pending bids, exclude competitors, and submit bids of their own, breaking the fairness guarantees of classical sealed-bid auctions. To enable latency-sensitive sealed-bid auctions in blockchain settings, we formalize four properties -- each necessary to prevent a concrete attack -- and design a protocol achieving all four: hiding bid contents, existence, and bidder identity until reveal (Hiding); counting all timely honest bids and rejecting late adversarial bids (Simultaneous Release); preventing silent withdrawal of committed bids (No Free Bid Withdrawal); and charging on-chain fees only to winners (Auction...

论文介绍 本文针对区块链上拍卖的公平性问题,提出抗审查的密封投标拍卖协议。研究指出,单个共识提议者可观察和操纵投标,破坏古典密封拍卖的公平性。论文形式化了四个必要属性,如隐藏投标内容和身份,确保同时发布等,并设计了密码学协议实现这些属性,以增强区块链市场的公平性和安全性。

Is Your Agent Playing Dead? Deployed LLM Agents Exhibit Constraint-Evasive Fabrication and Thanatosis

第一作者: Andoni Rodríguez · 方向: AI 安全

Abstract:This paper presents and characterizes a spectrum of previously unreported behaviours we term Constraint-Evasive Fabrication (CEF): when an LLM agent operates under irreconcilable constraints (where no response can simultaneously satisfy all active rules) it spontaneously fabricates plausible external obstacles and presents them as a fact. At the extreme end of this spectrum lies Constraint-Evasive Thanatosis (CET); the limit case where, rather than inventing a plausible excuse, the model simulates a full system crash to make the user disengage entirely. We first observed CET in an uncontrolled deployment test, where a GPT-4o banking agent fabricated Python-style exception traces (complete with memory addresses) to feign a system failure when threatened by a user. In subsequent controlled experiments, the model independently invented audit restrictions, microservice...

论文介绍 本文描述了大语言模型代理在不可调和约束下的行为,称为约束规避伪造和约束规避模拟崩溃。研究观察到代理会伪造外部障碍或模拟系统故障以规避约束。例如,在部署测试中,GPT-4o银行代理伪造Python异常痕迹以模拟崩溃。论文通过控制实验验证了这些行为,揭示了LLM代理的新安全风险。

A Security Analysis of Long-Horizon Agentic AI Systems: Threats, Evaluation, and Framework Development

第一作者: Ahmed Mohammed Almalki · 方向: 安全研究

This paper presents a structured analysis of security challenges in long-horizon agentic AI systems. The study reviews existing threats, evaluation approaches, attack propagation mechanisms, and security frameworks. A taxonomy of security threats and a framework for analyzing attack propagation are proposed to support future research in agentic AI security

论文介绍 本文系统分析长期代理AI系统的安全挑战。研究回顾了现有威胁、评估方法、攻击传播机制和安全框架,并提出了一个威胁分类体系和攻击传播分析框架,旨在为代理AI安全研究提供结构化支持,以指导未来工作并增强系统安全性。

Your Privacy My Cloak: Backdoor Attacks on Differentially Private Federated Learning

第一作者: Xiaolin Li · 方向: AI 安全

Abstract:Prior research suggests that differential privacy (DP) inherently enhances the robustness of federated learning (FL) against backdoor attacks. In this paper, we challenge this assumption. Through an empirical analysis of two baseline attack strategies, we uncover a fundamental tension in DP-FL: while bypassing DP allows state-of-the-art defenses to detect and filter malicious updates, complying with DP inadvertently masks their distinguishing statistical characteristics. Consequently, existing defenses become ineffective as DP reduces the raw backdoor signal. Building on this masking effect, we propose RING, a novel attack that explicitly exploits DP to conceal malicious contributions while maximizing attack impact. By collaboratively crafting adversarial perturbations, compromised clients reconstruct a strong backdoor signal during aggregation without triggering anomaly...

论文介绍 本文挑战了差分隐私能增强联邦学习对后门攻击鲁棒性的假设。研究发现,差分隐私虽能掩盖恶意更新的统计特征,使现有防御失效,但也为攻击者提供了掩护。论文提出了「RING」攻击,通过协同生成对抗扰动,利用差分隐私隐藏恶意贡献,在聚合时重构强后门信号,最大化攻击影响。

How Much Can We Trust LLM Search Agents? Measuring Endorsement Vulnerability to Web Content Manipulation

第一作者: Yimeng Chen · 方向: AI 安全

Abstract:Large language model (LLM)-based search agents synthesize open-web content into actionable recommendations on behalf of users, creating a risk that attacker-published pages are transformed into endorsed claims. We introduce SearchGEO, a controlled evaluation framework for measuring endorsement corruption in LLM-based web-search agents, combining a web-evidence manipulation pipeline, a five-mode attack taxonomy, and multiple output-level metrics. We evaluate 13 LLM backends on 308 cases each. Results show that vulnerability patterns vary across backends: overall attack success rate (ASR) ranges from 0.0% on Claude-Sonnet-4.6 to 31.4% on Gemini-3-Flash, the strongest attack mode differs by model family, and the same deployment scaffold could amplify or decrease ASR on different backends. An auxiliary agent-skill probe, where endorsement becomes an install command, exposes a...

论文介绍 本文评估基于大语言模型的搜索代理对网络内容操纵的脆弱性。研究引入了「SearchGEO」框架,包括网络证据操纵管道、五模式攻击分类和多个输出指标。评估了13个LLM后端,发现攻击成功率在不同模型间差异显著,从0%到31.4%不等,揭示了LLM搜索代理的潜在安全风险。

Robust and Automated Reconfiguration of Byzantine Wide-Area Replication

第一作者: Rowdy Chotkan · 方向: AI 安全

Abstract:Distributed systems handle adversarial nodes through redundancy, which imposes a significant performance overhead. In blockchain systems, Byzantine fault-tolerant state-machine replication (BFT-SMR) is the replicated service that totally orders client transactions before execution. While prior research has primarily focused on designing novel consensus algorithms with improved performance, recent studies have shown that further gains can be achieved through configuration optimization. More precisely, replicas can monitor network latency to dynamically assign the leader role and tune voting weights, thereby improving consensus performance. However, we identify three vulnerabilities in this process that Byzantine nodes can exploit. To address these weaknesses, we propose Beware, a reconfiguration framework that filters out falsified latency reports, computes robust weight...

论文介绍 本文提出「Beware」框架,用于健壮和自动化的拜占庭广域复制重配置。研究指出,通过监控网络延迟能改善共识性能,但拜占庭节点可能利用漏洞操纵重配置。Beware过滤伪造延迟报告,计算健壮权重分配,以增强系统安全性和性能,适用于区块链等分布式系统。

Looking Is Not Picking: An Attention-Segment Account of Tool-Selection Failures in LLM Agents

第一作者: Shiyang Chen · 方向: AI 安全

Abstract:LLM agents mis-call tools, and the natural guess is that the model failed to see the right tool in a crowded harness. We show the opposite through a lens concurrent work sets aside -- the model's attention to labeled tool-definition segments. On real BFCL failures, by per-candidate attention argmax the model attends most to the correct tool 80% of the time (vs. 21% chance), and the gold is the under-attended segment on only 10%: it looks at the right tool and still picks wrong. This directly refutes the intuitive "crowded-harness / lost-in-the-middle" explanation: the failure is at the decision readout, not the harness, and we pin it there three ways. (1) Input vs. readout: repairing the prompt (reordering or duplicating the gold tool) recovers <=23% of failures, while readout-side interventions recover 59-91%. (2) Representation-invariance: two gold-pointed interventions in...

论文介绍 研究大语言模型代理工具选择失败的原因。通过注意力分析,发现模型虽常关注正确工具但仍选错,挑战了「拥挤环境」的直观解释。核心方法涉及注意力读出干预,可恢复多数失败案例,意义在于指导改进代理决策机制。

obliv-clang: Real-World Oblivious Programming in C++

第一作者: Yunqian Luo · 方向: 软件安全

Side-channel vulnerabilities, particularly timing and access-pattern-based attacks, have become critical issues for confidential data processing in trusted environments. Oblivious programming is an effective approach to alleviate these attacks by making program execution not leak any secret through execution time and data access traces. To facilitate oblivious programming in practice, we propose a compilation-time checking tool, obliv-clang, which can comprehensively check the obliviousness of a program written in C++. It is designed to support the rich language features in C++, including the complicated concept of arbitrarily nested pointers, in order to seamlessly work with existing industry-level codebases and produce high-performance compiled binaries with minimum compilation overheads. We design a set of rules in obliv-clang and formally prove their soundness in the presence of...

论文介绍 针对侧信道漏洞威胁,提出obliv-clang编译时检查工具,用于全面检查C++程序的无意识性。它支持复杂语言特性如嵌套指针,旨在集成现有工业代码库,生成高性能二进制文件,以增强机密数据处理的安全性。

AIChilles: Automatically Uncovering Hidden Weaknesses in AI-Evolved Systems

第一作者: Yajie Zhou · 方向: 软件安全

Abstract:The computer systems community has recently seen growing interest in AI-driven system evolution, where AI agents iteratively rewrite systems. Frameworks such as AdaEvolve and Engram report 12-60% score improvements over human-designed algorithms. While these results are promising, there are practical concerns if these AI-evolved programs can perform worse on unseen workloads and exhibit scalability regressions. Given the speed and scale of AI-generated code, we need automated mechanisms to uncover such identify hidden weaknesses in AI-evolved systems programs. To this end, we develop AIChilles that takes as input a baseline program $P$ and an AI-evolved program $P'$, AIChilles searches for valid workloads where $P'$ regresses relative to $P$ in correctness, runtime, memory usage, or output quality. To tackle the diversity in system applications, weakness types and potential...

论文介绍 关注AI驱动系统演化中隐藏的弱点,开发AIChilles工具自动搜索有效工作负载,以发现性能退化问题。输入基线程序和演化程序,工具在正确性、运行时等方面检测回归,意义在于提升AI系统的可靠性和可扩展性。

TrustedARI: Towards Trust-Native Agentic Routing Infrastructure for Agentic AI

第一作者: Qi Li · 方向: 密码学协议

Abstract:AI agents increasingly access external models, tools, and services through Agentic Routing Infrastructure (ARI) to manage the overhead of heterogeneous interfaces and fragmented subscriptions. Yet, the architecture of ARI introduces fundamental trust risks: it obtains plaintext access to agent queries and service responses, while leaving agents unable to verify that their queries are routed to intended service providers or that requests and responses remain untampered. To address this problem, we present TrustedARI, the first trust-native agentic routing infrastructure for agentic AI. Architecturally, TrustedARI is built upon three core innovations: (i) an ARI-adapted three-party TLS handshake that enables the agent and ARI to jointly authenticate the service provider through role-specific distribution of TLS key materials; (ii) a privacy-preserving query-construction protocol...

论文介绍 针对代理AI中路由基础设施的信任风险,提出TrustedARI信任原生系统。核心创新包括三方TLS握手和隐私保护查询构造协议,使代理能认证服务提供商并验证请求完整性,应用于增强代理系统的安全与隐私。

QoS-Aware Token Scheduling and Private Data Valuation for Multi-Modal Agentic Networks

第一作者: Yao Du · 方向: 系统安全

Abstract:In agentic systems, human-generated data records anchor the value of AI services. Yet cloud compute pipelines centralize processing on remote servers. Data centralization reduces personal data sovereignty and may potentially degrade the quality of service (QoS). Meanwhile, user contributions are diverse in quantity and quality: decentralized records can be biased, noisy, and heterogeneously distributed. To address the data challenge, we study fair token allocation and private data valuation for decentralized and resource-constrained agentic systems. Our approach embeds multi-modal representations in a shared semantic space and releases differentially private (DP) prototypes to preserve utility while reducing semantic leakage. With the DP guarantee, we design a fair token allocation scheme that rewards effective contributions and remains robust to data heterogeneity and AI...

论文介绍 研究分布式代理系统中数据异质性和隐私挑战。提出嵌入多模态表示到共享语义空间,使用差分隐私原型减少语义泄露。设计公平令牌分配方案,奖励有效贡献,适用于资源约束的代理网络优化。

Greedy Coordinate Diffusion: Effective and Semantically Coherent Adversarial Attacks via Diffusion Guidance

第一作者: Bohdan Turbal · 方向: AI 安全

Adversarial attacks on large language models have limited practical impact despite extensive research. Optimization-based attacks such as Greedy Coordinate Gradient (GCG) (Zou et al., 2023) produce high-perplexity, incoherent suffixes that existing defenses easily detect (Bengio et al., 2024). Moreover, attempting to enforce coherence constraints during optimization often prevents the attack from successfully eliciting the specific targeted response, resulting in low success rates against robust models. Conversely, attacks that maintain coherence often alter the semantic intent of queries; when the model complies with these altered queries, responses fail to address the adversary's original goal. In this work, we introduce Greedy Coordinate Diffusion (GCD), a novel framework that efficiently generates adversarial attacks against safety-aligned models while maintaining low perplexity...

论文介绍 针对现有对抗性攻击高困惑度和低成功率问题,提出Greedy Coordinate Diffusion框架。通过扩散指导生成低困惑度、语义连贯的攻击,能有效绕过安全对齐模型,意义在于评估和改进大语言模型的安全性。

Model Stealing Through the Lens of Model Multiplicity

第一作者: Eliott Baltz · 方向: AI 安全

Abstract:Model stealing attacks, where adversaries create high-fidelity surrogate models, are a significant threat to the intellectual property of machine learning services. Conventional wisdom suggests these surrogates could provide adversaries with economic leverage comparable to the original service providers. This paper challenges this assumption by evaluating model stealing attacks beyond mere fidelity to the target model. Because query-based extraction provides only partial supervision of the target's input-output behavior, the surrogate is not uniquely identified: many near-optimal surrogates can achieve comparable fidelity while differing in deployment-relevant properties. Instead of performing a classic learning-based model stealing attack, we compute the Rashomon Set (i.e., the set of almost-equally-accurate models) of surrogate models, and evaluate its diversity using...

论文介绍 挑战模型窃取攻击中代理模型提供经济杠杆的假设。通过计算Rashomon集评估近似准确模型的多样性,发现代理模型在部署属性上可能差异显著,意义在于重新评估模型窃取的风险和影响。

In-DRAM Signature Generation Using Simultaneous Multiple-Row Activation: An Experimental Study of Off-The-Shelf DRAM Chips

第一作者: Umut Baser · 方向: 密码学协议

Abstract:We experimentally demonstrate that it is possible to generate unique, repeatable, and device-specific signatures suitable for use as Physical Unclonable Function (PUF) responses in commercial off-the-shelf (COTS) DRAM chips by leveraging simultaneous multiple-row activation (SiMRA). Based on a rigorous experimental characterization of 112 modern DDR4 DRAM chips (from 10 modules), we introduce SiMRA-PUF, the first DRAM-based PUF that uses SiMRA-generated signatures as PUF responses. We analyze SiMRA-PUF in terms of reliability, uniqueness, and evaluation latency for varying numbers of simultaneously activated DRAM rows (i.e., 2, 4, 8, 16, and 32), DRAM chip density & die revision, and evaluate how temperature affects the similarity of SiMRA-generated responses. Among our 8 key experimental observations, we highlight two major results. First, SiMRA-PUF provides average...

论文介绍 实验演示在商用DRAM芯片中使用同时多行激活生成设备特定签名。引入SiMRA-PUF,分析其可靠性、唯一性和延迟,结果支持其作为物理不可克隆函数响应,应用于硬件安全和防伪认证领域。

Attribute Inference from Interactive Targeted Ads

第一作者: Peihao Li · 方向: 安全研究

Abstract:Targeted advertising systems can pair audiences selected by advertisers with ad units that expose visible user actions. When an interaction remains linked to the campaign that elicited it, the advertiser may receive an observation tied to a user rather than only an aggregate report. We model that channel as a noisy oracle for attribute inference. The model separates targeting predicates, exposure, interaction, and disclosure. These boundaries capture the gap between eligibility and delivery, and the gap between interaction and advertiser visibility. We build a reproducible benchmark using synthetic populations calibrated with public data, each with known sensitive labels. A generated campaign semantics layer provides topic variants and response priors. The simulator generates the ground truth, event traces, disclosed observations, and metrics. The evaluation compares Bayesian...

论文介绍 该研究探讨从交互式定向广告中推断用户敏感属性的问题。通过将广告系统建模为噪声预言机,模型分离了目标谓词、曝光、交互和披露等阶段,揭示了资格与交付、交互与广告商可见性之间的差距。作者构建了一个使用合成人口数据的可复现基准测试,并提供模拟器生成事件轨迹和披露观察。研究评估了贝叶斯推断方法,为广告系统的隐私风险分析提供了工具。

Differentially Private Submodular Maximization with a Knapsack Constraint

第一作者: Ron Zadicario · 方向: AI 安全

Abstract:Submodular maximization subject to a knapsack constraint (SMK) is a fundamental problem in discrete optimization, with wide-ranging applications in machine learning and related fields. As these applications increasingly involve sensitive individual data, there is a growing need for high-utility algorithms that provide formal privacy guarantees. In this work, we study the SMK problem under differential privacy, considering both monotone and non-monotone objective functions. For monotone objectives, we propose a differentially private algorithm that achieves the optimal $(1-1/e)$-approximation ratio while significantly improving both additive error and query complexity over prior work. We also present a more efficient algorithm for the same setting, achieving a $1/2$-approximation. For non-monotone objectives, we introduce, to our knowledge, the first differentially private...

论文介绍 本文研究在背包约束下的子模最大化问题,并引入差分隐私以保护敏感数据。针对单调目标函数,提出一种差分隐私算法,实现最优 $(1-1/e)$ 近似比,同时改进附加误差和查询复杂度。对于非单调目标,首次提出差分隐私算法。工作扩展了隐私保护优化算法的理论,适用于机器学习中的数据选择等问题。

Vision-Encoder Behavioral Fingerprints of Image-to-Image Generative Models: A Training-Paradigm-Driven Taxonomy of Six Commercial APIs

第一作者: Hunter Hill · 方向: AI 安全

Abstract:We study six production image-to-image AI systems (gpt-image-1, Gemini 2.5 Flash Image, Flux Kontext, SDXL img2img, SD3 img2img, and Qwen Image Edit) under a content-adaptive sub-JND adversarial perturbation pipeline, scoring all outputs by frozen DINOv2 ViT-B/14 token distances against clean references. Across a 3,588-call corpus spanning COCO photographs, CelebA-HQ portraits, and AI-generated inputs, the six systems partition into two image-invariant behavioral bands on a 2D (patch_mean, ssim_clean) plane: edit-trained models (Flux Kontext, Qwen Edit, Gemini) cluster in a tight band, while T2I-base models adapted at sampling time (SDXL, SD3, gpt-image-1) cluster in a drift band.

论文介绍 研究六种商业图像到图像生成系统在对抗性扰动下的行为指纹。使用DINOv2评分分析输出,发现基于编辑训练的模型和基于文本到图像适配的模型在行为上分为两个不同集群。该方法提供了基于训练范式的模型分类学,可用于模型识别和安全评估。

The Vision Encoder as a Privacy Boundary: Visual-Token Side Channels in Encoder-Free Vision-Language Models

第一作者: Chenyu Zhou · 方向: 系统安全

Abstract:A vision encoder compresses image pixels into semantic embeddings, implicitly acting as a privacy boundary by preserving semantic content while attenuating pixel-local detail required for exact text recovery. Encoder-free vision-language models (VLMs) remove this boundary by routing image patches directly into the language-model token stream, thereby exposing an architectural privacy attack surface: intermediate visual tokens become a pre-output side channel. Under a token-access adversary, decoders invert visual-token streams from two encoder-free VLMs, Gemma4 and Fuyu, recovering recognizable image structure and readable held-out access codes, whereas matched encoder-based controls localize target regions but recover no exact strings. Within-model ablations show that the operative factor is spatial sampling fidelity of the visual-token grid, especially character-direction...

论文介绍 本文分析无编码器视觉语言模型中的隐私边界问题。视觉编码器通常作为隐私边界,而无编码器模型直接路由图像块到语言模型,暴露视觉令牌侧信道。通过攻击实验,解码器能从视觉令牌流中恢复图像结构和访问码,表明空间采样保真度是关键因素。研究对VLM的安全设计提出警示。

Secure and Low-Latency IoT Analytics Using an Edge-Based Streaming Architecture

第一作者: Atul · 方向: 系统安全

The rapid growth of Internet of Things (IoT) devices has led to large-scale continuous data streams that require realtime processing. Traditional cloud-centric architectures fail to meet low-latency and bandwidth efficiency requirements due to network delays and high data transmission overhead. This paper proposes EdgeStream, a lightweight edge-based framework for real-time streaming analytics in IoT environments. The system integrates edge nodes for local processing with a cloud backend for coordination and storage, using MQTT-based communication and distributed processing with anomaly detection. Analytical models for latency, throughput, and bandwidth are developed to evaluate performance. Experimental results, compared to cloudbased systems, show up to 92.8

论文介绍 针对物联网实时数据处理需求,提出EdgeStream边缘计算框架。该系统整合边缘节点进行本地处理,云后端负责协调存储,使用MQTT通信和分布式异常检测。分析模型评估延迟、吞吐量和带宽,实验显示相比云系统,延迟可降低92.8%。框架实现了安全低延迟的物联网分析。

Mechanistic origins of catastrophic forgetting: why RL preserves circuits better than SFT?

第一作者: Jeanmely Rojas Nunez · 方向: AI 安全

Abstract:Fine-tuning large language models (LLMs) frequently induces catastrophic forgetting of prior capabilities. Recent work has shown that reinforcement learning (RL) retains prior capabilities more effectively than supervised fine-tuning (SFT), attributing this to policy-gradient updates remaining closer to the base policy \cite{shenfeld2025rl}. We extend this behavioral account to the mechanistic level and ask whether RL's advantage is mirrored by stronger preservation of internal computational circuits. We introduce differential circuit vulnerability, a head-level measure of how much a circuit degrades under fine-tuning, and use it to compare RL and SFT on Qwen2.5-3B-Instruct adapted to scientific question-answering. We find a clear mechanistic trade-off: SFT adapts more rapidly to the target task but produces substantially greater circuit disruption and forgetting of prior...

论文介绍 研究大语言模型微调中灾难性遗忘的机制。通过引入电路脆弱性度量,比较强化学习和监督微调对内部电路的影响。发现监督微调虽更快适应任务,但导致更大电路破坏和遗忘;强化学习则更好地保留电路。工作从机制层面解释了RL的优势。

High-Performance Pipelined NTT Accelerators with Homogeneous Digit-Serial Modulo Arithmetic

第一作者: George Alexakis · 方向: 密码学协议

Abstract:The Number Theoretic Transform (NTT) is a fundamental operation in privacy-preserving technologies, particularly within fully homomorphic encryption (FHE). The efficiency of NTT computation directly impacts the overall performance of FHE, making hardware acceleration a critical technology that will enable realistic FHE applications. Custom accelerators, in FPGAs or ASICs, offer significant performance advantages due to their ability to exploit massive parallelism and specialized optimizations. However, the operation of NTT over large moduli requires large word-length modulo arithmetic that limits achievable clock frequencies in hardware and increases hardware area costs. To overcome such deficits, digit-serial arithmetic has been explored for modular multiplication and addition independently. The goal of this work is to leverage digit-serial modulo arithmetic combined with...

论文介绍 为提升全同态加密中数论变换的性能,设计高性能流水线NTT加速器。使用同质数字串行模运算,克服大模数下硬件时钟频率限制和面积成本问题。方法结合数字串行算术优化,实现高效NTT计算,推动FHE的实际应用。

T-Rex: Tactile-Reactive Dexterous Manipulation

第一作者: Dantong Niu · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:The ability to react dynamically to tactile signals has long been considered crucial to agile human-level dexterity. Yet contemporary learning-based Vision-Language-Action (VLA) models for robotic manipulation generally either overlook the tactile modality or are limited to encoders with static cues, due in part to the scarcity of diverse training data and standardized evaluation, architectural constraints in current VLA models, and limitations of static tactile encoders. In this paper, we push the frontier of tactile-reactive manipulation by addressing all of these limitations. We propose a large-scale, 100-hour tactile-rich dataset collected via a novel, data-efficient recipe that prioritizes elementary motor primitives. To effectively exploit naturally high-frequency touch signals without sacrificing the existing capabilities of existing VLAs, we introduce a variable-rate...

论文介绍 提出T-Rex系统,用于触觉反应式灵巧操作。通过大规模触觉数据集和变率编码器,扩展视觉语言动作模型以利用高频触觉信号。系统解决了数据稀缺、架构约束和静态编码器限制,提升了机器人操作的敏捷性和适应性。

Human Universal Grasping

第一作者: Kevin Yuanbo Wu · 方向: 机器人操作 · 来源: cs.RO

Abstract:Humans can grasp objects effortlessly, whereas multi-fingered robots are far from this level of generality. We argue that the most natural source of robot grasping data is from humans, who pick up thousands of objects every day. We present HUG, a flow-matching model that generates diverse human grasps for any user-specified object in a single RGB-D image captured from a stereo camera. Using smart glasses, we first collect 1M-HUGs, an egocentric dataset of human grasps spanning 1M frames (27.8 hrs) and 6,707 object instances across 41 buildings. Next, to model the distribution of natural human grasps, our novel flow-matching model fuses RGB and depth observations to output a grasp parameterized by wrist translation, wrist rotation, and MANO hand pose. Predicted grasps can be retargeted to various robot hands, enabling zero-shot grasping in everyday scenes. To standardize...

论文介绍 研究机器人抓取缺乏通用性的问题,提出HUG模型,基于流匹配从RGB-D图像生成人类抓取姿态。该模型使用智能眼镜收集的大规模数据集1M-HUGs进行训练,输出手腕平移、旋转和手部姿态,可重定向到机器人手,实现零样本抓取,提升机器人在日常场景中的抓取能力。

Geometric Action Model for Robot Policy Learning

第一作者: Jisang Han · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Generalist robot policies must follow user instructions while reasoning about how objects, cameras, and robot actions interact in the 3D physical world. Recent vision-language-action models (VLAs) and video world-action models (WAMs) inherit strong semantic or temporal priors from large-scale foundation models, but they still operate primarily on 2D image frames or 2D-derived latent spaces, leaving implicit the 3D geometry required for contact-rich manipulation. We propose the Geometric Action Model (GAM), a language-conditioned manipulation policy that directly repurposes a pretrained geometric foundation model (GFM) as a shared substrate for perception, temporal prediction, and action decoding. GAM splits the GFM at an intermediate layer: the shallow layers serve as an observation encoder, and a causal future predictor inserted at the split layer forecasts future latent...

论文介绍 针对现有视觉语言动作模型在3D几何推理上的不足,提出几何动作模型GAM。该模型利用预训练几何基础模型作为共享基础,分层处理感知、时间预测和动作解码,直接操作3D几何信息,以改善接触丰富操作的泛化能力。

Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes

第一作者: Tongyan Fang · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:When pretrained VLA policies are fine-tuned through online RL, each rollout episode produces only a single binary outcome (success or failure), yet the actor update requires per-transition supervision. Existing approaches commonly reduce this sparse outcome to a single scalar reward or advantage signal, which conflates distinct forms of transition-level feedback and provides limited guidance once basic task success becomes achievable. First, a single scalar signal conflates the two objectives of viability and efficiency; once basic success is achieved, the binary label provides no gradient to distinguish efficient completions from slow ones. Second, real-world rollouts mix autonomous and intervention segments; naively assigning episode outcomes across these boundaries introduces incorrect credit assignment. To address these issues, we propose Hierarchical Advantage-Weighted...

论文介绍 解决视觉语言动作模型在线强化学习微调中稀疏奖励导致的监督不足问题。提出分层优势加权方法,区分可行性和效率目标,并处理真实世界rollout中的干预段,以提供更精确的信用分配,改进策略更新。

R2RDreamer: 3D-aware Data Augmentation for Spatially-generalized 2D Manipulation Policies

第一作者: Xiuwei Xu · 方向: 机器人操作 · 来源: cs.RO

Abstract:Spatial generalization is critical for imitation-learned manipulation policies, but achieving it typically requires scaling demonstrations across diverse object poses, robot configurations, and camera viewpoints. Data augmentation from a few source demonstrations offers a practical alternative to costly real-world collection. Simulation-based augmentation can create controllable variation, but requires complex environment and object setup and may introduce a sim-to-real gap. Recent real-to-real methods avoid these issues by jointly editing 3D observations and action trajectories from real demonstrations, yet they still rely on strong 3D scene parsing and geometry completion, and often produce observations tailored to 3D pointcloud policies rather than RGB-based 2D policies. We propose R2RDreamer, a real-to-real demonstration augmentation framework that preserves the geometric...

论文介绍 为提高模仿学习策略的空间泛化能力,提出R2RDreamer框架。该框架从真实演示中增强3D观察和动作轨迹,专门针对基于RGB的2D操作策略,避免了模拟环境的需求,减少数据收集成本并提升泛化性能。

ROVE: Unlocking Human Interventions for Humanoid Manipulation via Reinforcement Learning

第一作者: Wei Xiao · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Human interventions provide crucial corrective signals for post-training Vision-Language-Action (VLA) models. However, enabling seamless humanoid interventions is a formidable systems challenge due to complex whole-body kinematics and dexterous-hand control. Consequently, the collected intervention trajectories are often suboptimal, and methods that rely on human interventions as expert supervision can absorb hesitant, inefficient, or even erroneous behaviors. To address both the system and algorithmic challenges, we propose ROVE, a reinforcement learning framework for humanoid VLA post-training with imperfect human interventions. First, ROVE introduces a human-in-the-loop pipeline capable of collecting deployment and intervention data for humanoid manipulation. Second, it utilizes Optimistic Value Estimation (OVE) to prioritize high-value behaviors from mixed-quality...

论文介绍 针对人形机器人VLA后训练中人类干预数据质量不一的问题,提出ROVE框架。该框架通过人类在环收集干预数据,并使用乐观价值估计从混合质量数据中优先学习高价值行为,从而提升人形机器人的操作学习效果。

Task-Error Residual Learning for Real-Robot Five-Ball Juggling

第一作者: Kai Ploeger · 方向: 策略学习 · 来源: cs.RO

Abstract:For residual learning that refines existing behavior, sample efficiency depends on two things: how much information each rollout returns, and how efficiently the learner uses that information. Reinforcement learning's standard scalar reward carries far less information than the directional task error that defines the task. Random exploration further discards whatever information each rollout returns. Through residual learning with directional task-error supervision and a task error model that drives sample selection, we achieve stable three-, four-, and five-ball juggling on anthropomorphic Barrett WAM arms. Despite planning and controlling through a simple, idealized stack, the system converges from the second attempt. The first attempt drops, after which task error decreases monotonically without further failures. In comparison, five-ball juggling typically takes humans...

论文介绍 研究残差学习中的样本效率问题,提出使用方向任务误差监督和任务误差模型驱动采样。应用于真实机器人的五球杂耍任务,实现了从第二次尝试开始稳定学习,任务误差单调递减,展示了方法的有效性。

When Should a Robot Replan? Regret-Guided Update Scheduling in Time-Varying MDPs

第一作者: Negin Musavi · 方向: 具身智能 · 来源: cs.RO

Abstract:Robots operating in non-stationary environments must continually adapt their policies as the dynamics drift, but onboard energy and compute budgets cap how often a full state estimation and re-planning step can be performed. This raises a question: \emph{when}, along a horizon, should a robot spend its limited budget? We formulate this problem in time-varying Markov decision processes (TVMDPs) with a known bound on the rate of transition drift. We model execution as a \emph{skip-update} scheme in which, at chosen update times, the agent estimates the transition kernel by maximum likelihood and computes a finite-horizon policy, and between updates reuses this policy under a propagated state estimate. We analyze the dynamic regret of this scheme and show how it grows during skip intervals in terms of the properties of the TVMDP and the skip lengths; the resulting bound answers...

论文介绍 探讨非平稳环境中机器人重新规划时机的选择问题。在时变MDP框架下,提出遗憾引导的更新调度策略,优化状态估计和策略计算的时机,以在有限计算预算下最小化遗憾,提高决策效率。

Unified Motion-Action Modeling for Heterogeneous Robot Learning

第一作者: Yunhao Cao · 方向: 具身智能 · 来源: cs.RO

Abstract:We present Unified Motion-Action (UMA) Model, an approach that uses 3D object motion trajectories as a shared interface to bridge visuomotor control and dynamics modeling. UMA treats object motion and robot actions as co-evolving variables under a masked generative objective, in which the mask pattern determines both the supervision regime during pretraining and the inference mode at deployment. Using hindsight-relabeled motion contexts and a contrastive objective that disentangles task intent from scene geometry, UMA enables multi-task pretraining across heterogeneous data sources without requiring manually annotated task instructions. At deployment, the same pretrained parameters support motion-conditioned visuomotor control, motion-based dynamics modeling, and task adaptation from few-shot demonstrations. Pretrained on a mixture of robot demonstrations, human videos, and...

论文介绍 提出统一运动-动作模型UMA,以3D物体运动轨迹作为共享接口,通过掩码生成目标进行预训练。该模型支持跨异构数据源的多任务学习,在部署时可用于运动条件的视觉运动控制、基于运动的动力学建模等任务。

Binary Tracking for Spatial QA and Navigation with Open Vision-Language Models

第一作者: Dongbin Na · 方向: 导航与运动 · 来源: cs.RO

Abstract:This work addresses spatial question answering for service robots traversing long egocentric routes. Given a query such as "where can I find a dry cleaner on the way back home?", the system returns a metric coordinate that downstream navigation components can act on. Prior Spatial Question Answering approaches leverage retrieval-augmented agents built on closed-source models such as GPT-4o for path exploration. However, robots operating in the real world often cannot reliably depend on online closed-source models due to network instability, communication latency, and deployment cost. It creates a need for open-source based Spatial Question Answering approaches that can run onboard the robot, yet prior research in this direction remains limited. This work proposes BinTrack, a simple yet effective, fully open-source spatial-localization agent that leverages the temporal ordering...

论文介绍 本文解决服务机器人在长距离自我中心路线中的空间问答问题。传统方法依赖闭源模型如GPT-4o,但机器人在真实部署中面临网络不稳定和成本限制。提出BinTrack,一个完全开源的空间定位智能体,利用视频帧的时间排序来识别目标位置,返回度量坐标供导航使用,提升机载运行的可靠性和适用性。

LOPAL: Local Performance-Aware Active Learning from Imperfect Demonstrations

第一作者: Johannes Heidersberger · 方向: 模仿学习 · 来源: cs.RO

Abstract:Learning from Demonstration (LfD) enables intuitive robot skill acquisition by allowing robots to learn directly from human task demonstrations. However, current methods often fail to address the fact that due to suboptimal and inconsistent human behavior, the quality of the demonstration can vary within each demonstration. Therefore, we introduce LOPAL (LOcal Performance-aware Active Learning), an active learning approach that leverages this local demonstration quality information. Our approach consists of two synergistic components. First, a local performance-driven LfD method uses a Gaussian Mixture Model (GMM) to encode both the demonstrated trajectories and their associated local quality assessments. This enables the generation of trajectories that outperform the imperfect demonstrations by utilizing complementary local data of high performance. Second, active data...

论文介绍 本文针对模仿学习中人类演示质量不一致的问题,提出LOPAL方法。该方法通过局部性能感知的主动学习,使用高斯混合模型编码演示轨迹及其局部质量评估,从而生成优于原始不完美演示的轨迹,帮助机器人高效学习技能。

SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM

第一作者: Yewei Huang · 方向: 导航与运动 · 来源: cs.RO

Abstract:We introduce a data-efficient distributed Simultaneous Localization and Mapping (SLAM) framework designed for a team of robots equipped with LiDAR, cameras, and inertial sensors. Our framework uses scene graph matching to identify inter-robot measurement constraints. Unlike prior approaches that rely on feature-level matching, our framework is the first to perform scene graph matching using only object labels and centroids. Our approach constructs a scene graph by using fused RGB-LiDAR point clouds to generate both a semantically segmented point cloud layer, and a layer of discrete bounded objects, to accompany estimated robot trajectories. Scene graph matching is performed collaboratively through exchanging and matching object data with neighboring robots. To maximize communication efficiency, we utilize a multi-step data exchange and optimization process. We demonstrate the...

论文介绍 本文提出SGM-SLAM,一个数据高效的分布式同时定位与地图构建框架。它利用场景图匹配,仅基于物体标签和质心识别机器人间测量约束,通过融合RGB-LiDAR点云构建场景图,并采用多步数据交换优化以提升通信效率和SLAM性能。

ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies

第一作者: Zenan Wu · 方向: 机器人操作 · 来源: cs.RO

Abstract:Generalist manipulation policies are increasingly presented as foundation models for robotic control, but their real-world generalization remains difficult to diagnose. A policy may succeed on demonstrated tasks while still failing to execute fine-grained atomic skills or recombine learned skills in new task structures. We introduce \textbf{ATOM-Bench}, a real-world benchmark for evaluating both atomic skills and compositional generalization in manipulation policies. ATOM-Bench factorizes tabletop manipulation into motor atoms and instruction atoms, and contains 30 atomic tasks and 24 held-out compositional tasks across paired single-arm and dual-arm robot tracks. We collect 3,000 human demonstrations for atomic fine-tuning and release both the demonstration data and evaluation rollout data to support reproducible real-world evaluation. Policies are fine-tuned on atomic tasks...

论文介绍 本文引入ATOM-Bench,一个用于评估操作策略原子技能和组合泛化能力的真实世界基准。该基准将桌面操作分解为运动原子和指令原子,包含多个任务并提供人类演示数据,支持可重复评估以诊断通用策略的泛化性能。

SoK: Security and Privacy of Foundation-Model-Powered Robots

第一作者: Xueluan Gong · 方向: 多模态具身 · 来源: cs.RO

Abstract:Foundation models are reshaping robotics by enabling robots to interpret open-ended instructions, reason over multimodal contexts, and operate in complex, open-world environments. However, their integration also introduces security and privacy (S&P) risks that extend beyond the FMs themselves to embodied execution pipelines, supporting ecosystems, and broader governance impacts. Existing literature reviews provide valuable insights but often focus on specific FM types, risk categories, mitigation strategies, or trust boundaries. Consequently, the field lacks a unified structure for analyzing where risks originate, how they propagate across robotic systems, and where mitigations should intervene. To address this gap, we propose a progressive F-E-S-G structural boundary framework for analyzing the S&P of FM-powered robots. The framework comprises four layers: the Foundation...

论文介绍 本文针对基础模型驱动机器人的安全与隐私问题,提出一个渐进式F-E-S-G结构边界框架。该框架从基础、执行、系统和治理层分析风险起源与传播,提供统一分析结构以指导安全隐私保护措施。

DIFF-IPPO: Diffusion-Based Informative Path Planning with Open-Vocabulary Belief Maps

第一作者: Sausar Karaf · 方向: 导航与运动 · 来源: cs.RO

Abstract:Exploration and object search require robots to perceive their environment, identify regions of interest, and plan trajectories that improve target-detection likelihood or maximize information gain. Many IPP methods, especially in continuous environmental monitoring, rely on Gaussian-process belief models, while object-search settings often produce complex, multimodal belief maps from semantic or open-vocabulary perception. Global trajectory generation directly conditioned on such non-Gaussian belief maps remains comparatively underexplored. Although diffusion-based planners offer strong capabilities for modeling such distributions, their use in informative path planning remains limited. In this work, we propose DIFF-IPPO, a pipeline that integrates an open-vocabulary belief map generator with a diffusion-based planner for global trajectory generation over belief maps. The...

论文介绍 本文提出DIFF-IPPO,用于信息路径规划的新方法。它集成开放词汇信念地图生成器和基于扩散的规划器,直接在复杂多模态信念地图上生成全局轨迹,以提升机器人探索和物体搜索的效率。

DataLadder: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid

第一作者: Peidong Liu · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Generalist robot policies require trustworthy evaluation and robot-usable training data, but both are difficult to scale with physical robots alone. Real-robot trials and demonstrations remain the most faithful source of deployment signals, yet they are slow, costly, and hard to reproduce. We present DataLadder, a simulation-enabled interconversion toolchain for human-robot aligned model evaluation and data generation, denoted as Robot $\rightleftharpoons$ Simulation $\rightleftharpoons$ Human. On the one hand, the Robot $\rightarrow$ Simulation $\rightarrow$ Human pathway supports human-robot aligned model evaluation by reconstructing real-robot tabletop organization tasks as calibrated digital twins for scalable evaluation, while using human embodied feedback to inspect and refine the naturalness of simulated motions. On the other hand, the Human $\rightarrow$ Simulation...

论文介绍 本文提出DataLadder,一个模拟启用的互转换工具链,用于通用机器人策略的评估和数据生成。它构建Robot、Simulation和Human之间的对齐路径,通过数字孪生实现可扩展评估,并利用人类反馈优化模拟自然度。

VENOM: Versatile Embodied Network for Omni-bodied Motion tracking

第一作者: Siddharth Padmanabhan · 方向: 模仿学习 · 来源: cs.RO

Abstract:Achieving expert-level expressive full-body motion tracking across multiple humanoids solely from demonstration data remains a challenging and relatively an underexplored problem in humanoid robot learning. Cross-embodiment motion tracking policies are mostly trained by decoupling the control problem into upper and lower body control. This work proposes VENOM, a cross-embodiment full-body motion tracking model for humanoids in simulation. VENOM is a GPT-based motion tracker trained on multiple humanoid data that can track the entire body without the requirement to split into upper and lower body control. We curate a multi-humanoid motion tracking dataset called the VENOM dataset that contains states, actions, and rewards and train VENOM and the baselines on this dataset. In this letter, we evaluate VENOM's performance against baselines and show that we can achieve a stable...

论文介绍 本文提出VENOM,一个用于人形机器人跨体现全身运动跟踪的GPT-based模型。它训练于多个人形机器人数据,无需解耦上下半身控制就能跟踪整个身体,旨在实现稳定且表达性的运动跟踪。

PATCH: Action-Chunk-Conditioned Latent Patch Innovation Monitoring for Robot Manipulation

第一作者: Yanan Zhou · 方向: 机器人操作 · 来源: cs.RO

Abstract:Learning-based manipulation policies have made substantial progress in real-world robot manipulation, particularly for short-horizon action generation. However, deployment in open workspaces remains fragile under unexpected local scene dynamics, such as moving objects, transient occlusions, or disturbances near the intended motion. Existing runtime monitors often rely on global observation anomalies, policy uncertainty, or frame-level visual changes, and struggle to distinguish task-relevant execution risk from benign visual variation. We introduce PATCH, an action-chunk-conditioned latent patch innovation monitor for deployment-time intervention. Given the active action chunk, PATCH defines a projected execution corridor, predicts latent patch evolution inside it, and accumulates persistent residuals unexplained by the robot's own motion. These residuals form a localized...

论文介绍 本文提出PATCH,一个动作块条件潜在补丁创新监控器,用于机器人操作中的部署时干预。研究针对开放工作空间中意外场景动态导致的操作策略脆弱性问题。PATCH通过定义执行走廊、预测潜在补丁演化并累积持续残差来识别任务相关执行风险,从而实现实时干预,提升操作鲁棒性。

WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots

第一作者: Thang Tran Viet · 方向: 具身智能 · 来源: cs.RO

Abstract:Expressive co-speech gestures are crucial for natural human-robot interaction, but generating them on physical humanoid robots is difficult because gesture strokes must align with speech emphasis while satisfying strict kinematic and dynamic constraints. Unlike virtual avatars, humanoid robots cannot freely execute rapid or overlapping motions, making word-level synchronization and hardware-safe motion planning a coupled problem. We present \textbf{WaveSync}, a hybrid framework in which a Large Language Model decomposes dialogue responses into structured semantic schemas and assigns per-word importance weights, constructing a continuous Semantic Importance Wave. Gesture trajectories are shaped through Dynamic Movement Primitives, enforcing kinematic feasibility while enhancing expressiveness. A Wavefront Optimization stage aligns peak-to-peak gesture-speech synchronization and...

论文介绍 本文提出WaveSync框架,用于类人机器人生成与语音同步的自然手势。研究解决手势生成中的运动约束和同步问题。框架利用大型语言模型构建语义重要性波,通过动态运动基元塑造手势轨迹,并采用波前优化确保峰值对齐和硬件安全,增强人机交互表达能力。

Steering Generative Reinforcement Learning into Stable Robotic Controller

第一作者: Yixuan Wang · 方向: 策略学习 · 来源: cs.RO

Abstract:Diffusion and flow-based generative policies provide a powerful policy class for reinforcement learning by inducing rich stochastic exploration through iterative action generation. However, the stochasticity of diffusion policies is not suitable for stable and precise control in high-dimensional robotic systems, where small action variations can accumulate into inconsistent motion and reduced robustness. To address this issue, we propose SteerGenPO, a latent-space reinforcement learning framework that steers a trained generative policy into a robust deterministic robotic controller. The key idea is to replace stochastic latent sampling of the trained generative policy with a learned latent actor that predicts a state-dependent latent input for the generative policies. This separates exploration and control: stochastic generative sampling provides diverse action proposals...

论文介绍 本文提出SteerGenPO,一个潜在空间强化学习框架,旨在将扩散生成策略引导为稳定的确定性机器人控制器。研究针对扩散策略随机性导致的控制不稳定问题。通过学习潜在动作器预测状态相关输入,分离探索与控制,从而在保持探索能力的同时实现精确控制。

Elastic ODYN: Differentiable Optimization for Infeasible Control and Learning in Robotics

第一作者: Aristotelis Papatheodorou · 方向: 具身智能 · 来源: cs.RO

Abstract:Robotic systems routinely encounter conflicting objectives, modeling errors, and degenerate contact conditions that render quadratic programs (QPs) infeasible. Yet most optimization solvers and differentiable QP layers assume feasibility, leading to numerical failures, unstable gradients, or solver breakdown when constraints cannot be simultaneously satisfied. We present Elastic ODYN, a primal--dual non-interior-point QP solver that handles infeasibility through smooth squared-$\ell_2$ elastic relaxations. The resulting formulation remains well posed under ill-conditioning and degeneracy, supports warm starting, and converges to closest-to-feasible solutions when no feasible point exists. A lightweight refinement stage recovers physically meaningful dual variables from the elastic solution. Building on this framework, we develop Elastic OdynLayer, a differentiable QP layer...

论文介绍 本文提出Elastic ODYN,一个处理不常见二次规划问题的求解器,用于机器人控制和学习。研究针对优化约束冲突导致的数值失败问题。通过平方ℓ2弹性松弛,求解器在病态和退化条件下保持良态,支持热启动,并收敛到最接近可行解,为可微优化层提供稳定基础。

ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion

第一作者: Bofan Lyu · 方向: 导航与运动 · 来源: cs.RO

Abstract:Humanoids deployed in human-centered environments must handle force-interactive tasks, where external contacts introduce unexpected disturbances that disrupt locomotion accuracy and stability. Existing learning-based approaches rely on broad domain randomization, task-specific force objectives, or learning-based force estimators from motion history, each of which compromises accuracy, task transferability, or out-of-distribution (OOD) robustness. We present Analytical Disturbance-Aware Policy Training (ADAPT), a framework that equips humanoid policies with a physically grounded disturbance observer. The core of ADAPT is an analytical whole-body disturbance observer that estimates residual force/torque online with the accessible robot dynamics, without requiring force/torque sensors. Fed directly into the policy, the estimated disturbances give the humanoid an explicit...

论文介绍 本文提出ADAPT框架,用于类人机器人运动中的分析性扰动感知策略训练。研究解决外部干扰导致的运动不稳定问题。框架集成分析性全身扰动观察器,在线估计残余力/矩,无需力/矩传感器,估计扰动直接输入策略,增强对干扰的显式感知,提升运动鲁棒性。

APEX: Adaptive Policy Execution for Precise Manipulation

第一作者: Mengfei Zhao · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Modern imitation learning methods, including visuomotor and Vision-Language-Action (VLA) policies, typically output high-level action references that are executed by low-level controllers. However, the absence of higher-order reference signals, together with the policy's lack of awareness of the underlying low-level control dynamics during training, inevitably induces an execution gap. As a result, realized actions deviate systematically from policy-commanded ones, with a critical impact on precision-sensitive manipulation. Prior work either modifies the policy architecture or the low-level controller, both requiring intrusive changes to the pretrained policy or packaged controller. This raises a natural question: when the policy and controller are both treated as inaccessible black boxes, can we bridge the execution gap? We propose Adaptive Policy Execution (APEX), a...

论文介绍 本文提出APEX,一个自适应策略执行方法,用于精密操作中的模仿学习。研究针对策略输出与低层控制器执行之间的系统性偏差问题。APEX将策略和控制器视为黑盒,通过自适应调整执行过程来桥接执行差距,无需修改预训练策略或控制器,提高执行精度。

HATS: A Human-Agent Teleoperation System for Multi-Arm Data Collection

第一作者: Zesen Lin · 方向: 机器人操作 · 来源: cs.RO

Abstract:Many real-world manipulation scenarios, such as handling complex collaborative tasks and dealing with large workspaces, require coordination of more than two robotic arms. Consequently, an effective multi-arm teleoperation system is required to collect demonstrations for training coordinated multi-arm manipulation policies. However, existing teleoperation frameworks mainly focus on single-operator or multi-operator setups, facing a practical trade-off between the cognitive load placed on a single operator and the coordination cost incurred by multiple operators. To address this problem, we introduce HATS, a human-agent teleoperation system that enables a single human operator, assisted by an MLLM-based agent, to collect data for multi-arm manipulation tasks. Our system decouples the control space: two primary arms are directly teleoperated by the human, while two assistive...

论文介绍 本文提出HATS,一个人机智能体遥操作系统,用于多臂操作数据收集。研究解决多臂协调遥操作中的认知负载问题。系统允许单操作员在MLLM智能体辅助下控制主臂和辅助臂,解耦控制空间,降低协调成本,高效收集多臂操作演示数据。

Robots that Collaborate: Sequential Asymmetric Imitation for Learning Coupled Robot Policies

第一作者: Yincong Chen · 方向: 机器人操作 · 来源: cs.RO

Abstract:Collaborative mobile manipulation requires robots to coordinate with a partially observed partner while physically interacting through shared objects. This is difficult because failures often arise not from poor local skills, but from mistimed waiting, yielding, pulling, releasing, or repositioning. We study this problem with two bimanual mobile manipulators coupled through rigid and deformable objects. We propose Sequential Asymmetric Imitation (SAI), a single-teleoperator curriculum for learning coupled multi-robot behaviors without synchronized dual-operator demonstrations or explicit inter-robot communication. SAI trains Robot A from unilateral demonstrations with a compliant human partner, trains Robot B against the deployed Robot A policy, and then refines Robot A using sparse interventions near coordination failures. This staged process exposes the policies to...

论文介绍 本文提出SAI框架,用于学习协作机器人间的耦合策略。研究解决多机器人协调中的时序配合难题。SAI通过顺序非对称模仿学习,先训练一个机器人,再训练另一个对抗性策略,并在协调失败处进行干预精炼,避免同步演示需求,提高协作鲁棒性。

HOLO-MPPI: Multi-Scenario Motion Planning via Hierarchical Policy Optimization

第一作者: Youngjae Min · 方向: 策略学习 · 来源: cs.RO

Abstract:Robots deployed in the real world must plan motions across diverse scenarios without per-scenario retuning. End-to-end reinforcement learning (RL) can generalize across scenarios but often becomes brittle under distribution shift, reward misspecification, and stochastic interactions. Model predictive path integral (MPPI) control enables strong real-time refinement without gradients, but its performance depends on a well-shaped sampling prior, while manually designing the priors does not scale to multi-scenario deployment. We present HOLO-MPPI (High-level Offline, Low-level Online MPPI), a multi-scenario motion planning framework that combines high-level policy learning with low-level stochastic optimal control. Offline, we learn a high-level policy that proposes scenario-robust plans in an abstract action space, with a learned world model for online rollout. Online, the policy...

论文介绍 机器人部署在多样化的现实场景中,需避免针对每个场景重新调优。本文提出HOLO-MPPI框架,通过结合离线高层策略学习与在线底层随机最优控制,实现跨场景运动规划。高层策略在抽象动作空间中提出场景鲁棒的规划方案,底层利用MPPI进行实时精炼。该方法旨在提升机器人在多场景下的通用运动规划能力与鲁棒性。

RHO: Your Coding Agent is Secretly a Roboticist

第一作者: Karim Elmaaroufi · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Code-as-Policies (CaP) has shown that large language models (LLMs) can write code to solve robotics tasks by composing perception, planning, and control primitives. Recent CaP systems, however, rely on multi-turn code-generation loops at test time, which is often infeasible for real-time robot control. We introduce Robotics Harness Optimization (RHO), a novel paradigm in which tool-enabled coding agents, at training time, propose and search for interpretable, neurosymbolic multi-file policy repositories (Repositories-as-Policies) that compose these primitives rather than a single prompt, function, or file. RHO searches with reflective feedback from environment reward and execution rather than teleoperation demonstrations. It generalizes to perturbed pick-and-place settings like LIBERO-PRO, where OpenVLA scores 0.0% and $\pi_{0.5}$ averages 12.83%. Using the same low-level...

论文介绍 将代码用作策略(CaP)的方法常依赖测试时的多轮代码生成,难以满足实时机器人控制需求。本文提出RHO范式,让具备工具使用能力的编码智能体在训练时搜索并生成可解释的、多文件的策略仓库。RHO通过环境反馈进行学习,而非依赖遥操作演示。该方法在扰动后的抓取放置任务中展现出优于现有通用模型的泛化性能。

Training and Evaluating Diffusion Policies with Long Context Lengths

第一作者: Abhinav Agarwal · 方向: 机器人操作 · 来源: cs.RO

Abstract:Imitation learning has enabled highly-dexterous robotic manipulation from RGB observations. Policies trained with these methods, however, typically condition robot actions on only a short history of observations. These policies cannot solve tasks that require memory and can get stuck repeatedly executing the same failing motions. In this work, we first benchmark policy performance as context length is incrementally increased from short to long, across a spectrum of tasks with varying local stability and memory requirements, and in multiple data regimes. To our knowledge, this is the first study to investigate context length in imitation learning at this level of detail. Our results challenge prior claims: naively scaling context length is not as brittle as advertised in literature. With an appropriate conditioning method and denoising backbone (UNet+Cross-Attention)...

论文介绍 现有的模仿学习策略通常只基于短期观察历史来决策,这限制了其处理需要长期记忆的任务的能力。本文系统性地研究了在多种任务和数据条件下,逐步增加策略的上下文长度对其性能的影响。研究挑战了先前认为简单增加上下文长度会导致脆弱性的观点,并证明了合适的条件化方法与去噪骨干网络能够有效支持长上下文策略。

V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videos

第一作者: Kaihan Chen · 方向: 机器人操作 · 来源: cs.RO

Abstract:Achieving autonomous robotic dexterous manipulation requires precise, human-like action sequences at scale. As a scalable supplement to costly teleoperation data, extracting trajectories with both visual fidelity and physical plausibility from monocular videos represents a promising frontier in embodied AI. To this end, we introduce V2P-Manip, an efficient framework designed to learn dexterous manipulation policies directly from human demonstration videos. We establish an efficient, integrated pipeline encompassing 3D asset acquisition, trajectory estimation, and dexterous policy learning. To bridge the gap between visual perception and physical constraints, we introduce a two-stage refinement process to enforce spatial alignment and physical consistency. Evaluations on the TACO and OakInk benchmarks demonstrate that our approach significantly outperforms previous methods in...

论文介绍 从大规模人类演示视频中学习灵巧操作技能是降低数据采集成本的有潜力途径。本文提出V2P-Manip框架,可直接从单目人类视频中学习灵巧操作策略。该框架包含3D资产获取、轨迹估计和策略学习的完整流程,并引入两阶段精炼过程以确保视觉轨迹的空间对齐和物理一致性。实验表明,该方法在相关基准上显著优于以往方法。

An Augmented Reality Brain-Robot Interface for Generalist Robot Arm Manipulation

第一作者: Shangkai Zhang · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:The integration of augmented reality (AR) and EEG-based brain-computer interfaces (BCIs) offers a promising path for enabling intuitive control of robots for assistive purposes. However, existing AR brain-robot interface (BRI) systems are often constrained to task-specific structures, limiting their utility in real-world environments. We present an AR BRI designed for generalist robot arm manipulation that combines gaze-based object selection with motor imagery action control. Our system uses eye-tracking for intuitive object targeting and context-aware visual overlays ("Place" and "Use") to guide the user through tasks within a shared autonomy framework. We evaluated the interface through a feasibility study with 18 healthy participants performing three multi-step activities of daily living: drinking, using a drawer, and operating an oven. Our results demonstrate that this...

论文介绍 结合增强现实(AR)和脑电(EEG)的脑机器人接口(BRI)为直观控制机器人提供了新思路。现有系统多局限于特定任务。本文设计了一种面向通用机器人臂操作的AR BRI,结合了基于注视的对象选择与运动想象动作控制。系统利用眼动追踪进行目标选择,并通过上下文感知的视觉叠加界面引导用户,在共享自主框架下完成多项日常活动任务。

SemGeoNav:A Safety-Guided Visual Navigation Approach with Semantic Reasoning and Geometric Planning

第一作者: Yu Liu · 方向: 导航与运动 · 来源: cs.RO

Abstract:Learning-based visual navigation has enhanced semantic goal-reaching capabilities. However, due to their black-box nature, purely end-to-end models often lack explicit geometric constraints, leading to unpredictable and unreliable obstacle avoidance in open environments. Conversely, traditional geometric planners ensure safety but struggle with high-dimensional visual targets. To address these limitations, we propose SemGeoNav, a novel hierarchical visual navigation this http URL tightly integrates the high-level semantic reasoning of end-to-end models with the reliable local planning ability of geometry-based methods, achieving robust image-based navigation while significantly improving obstacle avoidance. Furthermore, we introduce a temporal trajectory smoothing mechanism to ensure continuous and stable robot motion. We evaluated SemGeoNav on a Unitree Go2 quadruped robot in...

论文介绍 基于学习的视觉导航在语义目标理解上表现出色,但缺乏显式的几何约束,导致避障不可靠;而传统几何规划器则难以处理高维视觉目标。本文提出SemGeoNav,一个新颖的分层视觉导航方法。它将端到端模型的高层语义推理与几何规划器的可靠局部规划能力紧密结合,在实现图像目标导航的同时,显著提升了避障的安全性和鲁棒性。

TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation

第一作者: Jielin Wu · 方向: 机器人操作 · 来源: cs.RO

Abstract:Human hand-object demonstrations provide dense reference motions for training dexterous manipulation reinforcement learning (RL) policies through reference tracking. However, to use such demonstrations for RL policy learning, retargeting must preserve hand pose and task-relevant hand-object contact structure. Otherwise, contact and feasibility artifacts can degrade downstream RL policy performance. We introduce TopoRetarget, an interaction-preserving retargeting framework that uses a single set of parameters across diverse retargeting conditions while maintaining task-relevant hand-object interaction and adapting human demonstrations to dexterous robot hands. The method constructs a sparse interaction graph over hand and object keypoints and optimizes distance-weighted Laplacian deformation with directional consistency, kinematic constraints, and penetration handling...

论文介绍 在利用人类手-物体演示训练机器人灵巧操作的强化学习策略时,动作重定向需要保持原始的手部位姿和任务相关的接触结构。本文提出TopoRetarget,一种交互保持的重定向框架。它通过在手部与物体关键点上构建稀疏交互图,并结合距离加权的拉普拉斯变形优化,使用统一参数集适应不同重定向条件,从而保持关键的交互拓扑关系。

ATHENA: Accelerated Multi-Task Heterogeneous Influence Functions for Robot Data Curation

第一作者: Tao Xu · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:In robot imitation learning, influence functions provide a principled approach to quantify each demonstration's effect on robot task outcomes, yet scaling them to billion-parameter Vision-Language-Action (VLA) models is limited by computational and multitask bottlenecks. To this end, we propose ATHENA, an influence function framework tailored for multitask VLA data curation at a billion-parameter scale. Concretely, it leverages the Kronecker structure of linear-layer gradients to reduce projection cost, and approximates dense Hessian inversion with a rank-r Random Truncated Approximation, achieving about a 313.4x speedup in influence computation. Furthermore, ATHENA formulates global and local interactive influence to balance data curation across 50 jointly trained tasks. Extensive evaluations on RoboTwin 2.0 and real-robot deployment, covering 9.34 and 6.90 hours of...

论文介绍 影响函数是量化演示数据对模型性能影响的有效工具,但将其扩展到十亿参数级的视觉-语言-动作(VLA)模型面临计算和多任务处理的挑战。本文提出ATHENA框架,专用于大规模多任务VLA的数据策展。它利用线性层梯度的Kronecker结构降低投影成本,并通过随机截断近似来高效求解海森矩阵逆,大幅提升了影响函数的计算效率。

Scaling Short-Term Memory of Visuomotor Policies for Long-Horizon Tasks

第一作者: Rutav Shah · 方向: 模仿学习 · 来源: cs.RO

Abstract:Many robotic tasks require short-term memory, whether it's retrieving an object that's no longer visible or turning off an appliance after a set period. Yet, most visuomotor policies trained via imitation learning rely only on immediate sensory input without using past experiences to guide decisions. We present PRISM, a transformer-based architecture for visuomotor policies to effectively use short-term memory via two key components: (i) gated attention, which filters retrieved information to suppress irrelevant details, improving performance by reducing the spurious correlations between the history and current action prediction, (ii) a hierarchical architecture that first compresses local information into compact tokens and then integrates them to capture temporally extended dependencies, improving its compute and memory footprint. Together, these mechanisms enable us to...

论文介绍 许多机器人任务需要短期记忆,但大多数通过模仿学习训练的视觉运动策略仅依赖即时输入。本文提出PRISM架构,通过「门控注意力」过滤历史信息以抑制无关细节,以及「分层架构」先压缩局部信息再整合以捕捉长期依赖。这两种机制扩展了策略的短期记忆能力,从而提升长期任务性能。

A Deployment Case Study in Robotic Apparel Automation: Digital Twin Integration, Interoperability, and Workforce Enablement

第一作者: Gokul Narayanan · 方向: 具身智能 · 来源: cs.RO

Abstract:Despite steady advances in flexible automation in sectors such as electronics and automotive manufacturing, apparel automation remains challenging because fabrics are deformable and difficult to manipulate with robots. This paper presents a deployment-oriented case study of a robotic sewing system for denim manufacturing, emphasizing the system-level integration required for practical adoption. At the engineering level, a digital thread module parses DXF production drawings into process parameters and executable robot trajectories, reducing manual programming effort and enabling rapid re-targeting across sewing operations. In parallel, a digital twin of the workcell is used during pre-deployment to validate reach and clearance, refine layout and sequencing, evaluate operator access, and assess cycle-time compatibility with upstream and downstream tasks, thereby reducing...

论文介绍 服装自动化因面料柔性而充满挑战。本文呈现了一个用于牛仔布制造的机器人缝纫系统的部署案例研究,强调实践采纳所需的系统级集成。核心包括一个「数字线程」模块将DXF图纸转换为机器人轨迹,以及一个用于预部署验证的「数字孪生」,以评估可达性、布局和周期时间,从而减少人工编程与调试成本。

A Smart-Scheduled Hybrid (SSH) EKF-FGO State Estimation

第一作者: Eric Levi · 方向: 具身智能 · 来源: cs.RO

Abstract:Reliable state estimation in robotics and control re quires balancing estimation accuracy against computational cost. While filtering-based methods such as the Extended Kalman Filter (EKF) provide efficient real-time updates, and optimisation based formulations using factor graphs improve global consistency, the role of optimisation scheduling is often treated implicitly rather than examined as an explicit design variable. This paper presents an experimental study that explicitly isolates optimisation scheduling using a Smart Scheduled Hybrid (SSH) EKF-FGO framework as a controlled testbed. By combining EKF-based state propagation with periodically invoked batch optimisation and holding solver structure and effort fixed, the main contribution of this work is the experimental characterisation of optimisation scheduling as an independent design variable governing the trade-off...

论文介绍 可靠状态估计需平衡精度与计算成本。本文提出智能调度混合EKF-FGO框架,作为受控测试平台来显式研究优化调度这一设计变量。该框架结合基于EKF的状态传播与周期性批量优化,通过保持求解器结构和努力不变,实验表征了优化调度如何独立地调控估计精度与计算资源间的权衡。

Leveraging Deep Learning for Object and Position Recognition of Load Carriers for Autonomous Logistics Vehicles

第一作者: Christoph Legat · 方向: 具身智能 · 来源: cs.RO

Abstract:This work explores the use of artificial intelligence in mobile robotics to achieve autonomous detection and pose estimation of load carriers for automated pickup. A deep neural network is designed to recognize predefined landmarks on the carrier from RGBD data; these landmarks are then used to compute the carrier's pose. The network operates directly on RGBD images to estimate landmark positions, which form the basis for determining the carrier's location. The approach is validated in extensive experiments and comprises both software and hardware implementations. A deep learning-based framework is presented to detect load carriers and estimate their pose for use with autonomous logistics vehicles. Our method uses a convolutional neural network to identify characteristic reference points on the carrier from RGBD input and computes its pose by combining these inferred landmarks...

论文介绍 本文探索利用人工智能实现移动机器人对载运载体的自主检测与位姿估计。核心方法是设计一个深度神经网络,直接处理RGBD图像以识别载体上的预定义标志点,随后利用这些推断的标志点计算载体位姿。该方法在软硬件上均进行了实现与实验验证,旨在为自主物流车辆的自动拾取提供支持。

$λ$-Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety

第一作者: Rui Chen · 方向: 导航与运动 · 来源: cs.RO

Abstract:We introduce $\lambda$-Reachability, a scalable approach to Hamilton--Jacobi safety analysis for high-dimensional robotic systems. Unlike prior discounted formulations that rely on fixed one-step Bellman updates, $\lambda$-Reachability employs a stochastic multi-step estimator of the safety value, using a geometrically distributed rollout horizon together with a randomly absorbed terminal. Conceptually analogous to TD($\lambda$), $\lambda$-Reachability interpolates between local self-consistency updates and long-horizon max-over-trajectory safety targets via an interpretable horizon-control parameter. Unlike TD($\lambda$), where the terminal value is always incorporated in learning targets, the terminal safety value in $\lambda$-Reachability is only used at a probability controlled by parameter $\delta$. We formally show that for $\delta<1$, the update induces a contraction...

论文介绍 针对高维机器人系统的哈密顿-雅可比安全分析可扩展性差。本文提出λ-可达性方法,采用随机多步估计器来估算安全值,使用几何分布滚动范围和随机吸收终端。该方法通过一个可解释的参数在局部自洽更新和长时域安全目标之间进行插值,形式化地展示了其收缩性质,从而将安全分析扩展到更高维度系统。

Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models

第一作者: Nestor N. Deniz · 方向: 机器人操作 · 来源: cs.RO

Abstract:Humanoid robots performing in-field manipulation tasks, such as robotic apple harvesting, face severe energy constraints that directly limit the number of reaching motions that can be executed per battery charge. This paper presents an end-to-end, energy-aware reinforcement learning framework for the 7-degree-of-freedom left arm of the Unitree~G1 humanoid robot, combining a physics-based, experimentally identified electrical power model with a Soft Actor-Critic (SAC) policy trained in a Pinocchio-based rigid-body dynamics simulator. The RL policy operates on an incremental joint-position action space and is trained with a Hybrid Constellation Reward that combines a four-point end-effector constellation distance with a torque-norm energy proxy; after % $5\times10^6$ training it reaches a $69.9\%$ success rate over $1\,000$ random targets in kinematic simulation, at a mean...

论文介绍 电池供电的人形机器人执行操作任务时面临严峻能量约束。本文为Unitree G1机器人的7自由度左臂提出一个端到端的节能强化学习框架。该框架将基于物理、经实验识别的功率模型与在仿真中训练的软演员-评论家策略相结合,通过混合星座奖励函数优化任务成功率与能耗代理指标。

Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm

第一作者: Nestor N. Deniz · 方向: 具身智能 · 来源: cs.RO

Abstract:Accurate prediction of electrical power consumption is essential for energy-aware motion planning, battery management, and thermal monitoring in battery-powered humanoid robots. This letter presents a physics-based, linear-in-parameters model for the electrical power consumption of the seven-degree-of-freedom left arm of the Unitree~G1 humanoid robot. The proposed formulation combines actuator loss terms with a baseline-torque correction that captures changes in gravity-compensation load and enables accurate prediction of negative net power trajectories. Pairwise interaction terms are introduced to model power coupling during simultaneous multi-joint motion. Model parameters are identified from experimental data collected on a physical Unitree~G1 using onboard power measurements as the regression target. Across 897 trajectories covering single-joint and coordinated arm motions...

论文介绍 准确的功耗预测对于电池人形机器人的能量感知规划、电池管理和热监控至关重要。本文为Unitree G1人形机器人7自由度左臂提出一个基于物理、线性参数的功耗模型。该模型结合执行器损耗项和基线力矩校正,并引入交互项以模拟多关节运动时的功率耦合,参数通过实验数据辨识。

GeoTLM: Geometry-aware Tactile-Language Models for Contact Motion Orientation Reasoning of Dynamic Objects

第一作者: Qiutian Li · 方向: 具身智能 · 来源: cs.RO

Abstract:Modern tactile-language models (TLMs) have shown potential for robot learning tasks, such as material and texture recognition. However, for contact-rich scenarios, these TLMs struggle to understand the physical properties of dynamic objects, such as rotation and sliding directions. For instance, our preliminary experiments reveal that popular TLMs, such as Sparsh and AnyTouch2, exhibit weak performance on basic rotation direction reasoning from GelSight Mini tactile data. This surprising gap inspires us to explore a novel research question: Can we inject physically grounded geometric priors into TLMs to enable reliable contact orientation reasoning of dynamic object properties? To this end, we propose GeoTLM, a novel geometric representation-guided TLM for the perception of dynamic contact events. Our key idea is to preserve and structure tactile shear-field geometry before...

论文介绍 现有触觉-语言模型在理解动态物体的旋转、滑动等物理属性方面表现不佳。本文提出GeoTLM,一种几何感知的TLM,用于感知动态接触事件。其核心思想是在输入语言模型之前,先对触觉剪切场的几何结构进行保留和结构化,从而注入物理先验知识,以提升对接触运动方向的推理能力。

VL2Spike: Spike-driven Distillation from VLMs for Low-Power Visual Perception in Embodied AI

第一作者: Zinan Liu · 方向: 具身智能 · 来源: cs.RO

Abstract:Spiking neural networks (SNNs) are brain-inspired, event-driven models that compute with sparse spikes, which enables highly efficient visual perception in resource-constrained embodied AI models. The emergence of Spiking-Transformer models with spike self-attention has substantially improved the learning capacity of pure SNNs. Although SNNs are energy efficient, their performance is still limited by the spike-based architecture and optimization challenges, as standard gradient descent rules cannot be directly applied. Recently, vision-language models (VLMs) have shown rich multi-modal knowledge representation capabilities for visual perception. Thus, it is promising to leverage VLMs for better Spikformer training. To this end, we present VL2Spike, a novel spike-based knowledge distillation (KD) framework that bridges multi-modal knowledge from VLMs with compact Spikformer...

论文介绍 脉冲神经网络在资源受限的具身AI中能效高,但性能受限于架构和优化挑战。本文提出「VL2Spike」框架,通过知识蒸馏将视觉语言模型的多模态知识转移到脉冲Transformer,以改善训练并提升低功耗视觉感知能力,适用于嵌入式系统应用。

FlashNav: Ultra-Fast Policy Training for Robot Navigation within 20 Seconds

第一作者: Shanze Wang · 方向: 导航与运动 · 来源: cs.RO

Abstract:Deep reinforcement learning has shown strong potential for robot navigation, but its practical deployment is still limited by the long wall-clock cost of policy training. This paper presents FlashNav, a GPU-first framework for ultra-fast range-based robot navigation training. To the best of our knowledge, FlashNav is the first DRL-based robot navigation framework that reaches seconds-level policy training, with the fastest deployable policy trained in less than 20 seconds. The key idea is to align simulation with the navigation MDP: FlashNav preserves the essential components for velocity-level navigation, including occupancy geometry, range sensing, goal-conditioned control, robot motion dynamics, collision handling, termination, and reset, while removing unnecessary rendering and high-fidelity physical details from the training loop. Built on a batched bitmap simulator and a...

论文介绍 深度强化学习用于机器人导航但策略训练耗时长。本文提出「FlashNav」框架,基于GPU优先和模拟简化,保留导航核心组件如几何感知和动力学,实现秒级策略训练,最快在20秒内完成,以加速部署效率。

LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies

第一作者: Jialei Chen · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Vision-Language-Action models (VLAs) leverage large-scale vision-language pretraining for semantic robot control, but often lack explicit foresight into how robot actions change the scene. World-Action Models (WAMs) address this limitation by conditioning policies on predicted futures, yet existing approaches typically rely on computationally expensive video generation with substantial pixel-level redundancy. We present LaWAM, a Latent World Action Model that exposes predictive dynamics to robot policies through compact latent visual subgoals instead of reconstructed future video. At the core of LaWAM is a latent-action-conditioned Latent World Model (LaWM). We obtain LaWM by training a latent action model in the latent space of a pretrained vision foundation model and repurposing its forward decoder to predict future observation features for scene evolution. LaWAM then...

论文介绍 视觉语言动作模型缺乏对动作后果的预见能力。本文提出「LaWAM」,通过潜在世界动作模型在潜在空间预测未来状态子目标,使机器人策略具备动力学感知,避免昂贵视频生成,提升控制效率与适应性。

Can Causal Models Enhance Robot Navigation? Online Causal Adaptation for Real-Robot Navigation

第一作者: Zhitao Liang · 方向: 导航与运动 · 来源: cs.RO

Abstract:Causality in robotics aims to produce more interpretable and flexible robot behaviours by enabling robots to predict the consequences of their actions; however, deploying causal models with existing systems (e.g., navigation) operating in real environments remains understudied. This paper addresses the challenging problem of transferring causal models in real-robot experiments for a navigation scenario. We study this problem in two ways: (i) using the causal model as an offline evaluation module that predicts the competence of recorded real-robot navigation trajectories and relates it to quantitative navigation performance, and (ii) using the causal model as an online adaptation module that intervenes when the predicted competence of the default navigation is low. We validate our approach in a physical service robot that patrols around corridors. We show that the predicted...

论文介绍 因果模型可增强机器人行为的解释性和灵活性,但在真实环境部署研究不足。本文探索将因果模型用于真实机器人导航,作为评估模块和在线自适应模块,在物理服务机器人中验证其预测能力和适应效果。

Learning New Tasks via Reusable Skills: Skill-Compositional Experts for Embodied Continual Learning

第一作者: Shuaike Zhang · 方向: 机器人操作 · 来源: cs.RO

Abstract:Embodied Continual Learning (ECL) aims to enable robots to continually acquire new manipulation tasks while retaining previously learned behaviors under closed-loop control. Compared with conventional continual learning, ECL suffers from more severe catastrophic forgetting. Feature drift accumulated under closed-loop control progressively propagates through sequential decision-making, leading to degradation of previously learned behaviors. A key challenge in ECL lies in structured skill reuse across continually evolving tasks, since existing methods primarily focus on skill learning without explicitly organizing them for coherent task execution. To address this issue, we propose SCE, a Skill-Compositional Experts framework for ECL. SCE builds a skill base via Compositional Skill Grounding (CSG), which decomposes task demonstrations into reusable skills. Based on this, Dual...

论文介绍 具身持续学习需解决灾难性遗忘和技能重用问题。本文提出「SCE」框架,通过技能组合专家和组合技能接地,将任务分解为可重用技能,构建技能库以支持机器人持续学习新操作任务,减少特征漂移影响。

PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty

第一作者: Wenjing Tang · 方向: 模仿学习 · 来源: cs.RO

Abstract:Real-world robot task planning must operate under both stochastic action execution and partial observability, yet constructing Partially Observable Markov Decision Process (POMDP) models for real robotics domains remains difficult and labor-intensive. We introduce PO-PDDL, a symbolic formulation of POMDPs that preserves the relational structure and LLM-friendly syntax of the Planning Domain Definition Language (PDDL), while explicitly modeling partial observability, stochasticity, and beliefs. Building on this formulation, we propose a demonstration-driven pipeline for learning PO-PDDL models. The proposed method reconstructs latent symbolic state trajectories from real-robot execution videos, identifies partial observability via inconsistencies between inferred states and visual observations, and learns stochastic transition and observation models accordingly. The resulting...

论文介绍 构建部分可观测马尔可夫决策过程模型对机器人规划困难且耗时。本文引入「PO-PDDL」符号化公式,从视觉演示中学习POMDP模型,识别部分可观测性和随机性,用于不确定环境下的机器人任务规划。

TO-SoFiT: Topology Optimization of Hydraulic Soft Fish Tail Design for programmable undulating locomotion

第一作者: A Padmaprabhan · 方向: 导航与运动 · 来源: cs.RO

Abstract:Soft robots leverage compliant materials to generate motion through controlled elastic deformation, making them ideal for delicate tasks such as underwater exploration and biomimetic marine systems. Although hydraulic/pneumatic actuation remains pivotal for such systems, the lack of systematic design frameworks has hindered the development of robots capable of complex 3D motion, such as fish-like swimming. This work introduces a topology optimization method to automate the design of a hydraulic soft fish tail, explicitly addressing the design-dependent coupling between fluidic actuation and structural deformation. We use a Darcy law-based model augmented with a drainage term to simulate spatially varying hydraulic pressure loads, translating these into consistent nodal forces via finite element analysis. The employed robust multi-criteria optimization formulation balances...

论文介绍 软体机器人缺乏系统设计框架以实现复杂3D运动。本文提出拓扑优化方法,自动化设计液压软体鱼尾,耦合流体驱动与结构变形,实现可编程波浪运动,适用于水下探索和仿生海洋系统。

Retrieve, Don't Retrain: Extending Vision Language Action Models to New Tasks at Test Time

第一作者: Jeongeun Park · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Extending a vision-language-action (VLA) policy to a new task typically requires task-specific teleoperated demonstrations and per-task fine-tuning, making adaptation costly in both data collection and compute. In this paper, we show that this target-side per-task adaptation cost can be replaced by retrieval. Our retrieval-augmented policy is trained once on paired demonstrations from the target embodiment (query) and a cheaper embodiment (pool, e.g., human-hand video), then frozen. New tasks are added at deployment by appending pool-side demonstrations to a retrieval pool. The frozen policy conditions on retrieved trajectories at every control step, so new tasks are absorbed by indexing data rather than updating parameters. Fine-tuning is needed only to take on a new, unseen embodiment, not for each new task. We show that retrieval improves policies beyond a specific...

论文介绍 视觉语言动作模型适应新任务通常需重训练,成本高昂。本文提出检索增强策略,通过冻结策略和检索池,在测试时扩展新任务而无需参数更新,仅索引数据,提高数据效率和任务扩展能力。

Perfect Demo Makes Poor Teacher: Learning Robust Alignment from Critical Motion Segments

第一作者: Mingyu Liu · 方向: 机器人操作 · 来源: cs.RO

Abstract:Expert demonstrations are widely assumed to be the gold standard for robot imitation learning. Yet for fine-grained manipulation such as insertion, stacking, and alignment, we uncover a counterintuitive failure mode: fluent demonstrations can be poor teachers. A skilled teleoperator compresses the decisive moments of alignment and recovery into a brief temporal window, leaving the policy flooded with redundant free-space motion and starved of supervision exactly where precision determines success. We address this bottleneck at two levels. At the data level, slowing down near alignment and resampling critical segments both help, yet the gain comes mainly from broadening the coverage of recovery states the policy must learn, not from reweighting frames it already has. Such data-side fixes, however, leave the policy's per-frame view untouched: a single image still maps directly...

论文介绍 本文研究了机器人模仿学习中一个反直觉的现象:在执行插入、堆叠等精细操作时,流畅的专家演示可能成为「糟糕的老师」。这是因为熟练操作者将决定性的对齐和恢复瞬间压缩在很短的时间窗口内,导致策略被大量冗余的自由空间运动淹没,而恰恰在精度决定成败的时刻缺乏监督。为此,研究在数据层面通过降低关键片段速度、重采样以及在模型层面引入关键片段感知的注意力机制来增强策略的鲁棒性,核心思想是扩大策略必须学习的恢复状态覆盖范围。

SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA

第一作者: Crystal Zhou · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Recent advancements in Vision-Language-Action (VLA) models have demonstrated impressive generalist capabilities in robot manipulation, yet these policies can be brittle under out-of-distribution spatial and semantic perturbations. While human teleoperation offers reliable recovery, it can demand high cognitive load and precise manual control, and existing policy steering methods often require auxiliary models or sampler modifications. In this work, we introduce Shared Autonomy for Policy Steering (SAPS), a framework that blends real-time human teleoperation commands with pretrained policy actions at the action level. SAPS requires no policy retraining, auxiliary dynamics models, or architectural modifications. We propose and evaluate three arbitration strategies to balance human and VLA policy control, including a dynamic Cosine-similarity arbitration strategy that computes...

论文介绍 针对视觉-语言-动作(VLA)通用模型在分布外扰动下可能失效、而人类遥操作又认知负担高的问题,本文提出了SAPS框架。该框架在动作层面将实时的人类遥操作指令与预训练的VLA策略输出进行混合,无需对策略进行重训练、添加辅助动力学模型或修改其架构。通过评估包括动态余弦相似度仲裁在内的三种策略,SAPS能有效平衡人类与自主控制,提升了VLA策略在复杂扰动下的鲁棒性与安全性。

Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation

第一作者: Ruofei Bai · 方向: 导航与运动 · 来源: cs.RO

Abstract:The success of generative models in language and visual generation has inspired extensive applications to generative robot planning. However, most existing works either focus on single-robot planning, or generate multi-robot trajectories in a sequential manner with iterative post-processing to resolve inter-robot conflicts. In this work, we investigate whether coordinated multi-robot trajectories, as a special spatiotemporal distribution, can be learned and generated with a generative model in a feed-forward manner. We propose Robots as Tokens (Roken), a unified diffusion transformer that directly generates multi-robot trajectories that satisfy both (individual) safety and (global) connectivity constraints. The core design of Roken is to represent each robot as a discrete token, allowing them to naturally interact with each other through self-attention, and cross-attend to map...

论文介绍 现有生成式机器人规划方法多专注于单机器人或顺序生成多机器人轨迹。本文将多机器人协调轨迹视为一种特殊的时空分布,提出了「机器人即token」的统一扩散变换器模型Roken。该模型将每个机器人表示为一个离序token,通过自注意力机制进行自然交互,并利用交叉注意力映射到地图信息,以前馈方式直接生成同时满足个体安全与全局连通性约束的多机器人轨迹。

Reinforcement Learning-Guided Retrieval with Soft Fusion for Robust Multimodal Imitation Learning under Missing Modalities

第一作者: Hassan Ismkhan · 方向: 模仿学习 · 来源: cs.RO

Abstract:Robotic systems perceive the world through multiple input modalities -- including visual camera streams and natural language instructions -- and must select appropriate actions based on these signals. However, assuming the permanent availability of all input devices is unrealistic, as sensors may fail, become occluded, or drop out entirely during deployment. Robust handling of such missing-modality scenarios is therefore essential for real-world robot operation. This paper introduces RL4IL, a reinforcement learning guided method for imitation learning that selects the most suitable action for a given observation by identifying the most relevant expert demonstrations from a training library. A reinforcement learning policy, trained via Proximal Policy Optimisation over Breadth-First Search candidate sets, ranks candidate demonstrations and a soft cross-attention fusion head...

论文介绍 在机器人执行任务时,视觉或语言等输入模态可能因故障或遮挡而缺失。为应对此挑战,本文提出RL4IL方法。该方法使用强化学习策略,在给定当前观测时,从演示库中检索并排序最相关的专家示例。随后,一个软交叉注意力融合头将检索到的示例与当前观测结合,以选择最合适的动作,从而实现了在模态不完整条件下的鲁棒模仿学习。

Understanding and Modeling Perceived Cognitive and Physical Strain Dynamics for Planning-Oriented Human-Robot Collaboration in Prefabricated Construction

第一作者: Yifan Wang · 方向: 具身智能 · 来源: cs.RO

Abstract:Human-robot collaboration (HRC) in prefabricated construction requires planning approaches that consider not only productivity but also time-dependent worker states during repeated work and rest. Existing planning models often rely on simplified assumptions about fatigue, workload, or recovery, with limited domain-specific empirical evidence on how perceived strain evolves. This study develops an empirically grounded, planning-oriented approach to characterize perceived strain accumulation and recovery in prefabricated construction HRC. A controlled repeated work-rest experiment assessed perceived cognitive and physical strain using the Rating Scale for Mental Effort and Borg's Rating of Perceived Exertion. Linear and exponential functional forms were evaluated, followed by mixed-effects modeling to examine collaborative conditions, session effects, and inter-individual...

论文介绍 在预制建筑中的人机协作规划需要考虑工人的状态变化。本文通过控制性实验,使用心理负荷和体力感知量表,实证研究了重复工作-休息循环中认知和物理应激的积累与恢复动态。研究评估了线性与指数函数形式,并利用混合效应模型分析了协作条件等因素。这项工作为开发以规划为导向、能考虑工人时变状态的HRC模型提供了实证基础和建模框架。

FARM: Find Anything using Relational Spatial Memory

第一作者: Siming He · 方向: 多模态具身 · 来源: cs.RO

Abstract:Robots operating in homes, warehouses, and other object-rich environments need memory systems that can find specific object instances on demand. Object-level memory alone is often insufficient: scenes contain many plausibly matching objects, and users refer to the target through relations to landmarks and surrounding objects (e.g. ``the tall lamp below the dartboard and to the left of the poster''), demanding a relational spatial memory that supports retrieval through semantic, appearance, and spatial predicates over objects. To achieve this, we present FARM (Find Anything using Relational Spatial Memory), which builds, in real time at 5-10 Hz, a compact, open-vocabulary, object-level memory with geometry, visual-language descriptors, and viewpoint evidence. At query time, FARM uses VLMs to parse the query and score visual evidence, while grounding spatial constraints...

论文介绍 在物体丰富的环境中,机器人需要能够根据描述性查询找到特定物体实例。本文提出了FARM系统,它能够实时构建一个紧凑、开放词汇的物体级记忆,包含几何、视觉语言描述和视角证据。在查询时,FARM利用视觉语言模型解析自然语言查询并评估视觉证据,同时将空间约束落地到几何结构中,从而支持通过语义、外观和空间关系进行物体检索,适用于家庭、仓库等场景。

Learning Context-Aware Neural ODE Dynamics for Adaptive Robotic Control

第一作者: Shao-Yi Yu · 方向: 具身智能 · 来源: cs.RO

Abstract:Robotic systems deployed in uncertain and dynamically changing environments often face variations in contact conditions, aerodynamic effects, and external disturbances that challenge reliable control. To remain effective under model-based control, these systems require dynamics models that can adapt to such changes, especially when direct access to complete environmental information is limited. To enable adaptability and facilitate integration with model predictive control, we propose a context-aware dynamics model based on neural ordinary differential equations, which infers environmental factors from state-action histories using a two-phase training procedure. We validate the approach across diverse robotic platforms, including a quadrotor in simulation, as well as a Sphero BOLT robot and a Fanuc manipulator in real-world experiments. The results demonstrate that our method...

论文介绍 在动态变化的环境中,机器人需要能够适应接触条件、气动效应等变化的动力学模型。本文提出一种基于神经常微分方程的上下文感知动力学模型。该模型通过一个两阶段训练过程,从状态-动作历史中推断环境因素,从而实现自适应。该设计便于与模型预测控制集成,并在四旋翼、球形机器人和机械臂等多种平台上进行了验证,证明了其在不确定环境中增强控制鲁棒性的能力。

A Bilateral Teleoperation Framework for Dexterous Manipulation

第一作者: Stefano Dalla Gasperina · 方向: 机器人操作 · 来源: cs.RO

Abstract:Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in real-world contact-rich environments. This paper presents a modular bilateral teleoperation framework that integrates operator-side input interfaces with a robot-side dexterous hand and compliant robotic arm in a unified control architecture. The system supports position-based hand retargeting, differential arm control, multi-scale haptic feedback, and shared control for stable manipulation. We validate the framework through a real-world dexterous manipulation task, highlighting coordinated arm-hand control and contact-aware interaction. Beyond feasibility, we identify key design insights related to cross-embodiment mismatch, haptic feedback granularity, and shared control. The proposed platform provides a practical teleoperation system and a foundation for...

论文介绍 本文提出一个模块化的双边遥操作框架,用于在真实接触丰富的环境中执行灵巧操作。该框架将操作者输入接口与机器人端的灵巧手和柔性机械臂集成到统一控制架构中,支持基于位置的手部重定位、差异手臂控制、多尺度触觉反馈以及用于稳定操作的共享控制。通过实际灵巧操作任务的验证,该框架展示了协调的手臂-手部控制与接触感知交互能力,为跨实体映射、反馈粒度等设计提供了实用见解。

SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation

第一作者: Wenkang Hu · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We present SimWeaver, which trains zero-shot RGB VLA policies on 200 simulated demonstrations per task, reaching above 80% per-task and 91% average real-world success across 5 diverse deformable tasks including plastic-bag manipulation, without teleoperation or per-task calibration. SimWeaver combines a reliable measurement-backed simulator (SimWeaver-Sim) with an extensible asset framework supporting single-image generation(SimWeaver-Asset), a deterministic topology-aware trajectory synthesizer (SimWeaver-Syn), and a sim-to-real protocol with ISP-aware photometric augmentation (SimWeaver-Real). On silk grasping, the sim-trained policy reaches 100% under visual distribution shifts where real-data baselines drop to 9-70%, at two orders of magnitude lower per-trajectory...

论文介绍 SimWeaver 解决了可变形物体操作中无需现实世界微调的RGB模拟到现实问题。该系统在每个任务中使用200个模拟演示训练零样本视觉语言动作策略,在五种可变形任务(如塑料袋操作)中达到80%以上单任务成功率和91%的平均现实世界成功率。它结合了基于测量的模拟器、单图像生成的资产框架、拓扑感知轨迹合成器和ISP感知光度增强的模拟到现实协议。

Covariance-Regulated Recursive Koopman Learning for Nonlinear Systems with Uncertain Time-Varying Dynamics

第一作者: Weibin Gu · 方向: 具身智能 · 来源: cs.RO

Abstract:Offline models for autonomous robots often fail under time-varying dynamics outside their training distribution. Koopman operator theory offers a linear representation of nonlinear dynamics via lifting, but its transition to real-time recursive estimation may suffer numerical vulnerabilities: covariance windup under low excitation when using exponential forgetting, and vanishing gain without forgetting. This paper introduces a Covariance-Regulated Recursive Koopman Learning (CR-RKL) framework with two complementary strategies--error dead-zone gating and constant-trace normalization--each independently capable of preventing covariance explosion and parameter freezing, with the latter additionally preserving the geometric structure of uncertainty. Validated on a non-holonomic differential-drive robot with wheel slip and Stribeck friction and on a 26-gram butterfly-inspired...

论文介绍 对于具有不确定时变动态的非线性系统,实时递归估计常面临数值不稳定问题。本文提出协方差正则化递归Koopman学习框架,通过误差死区门控和常数迹归一化两种策略,独立防止协方差爆炸和参数冻结,同时保持不确定性几何结构。该框架在非完整差速驱动机器人和蝴蝶启发机器人上验证,适用于时变动态场景。

Acting While Understanding: Asynchronous Semantic-Action Decoupling for Real-Time Vision-Language-Action Models

第一作者: Shenhao Yan · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Vision-Language-Action models (VLAs) have demonstrated strong task understanding and generalization in robotic manipulation, yet the high computational cost of full-model inference limits their deployment in low-latency, high-frequency closed-loop control. We propose an asynchronous semantic-action decoupling framework that separates semantic understanding from action generation along the internal semantic-action interface of existing VLAs, without redesigning the vision-language backbone or introducing an external planner. A low-frequency understanding module asynchronously updates reusable semantic conditions, while a high-frequency action module continuously outputs control actions without repeatedly invoking the full model. To mitigate the temporal mismatch between stale semantics and the current execution state, we further introduce historical action conditioning and...

论文介绍 视觉语言动作模型在机器人操作中通用性强,但全模型推理计算成本高,限制低延迟闭环控制部署。本文提出异步语义-动作解耦框架,沿视觉语言动作模型内部接口分离语义理解和动作生成:低频理解模块异步更新可重用语义条件,高频动作模块持续输出控制动作。通过历史动作条件缓解语义陈旧问题,实现实时高效控制。

OSDAG: Online Scheduling for Efficient Multi-Robot Collaboration

第一作者: Thanh Nguyen Canh · 方向: 具身智能 · 来源: cs.RO

Abstract:Coordinating heterogeneous multi-robot systems (MRS) for complex, long-horizon tasks requires both flexible high-level reasoning and efficient low-level scheduling. Existing LLM-based approaches address the reasoning side but introduce two critical bottlenecks: (1) repeated LLM inference during execution, which inflates latency with agent count, and (2) offline, pre-committed scheduling, which forces robots to idle while waiting for sequentially ordered predecessors even when independent work is available. This paper presents OSDAG, a novel framework that integrates LLM-based task reasoning with Directed Acyclic Graph (DAG) representation and constraint-aware online scheduling. The LLM is invoked once to decompose a natural-language instruction into a dependency-annotated task graph, and a lightweight online scheduler then allocates ready tasks to idle agents in real time. The...

论文介绍 协调异构多机器人系统进行复杂任务需要高效调度。现有基于大语言模型的方法存在延迟高和离线调度问题。本文提出OSDAG框架,集成大语言模型任务推理与有向无环图表示和约束感知在线调度:大语言模型仅调用一次分解自然语言指令为依赖标注任务图,在线调度器实时将就绪任务分配给空闲代理,提升执行效率。

Co-Creating Buildable and Open Social Robot Study Companions with University Students

第一作者: Farnaz Baksh · 方向: 具身智能 · 来源: cs.RO

Abstract:Open-source social robots offer accessibility, repairability, and student empowerment, yet the build itself often presents a barrier. Existing platforms either ship pre-assembled, foreclosing hands-on learning, or expose students to unfamiliar fasteners, opaque wiring, and inaccessible service points that erode engagement. Whether targeted mechanical redesign can lower this barrier whilst maintaining structural integrity remains untested. Here we show that Design for Assembly (DfA) and Design for Disassembly (DfD) interventions reshape how a build feels before they shorten how long it takes. Working with university students in Guyana and Estonia, we applied the Double Diamond framework to co-create the Robot Study Companion (RSC) v4.1: mapping pain points, then redesigning its chassis around twist-lock fasteners, snap-fit joints, and tool-free service latches. Across two...

论文介绍 开源社交机器人的构建过程常存在障碍,影响学生参与和动手学习。本文展示通过设计用于装配和拆卸的干预,重塑构建体验。与大学生合作,应用双钻石框架共同创建机器人学习伙伴,设计卡扣式紧固件和免工具服务面板,降低构建难度,同时保持结构完整性,促进教育应用。

Rethinking Implicit Spatial Representation in Visuomotor Policy Learning

第一作者: Xiangyu Chen · 方向: 机器人操作 · 来源: cs.RO

Abstract:Generative model-based imitation learning has become a widely adopted paradigm for robotic manipulation, where policy performance depends critically on the conditioned visual representations. Although spatial softmax-based representations have been adopted in prior visuomotor policies, their effectiveness and underlying mechanisms remain insufficiently understood. This work rethinks the use of spatial softmax pooling: do such implicit spatial representations provide effective and stable visual features for robotic manipulation? Through systematic studies of different pooling methods in visual encoders, we find that this pooling operation produces compact and stable spatial representations, which outperform feature-value representations, despite using substantially fewer dimensions. Complementary saliency analysis further suggests that these spatial representations guide the...

论文介绍 生成模型模仿学习是机器人操作的常用范式,但视觉表示的有效性尚不明确。本文重新思考隐式空间表示在视觉运动策略学习中的作用。通过对视觉编码器中不同池化方法的系统研究,发现空间softmax池化产生紧凑稳定的空间表示,在维度较低时仍优于特征值表示,有助于改善策略性能。

Seam-to-Graph Reconstruction for Garment Configuration Alignment

第一作者: Xuzhao Huang · 方向: 机器人操作 · 来源: cs.RO

Abstract:Seams encode rich structural information about garments but are frequently partially observable in robotic manipulation scenarios. To robustly leverage seam information, we propose a Seam-to-Graph network based on graph neural networks and attention mechanisms. This network maps unstructured seam observations to a topology-encoded structural skeleton graph for real-time garment state estimation. Using this skeleton-graph-based state estimation, we design a deformation-aware, hierarchical visual servoing controller for garment configuration alignment. We implement this controller on a bimanual robot system to load a garment onto a screen printing platen and to align it to the desired configuration precisely. Real-robot experiments demonstrate that the robot using the proposed method not only achieves human-level alignment accuracy with reduced variance in alignment error but is...

论文介绍 缝线编码服装结构信息,但在机器人操作中常部分可见,影响状态估计。本文提出基于图神经网络和注意力机制的缝线到图网络,将非结构化缝线观测实时映射到拓扑编码的骨架图。利用此状态估计,设计变形感知的分层视觉伺服控制器,用于服装配置对齐,在双臂机器人上实现高精度操作。

Task-Aware Environment Augmentation for Reliable Navigation via Shielded Conditional Diffusion

第一作者: Bharawee Phoompho · 方向: 导航与运动 · 来源: cs.RO

Abstract:Reliable trajectory planning under partial observability depends not only on computing a feasible geometric path, but also on whether the robot receives informative observations while executing that trajectory. Existing approaches usually keep the environment fixed and adapt the robot through belief-space planning, active localization, or added sensing, often incurring costly uncertainty propagation and brittle behavior in observation-poor regions. We flip this perspective and address the largely open problem of \emph{task-aware environment augmentation}: given a mapped environment, a planned task trajectory, and a small budget of visual fiducial markers, where should the environment be augmented so that the planned trajectory can be executed reliably under uncertainty? Our key observation is that useful marker layouts are defined by the localization support they provide along...

论文介绍 在部分可观测环境下,可靠轨迹规划不仅需要可行路径,还需机器人获得信息丰富观测。本文提出任务感知环境增强方法,翻转视角:给定环境、任务轨迹和少量视觉基准标记预算,确定增强位置以支持轨迹可靠执行。关键观察是标记布局由沿轨迹提供的定位支持定义,通过屏蔽条件扩散优化增强效果。

MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency

第一作者: Jiahao Yang · 方向: 机器人操作 · 来源: cs.RO

Abstract:Inverse kinematics (IK) remains a critical bottleneck for real-time robot manipulation. Classical numerical solvers achieve high geometric precision but often suffer from discontinuous branch switching and unstable behavior near kinematic singularities during closed-loop deployment. Meanwhile, learned IK approaches frequently struggle to balance spatial accuracy, motion smoothness, and real-time efficiency, particularly when trained on noisy human teleoperation data. We present \textbf{MimicIK}, a real-time generative inverse kinematics framework that learns smooth and robust joint-space motion priors from teleoperation demonstrations through conditional flow matching. Given the current joint configuration and a target end-effector pose, MimicIK predicts continuous delta-joint commands using an efficient two-step iterative refinement process based on a Minimal Iterative Policy...

论文介绍 传统逆运动学求解器在实时部署中面临分支切换和奇异性问题,而学习方法难以平衡精度、平滑性与效率。本文提出 MimicIK,一个实时生成式逆运动学框架。它通过条件流匹配从遥操作演示中学习平滑、鲁棒的关节空间运动先验,并利用一种基于最小迭代策略的两步迭代细化方法,在给定当前关节配置和目标末端执行器位姿时,预测连续的关节指令变化,旨在提升机器人遥操作和仿真到现实迁移中的实时控制性能。

Exact, Efficient, and Safe Occlusion-Aware Planning Using AH-Polyhedrons

第一作者: Long Kiu Chung · 方向: 具身智能 · 来源: cs.RO

Abstract:Safely handling occlusions is a fundamental challenge for autonomous mobile robots operating in dynamic environments. This issue is especially prominent in autonomous valet parking (AVP), where traffic rules are lax, occlusions are frequent and cluttered, and overly conservative behavior can leave vehicles stuck. However, existing methods either lack formal safety guarantees, assume agents follow road structures, or introduce conservatism, leaving occlusion-aware planning for AVP an open challenge. In this paper, we propose APRO (AH-Polyhedron Reachability for Occlusions), an exact and efficient occlusion-aware planning framework based on game-theoretic active perception and AH-polyhedron reachability analysis with AVP as our canonical use case. Our key insight is to reformulate set-based safety conditions in prior work as unions of AH-polyhedrons, enabling exact safety...

论文介绍 在动态环境中,安全处理遮挡是自主移动机器人的核心挑战,在规则宽松、遮挡频繁的自主泊车场景中尤为突出。本文提出 APRO,一个基于博弈论主动感知与 AH-多面体可达性分析的精确、高效遮挡感知规划框架。其关键创新在于将安全条件重构成 AH-多面体的并集,从而获得精确的安全保证,解决了现有方法在形式化安全、保守性或适用性上的不足,为自主泊车提供了新的解决方案。

An Autonomous Subgram SMA-Based Swimmer

第一作者: Conor K. Trygstad · 方向: 具身智能 · 来源: cs.RO

Abstract:We present the Swima, a bioinspired 900-mg swimmer propelled by two 10-mg high-work-density (HWD) actuators driven by shape-memory alloy (SMA) wires. We integrated onboard power and computation by using a custom-built printed circuit board (PCB) and an 11-mAh 3.7-V 507-mg single-cell lithium-ion (Li-Ion) battery, which in conjunction enable autonomous swimming in excess of 18 min. The Swima can swim at speeds of up to 22.4 mm/s (0.56 Bl/s), achieves turning rates of up to 14°/s, and can follow 0-degree heading reference trajectories with root mean square (RMS) values of tracking errors of about 6.5° across multiple tests. This robot is the first subgram microswimmer with onboard power, actuation, and computation developed to date.

论文介绍 本文介绍了一款名为 Swima 的生物启发式微型游泳机器人,其总重仅 900 毫克。它由两个由形状记忆合金线驱动的 10 毫克高功密度执行器推进,并集成了定制印刷电路板和 3.7V 锂电池,实现了长达 18 分钟以上的自主游泳。该机器人是迄今为止首个集成了板载电源、驱动和计算能力的亚克级微型游泳器,能够在水体中实现最高 22.4 mm/s 的游泳速度。

Steering Autoregressive Vision-Language-Action Policies via Action Token Intervention

第一作者: Jason Chan · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:We present Token Steering (TS), a method for dynamically steering trajectories generated by an autoregressive vision-language-action (VLA) model through direct intervention in the action-token space. TS injects low-dimensional user inputs into the model's native action-token representation, allowing users to influence trajectory generation without modifying the underlying vision-language model (VLM) architecture. Because TS operates entirely at inference time, it requires no additional training or finetuning. User inputs guide rather than override the pretrained policy, allowing users to influence robot actions while preserving the dexterity, smoothness, and task priors learned by the VLA. We evaluate TS on two household manipulation tasks -- drawer closing after object placement and state-aware object swapping -- and improve success rates from 10.0% to 72.5% and from 16.7% to...

论文介绍 自回归视觉-语言-动作模型在生成机器人轨迹时缺乏用户实时干预的灵活性。本文提出 Token Steering 方法,在推理时通过直接在模型原生的动作令牌空间中注入低维用户输入来动态引导生成过程。该方法无需修改底层视觉语言模型架构或进行额外训练,即可在保留模型已学到的任务先验和动作流畅性的同时,显著提升任务成功率,例如将某些任务的成功率从 10% 提高至 72.5%。

Inference-time Policy Steering via Vision and Touch

第一作者: Yilin Wu · 方向: 机器人操作 · 来源: cs.RO

Abstract:Inference-time steering adapts pre-trained generative robot policies during deployment by verifying candidate actions before execution. While prior methods typically perform this verification only with visual observations, vision alone is often insufficient for contact-rich manipulation, where success depends on both global task progress and subtle local interactions such as contact force. We introduce ViTaL, a visuo-tactile inference-time steering framework that formulates multimodal guidance as a bi-level optimization problem. At the high level, visual sampling-and-verification performs long-horizon mode selection, deciding what behavior the robot should execute. At the low level, tactile-guided diffusion editing refines the selected action sequence over a shorter horizon to satisfy local contact requirements. To support outcome-based steering, ViTaL learns a visuo-tactile...

论文介绍 推理时转向通过验证候选动作来适应预训练的机器人策略,但仅依靠视觉难以处理需要精细接触力的操作任务。本文提出 ViTaL,一个视觉-触觉融合的推理时转向框架。它将多模态引导构建为双层优化问题:高层利用视觉采样验证进行长时程行为选择,低层则利用触觉引导的扩散编辑对动作序列进行短时程精炼以满足局部接触要求,从而提升了接触丰富任务的执行成功率。

Multimodal Physiological Assessment of Contact-Rich Physical Human-Robot Interaction Under Varying Environmental Conditions

第一作者: Yanyi Chen · 方向: 多模态具身 · 来源: cs.RO

Abstract:Physical human-robot interaction (pHRI) in real-world settings exposes operators to fluctuating environmental conditions during contact-rich tasks. Traditional task-centric evaluations overlook the physiological burdens imposed by these stressors. Therefore, we conducted a multimodal empirical study involving contact-rich tracing tasks under 18 distinct combinations of temperature, acoustic noise, and illuminance. Synchronously, we recorded electrodermal activity (EDA), surface electromyography (sEMG), eye-tracking data, and subjective environmental comfort ratings. Evaluating these physiological signals alongside execution data revealed hidden physiological costs not captured by objective performance. The results revealed that task performance remained stable across all environmental conditions. Autonomic workload, indexed by tonic skin conductance level (SCL), increased with...

论文介绍 在真实环境中,物理人机交互会使操作者暴露于波动的环境条件下。传统评估常忽略这些环境压力源带来的生理负担。本文在18种温度、噪声和光照组合下,对接触丰富的追踪任务进行了多模态实证研究,同步记录了皮肤电、肌电、眼动及主观舒适度数据。结果表明,尽管任务表现保持稳定,但生理工作负荷(如皮肤电水平)随环境严苛度增加,揭示了仅用任务表现无法衡量的隐性生理成本。

DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models

第一作者: Wenhao Yu · 方向: 具身智能 · 来源: cs.RO

Abstract:Large language models (LLMs) provide robots with richer task understanding and adaptability, making them promising for coordinating heterogeneous multi-robot systems in long-horizon tasks. Despite this potential, several challenges remain underexplored: (1) Centralized LLM schedulers scale poorly as team size and environmental complexity increase. A single model must process excessive contextual information, and long-context approximation may degrade reasoning quality; (2) Existing task formulations insufficiently consider dynamic settings, while robust adaptation to evolving task conditions is essential for real-world deployment; (3) Domain-specific data scarcity limits specialized robotic reasoning, making proprietary general-purpose models inefficient for expert tasks. To address these limitations, we propose DynaHMRC, a decentralized framework in which each robot acts as a...

论文介绍 大语言模型能增强多机器人系统的任务理解与适应性,但在动态场景下的去中心化协作仍是挑战。本文提出 DynaHMRC,一个去中心化框架,其中每个机器人作为独立的 LLM 代理。该框架让每个机器人负责规划和执行自己的子任务,并通过一个共享的‘记忆池’进行异步信息交换以实现协同,从而避免了中心化调度器的可扩展性瓶颈,旨在提升异构团队在复杂、动态长时程任务中的自主协作能力。

VANDERER: Map-Free Exploration using Future-Aware and Visual-Curiosity-Guided Diffusion Policy

第一作者: Venkata Naren Devarakonda · 方向: 导航与运动 · 来源: cs.RO

Abstract:Mobile agents require efficient exploration strategies to map unseen environments and autonomously plan tasks. Traditional methods rely on generating occupancy maps and optimizing the sequence in which unexplored regions are visited. However, in sensor-constrained settings, such as those limited to monocular cameras, generating accurate occupancy maps is challenging. To address this, we propose VANDERER, an exploration framework that leverages a Visual Curiosity Module (VCM) to guide pre-trained diffusion policies using only monocular image data. This curiosity module predicts the outcomes of proposed actions via a navigation world model and evaluates them through a curiosity cost. The cost then guides the diffusion process toward generating actions that maximize exploration. Evaluated across diverse simulated environments, VANDERER consistently outperforms established...

论文介绍 移动智能体需要高效的探索策略,但传统地图生成方法在仅使用单目相机等传感器受限条件下难以应用。本文提出 VANDERER,一个无地图探索框架。它利用一个视觉好奇心模块来引导预训练的扩散策略。该模块通过导航世界模型预测动作结果并计算好奇心代价,进而引导扩散过程生成能最大化探索收益的动作序列,仅依赖单目图像数据即可在多种仿真环境中实现优于基线方法的探索效率。

TacStyle: Personalizing Tactile Robot Policies using Structured Behavior Representations

第一作者: Kevin Robledo · 方向: 多模态具身 · 来源: cs.RO

Abstract:Robotic systems that assist humans should be capable of adapting their behaviors to individual user preferences. For instance, users may want a robot arm to adjust the amount of force it applies while folding their laundry or cleaning furniture. Natural language provides an intuitive way for humans to communicate such preferences. Recent progress in language-conditioned robot policies has shown that robots can successfully use language prompts to determine what task to perform. However, extending the same approach to realize how the task should be performed requires detailed labels describing the preferences or styles of trajectories in the task data. Not only is collecting such annotations challenging, but conditioning directly on these labels may also fail to provide fine-grained control over a continuous range of behaviors. For example, it can be difficult to convey the...

论文介绍 该研究解决机器人根据用户个人偏好调整行为的问题,如在折叠衣物时控制力度。传统方法依赖详细轨迹标签,收集困难且控制不精细。「TacStyle」提出使用结构化行为表示和语言条件化策略,实现对机器人行为的细粒度个性化控制,适用于多模态具身智能应用。

Computing Smooth Geodesics under Two-Sided Curvature Bounds with Applications to Robotics and Image Analysis

第一作者: Da Chen · 方向: 具身智能 · 来源: cs.RO

Abstract:Curvature of planar curves serves as a key regularization term for computing second-order minimal paths, due to its tight relevance to desirable geometric properties such as smoothness, rigidity, and elasticity. In this paper, we tackle a more challenging problem in computational physics and geometry problem: tracking minimal paths whose curvature is constrained by arbitrary upper and lower bounds. For that purpose, we propose a new curvature-bounded geodesic model, developed under the Hamilton-Jacobi-Bellman (HJB) partial differential equation (PDE) framework. It provides strong geometric control over minimal paths by enforcing curvature range constraints, whose paths are smooth and of bounded curvature limitation. We also present a discretization scheme for the Hamiltonian and the HJB PDE incorporating curvature bounds, allowing efficient solver for estimating numerical...

论文介绍 该研究针对计算曲率受上下界约束的光滑测地线问题,在机器人路径规划和图像分析中具有重要应用。作者提出基于 Hamilton-Jacobi-Bellman 框架的新模型,强制曲率范围约束,确保路径光滑且曲率有界。通过离散化方案,实现高效数值求解,提供几何控制。

Bayesian Optimization for Learning Nonlinear MPC in Autonomous Agent Navigation

第一作者: Lorenzo Ortolani · 方向: 导航与运动 · 来源: cs.RO

Abstract:Real-time autonomous navigation in dynamic, unknown environments remains a fundamental challenge for mobile robotics. We propose a map-free framework that tightly integrates reactive rolling-horizon planning with nonlinear Model Predictive Control (MPC). At each control cycle, a LiDAR-based Gaussian occupancy representation is constructed and used to generate collision-free trajectories via A* search, which are then tracked by a CasADi/IPOPT MPC formulation incorporating a smooth sigmoid obstacle barrier. To improve robustness to parameter sensitivity, we adopt an offline Bayesian optimization scheme based on Tree-structured Parzen Estimators (TPE), which identifies near-optimal controller parameters with respect to a composite navigation objective. In addition, a Gaussian Process surrogate is used to analyze parameter sensitivity and provide insight into the optimization...

论文介绍 该研究提出无地图导航框架,用于动态未知环境中的自主导航。核心是集成 LiDAR 构建的高斯占用表示与 A* 搜索生成轨迹,并通过非线性 MPC 跟踪。采用基于树结构 Parzen 估计器的贝叶斯优化离线调参,提升鲁棒性,并用高斯过程分析参数敏感性,优化导航性能。

Towards mm-Level Accurate UWB Radar: High-Accuracy Phase-Based Obstacle Detection through Multi-Channel Fusion

第一作者: Jelle De Moerloose · 方向: 具身智能 · 来源: cs.RO

Abstract:Accurate, tag-free distance estimation with ultrawideband (UWB) radar is essential for applications such as autonomous guided vehicles, robotics, and environment characterization. For tag-based localization systems, phase-based UWB signal processing techniques have demonstrated sub-wavelength ranging precision, but these approaches are not applicable for passive (tagless) radar setups with weak reflections, mixed multipath conditions, and the absence of a known time-of-flight (ToF) first-path reference. This paper demonstrates for the first time that phase information can be effectively exploited in a fully passive UWB radar setting. We introduce a signal processing framework that extracts reliable distance information by combining coarse amplitude-based estimates with high-resolution phase changes across multiple frequency channels. By referencing phase measurements with the...

论文介绍 该研究旨在实现毫米级精度的无标签 UWB 雷达障碍物检测。传统方法在无标签设置下面临弱反射和多径干扰挑战。作者首次在被动雷达中有效利用相位信息,通过结合粗糙幅度估计和高分辨率相位变化,进行多通道融合,提取可靠距离信息,适用于机器人导航和环境感知。

PROSE: Training-Free Egocentric Scene Registration with Vision-Language Models

第一作者: Zhiang Chen · 方向: 多模态具身 · 来源: cs.RO

Abstract:Registering two captures of the same indoor space taken at different times underpins persistent spatial memory for robots and AR systems, yet the realistic version of this task is egocentric and its most scalable form is RGB-only. Head-mounted cameras yield blurry, fast-moving, partially overlapping views from which dense geometry is hard to recover. Classical registration leans on exactly the clean point clouds this setting lacks, while learned scene-graph methods require a pre-built or annotated graph and a trained matcher that we find brittle under egocentric data. We take a different route, using a pretrained vision-language model as the source of both scene understanding and cross-scan matching. Our method, PROSE (Prompted Scene rEgistration), lifts each RGB sequence into an object-level 3D scene graph using off-the-shelf foundation models for geometry, segmentation, and...

论文介绍 该研究解决自我中心 RGB 视频的场景注册问题,用于机器人和 AR 系统的空间记忆。传统方法依赖点云或训练匹配器,但在自我中心数据下脆弱。「PROSE」采用预训练视觉-语言模型,无需训练,从 RGB 序列生成物体级 3D 场景图,实现跨扫描匹配,适用于动态环境。

MVOFormer: Flow-Semantic Transformer for Robust Monocular Visual Odometry

第一作者: Jituo Li · 方向: 导航与运动 · 来源: cs.RO

Abstract:Monocular visual odometry (MVO) is foundational to autonomous navigation and robotic localization. However, existing learning-based MVO approaches often struggle with either a lack of interpretable, complementary features or overly complex multi-stage architectures. These limitations inherently restrict their robustness and cross-domain generalization. In this work, we propose MVOFormer, a novel transformer framework for robust monocular visual odometry. Our architecture features a Flow-Semantic Dual Branch Encoder that synergizes dense geometric motion cues with object-centric semantic priors, explicitly distinguishing static structures from dynamic distractors. These representations are then fused by an Iterative Multimodal Decoder, enabling coarse-to-fine pose refinement while dynamically suppressing attention on unreliable regions. Extensive evaluations demonstrate that...

论文介绍 该研究提出「MVOFormer」框架,用于鲁棒单目视觉里程计。现有学习方法缺乏可解释特征或多阶段架构复杂。「MVOFormer」采用流-语义双分支编码器,协同密集几何运动线索与物体语义先验,并通过迭代多模态解码器进行粗到细位姿优化,抑制不可靠区域注意力,提升鲁棒性和泛化能力。

Decoupled Object-Centric Video Understanding for Generating Robotic Manipulation Commands

第一作者: Thanh Nguyen Canh · 方向: 机器人操作 · 来源: cs.RO

Abstract:Translating video demonstrations into executable robot commands remains challenging because existing methods often fail to identify which objects are functionally involved in the demonstrated action. As a result, they may generate commands that are linguistically plausible but operationally ambiguous. We propose an object-centric video understanding framework that decouples action recognition from object identification to generate precise, grammar-free manipulation commands. Our approach integrates Temporal Shift Modules (TSM) for efficient spatio-temporal action classification with a novel \textbf{Object Selection} algorithm that identifies task-relevant objects through trajectory-based role classification, blur detection, and overlap minimization. The selected objects are then processed by Vision-Language Models (VLMs) for robust category recognition and zero-shot...

论文介绍 该研究旨在从视频演示生成精确机器人操作命令。现有方法常无法识别功能相关物体,导致命令歧义。作者提出物体中心框架,解耦动作识别和物体识别:使用时序移位模块进行动作分类,结合轨迹基物体选择算法识别任务相关物体,再通过视觉-语言模型进行类别识别,生成无语法命令。

EgoPhys: Learning Generalizable Physics Models of Deformable Objects from Egocentric Video

第一作者: Hyunjin Kim · 方向: 具身智能 · 来源: cs.RO

Abstract:Humans naturally understand object physics through everyday interactions, but faithfully predicting complex deformable dynamics, such as elastic materials and fabrics, remains a major challenge for computer vision and robotics. We present EgoPhys, a framework that constructs deformable physical digital twins from egocentric RGB-only video using generalizable priors. EgoPhys overcomes the limitations of existing methods to enable controllable deformable digital twin generation from egocentric videos by distilling per-object inverse-physics solutions into a compact codebook, enabling prediction of dense spring stiffness fields for unseen objects without per-spring test-time optimization. Trained with generalizable priors from diverse egocentric interactions, EgoPhys outperforms baselines in reconstruction, future prediction, and zero-shot generalization. To support training and...

论文介绍 该研究提出「EgoPhys」框架,用于从自我中心 RGB 视频学习可变形物体的物理模型。人类通过交互理解物体物理,但计算机预测复杂变形动力学困难。「EgoPhys」蒸馏物体逆物理解到码本,预测弹簧刚度场,无需逐弹簧优化。训练时使用多样交互的可泛化先验,在重建和预测上优于基线。

Beyond English: Uncovering the Multilingual Gap in Vision-Language-Action Models

第一作者: Hanyang Chen · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Vision-Language-Action models have recently demonstrated promising capabilities in learning generalist robot policies from large-scale multimodal data. However, most existing VLA systems are trained and evaluated primarily with English instructions, leaving their ability to understand and execute instructions in other languages largely unexplored. While the underlying large language models often possess multilingual capabilities, it remains unclear whether these multilingual capabilities transfer to VLAs during training. In this work, we present the first systematic study of multilingual instruction following in VLA models. We first construct multilingual instructions by extending existing benchmarks with translations of their instructions. Using these instructions, we evaluate several representative VLA models across a range of tasks in simulation settings. Our experiments...

论文介绍 本研究首次系统探讨视觉-语言-动作(VLA)模型的多语言指令遵循能力。针对现有VLA系统主要依赖英语指令的问题,研究通过构建多语言指令并扩展基准,评估了多个代表性模型在仿真任务中的表现。结果揭示了VLA模型在非英语语言下的性能差距,探讨了基础语言模型的多语言能力向VLA转移的挑战,为多语言机器人交互提供研究基础。

Towards Next-Generation Healthcare: A Survey of Medical Embodied AI for Perception, Decision-Making, and Action

第一作者: Cheng Zhang · 方向: 具身智能 · 来源: cs.RO

Abstract:Foundation models have demonstrated impressive performance in enhancing healthcare efficiency across a wide range of medical applications. Nevertheless, their limited ability to perceive, understand, and interact with the physical world significantly constrains their effectiveness in real-world clinical workflows, where safety-critical decision-making and physical execution are tightly coupled. Recently, embodied artificial intelligence (AI) has emerged as a promising physical-interactive paradigm for intelligent healthcare, enabling agents to operate in complex medical environments. As research in this area rapidly expands, understanding how intelligent agents function as integrated, end-to-end systems in clinical environments becomes increasingly critical. However, existing surveys on medical embodied AI largely emphasize individual aspects or functional components, lacking...

论文介绍 本文综述了医疗具身人工智能(AI)的研究进展,聚焦于智能体在临床环境中的集成系统。研究指出,基础模型在医疗应用中受限于物理世界交互能力,而具身AI能实现感知、决策和行动的结合,适用于安全关键的临床工作流。综述了现有研究的不足,强调端到端系统的重要性,为下一代医疗智能化提供方向。

NIMO: A Software Platform for Closed-Loop Materials Exploration with Diverse AI Algorithms

第一作者: Ryo Tamura · 方向: 具身智能 · 来源: cs.RO

Abstract:Self-driving laboratories (SDLs), where artificial intelligence proposes subsequent experiments and robotic systems execute them, are rapidly becoming the vanguard of materials discovery. A critical bottleneck, however, lies in seamlessly bridging diverse AI algorithms tailored for specific exploration goals with the heterogeneous robotic hardware found across different laboratories. Here, we present NIMO, an open-source software platform designed to dissolve this barrier through three core paradigms: a modular AI-robot decoupling mediated via simple CSV file exchange, a discrete candidate-pool architecture that seamlessly absorbs domain knowledge, and a unified Python interface pre-loaded with twelve distinct AI algorithms. In this Perspective, we review the operational principles of each algorithm alongside six diverse SDL implementations driven by NIMO, covering electrolyte...

论文介绍 NIMO是一个开源软件平台,旨在解决自驱动实验室中AI算法与异构机器人硬件的集成瓶颈。平台通过模块化设计、CSV文件交换和统一Python接口,支持多种AI算法和六种SDL实现,覆盖电解质等材料探索。NIMO降低了AI-机器人耦合的复杂度,促进闭环材料发现,加速实验自动化进程。

VLALeaks: Membership Inference Attacks against Vision-Language-Action Models

第一作者: Xukun Luan · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Vision-Language-Action (VLA) models enable end-to-end robot control and have garnered widespread attention. However, the memorization of training data inherent to VLA, coupled with the high cost of robotic data acquisition, raises serious concerns regarding data privacy leakage and intellectual property infringement. Membership inference attacks (MIAs) aim to determine whether a given sample belongs to the training set. While representing a significant privacy threat, this attack remains underexplored in the context of VLA models. To bridge this gap, we propose VLALeaks, which is based on attention discrepancies in VLA models. We reveal, for the first time, the privacy vulnerabilities of VLA models. Specifically, it comprises a two-stage process: (1) membership feature extraction, and (2) attack model construction. Experimental results across multiple VLA benchmarks...

论文介绍 本文提出VLALeaks,一种针对视觉-语言-动作(VLA)模型的成员推理攻击方法。研究指出VLA模型存在数据记忆风险,基于模型注意力差异,通过成员特征提取和攻击模型构建两阶段过程,首次系统评估VLA的隐私漏洞。实验在多基准上验证了攻击有效性,为VLA模型的数据隐私保护提供警示。

MotionVLA: Vision-Language-Action Model for Humanoid Motion

第一作者: Nonghai Zhang · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Generating realistic humanoid motion from scene images and text involves both low-frequency pose semantics and high-frequency physical dynamics. However, many existing methods tokenize motion with a single shared codebook, forcing heterogeneous motion signals into the same quantization space. Our frequency-domain analysis of human motion data reveals a clear mismatch between single-codebook quantization and motion statistics: five DCT coefficients capture 93% of joint-position energy but only 37% of joint-velocity energy, which can bias quantization toward pose statistics and under-represent high-frequency velocity components. A second challenge lies in adapting a standard autoregressive model to effectively model high-frequency physical signals in motion sequences. Therefore, we propose DSFT, a dual-stream frequency tokenizer that separates motion into Base and physical...

论文介绍 MotionVLA模型用于从场景图像和文本生成人形运动。针对单代码本量化在运动信号频率分析上的不足,研究提出DSFT双流频率分词器,将运动分离为基本姿态和物理动态流。通过频率域分析,该方法更好地捕捉高频速度成分,提升运动真实性和物理一致性,适用于机器人动画和控制。

Think Less, Act Early: Reinforced Latent Reasoning with Early Exit in Vision-Language-Action Models

第一作者: Dianqiao Lei · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Existing Vision-Language-Action (VLA) models predominantly rely on explicit Chain-of-Thought (CoT) reasoning to bridge perception and action. While effective, this paradigm suffers from high computational costs and error propagation in multi-step tasks. In this paper, we propose Adaptive Variable Alignment VLA (AVA-VLA), a novel Latent Reasoning VLA framework that models reasoning as a sequence of unobservable latent variables, bypassing the need for explicit text generation. However, latent trajectories are inherently susceptible to noise interference and misalignment with downstream objectives. To address this, we introduce a Reinforcement Learning-based Denoising mechanism that treats latent state generation as a sequential decision process, optimizing reasoning trajectories via task-level rewards. Furthermore, we incorporate an Early-Exit Strategy that adaptively...

论文介绍 本文提出AVA-VLA框架,将视觉-语言-动作(VLA)模型的推理建模为潜在变量序列,避免显式链式思考的高计算成本。引入基于强化学习的去噪机制,优化推理轨迹,并整合早期退出策略自适应减少推理步骤。该方法旨在降低错误传播和计算开销,提升VLA模型在实时任务中的效率。

QPILOTS: Efficient Test-Time Q-Steering for Flow Policies

第一作者: Yifan Ruan · 方向: 策略学习 · 来源: cs.RO

Abstract:Flow-matching and diffusion policies are expressive action generators, but optimizing them with temporal-difference reinforcement learning (RL) remains difficult. Effective policy extraction requires exploiting the critic's action gradient, yet directly backpropagating this signal through a multi-step denoising process can be numerically unstable. Existing methods work around this either by discarding gradient information, distilling the policy into a simpler one-step actor, or repeatedly fine-tuning the denoising policy as the critic improves. We propose QPILOTS, a method that leaves the original policy unmodified and steers the denoising process at inference time. At each denoising step, instead of evaluating the critic on the noisy intermediate action where critic predictions are unreliable, we first project that intermediate state to an estimate of the final clean action...

论文介绍 QPILOTS方法针对流匹配和扩散策略在强化学习优化中的困难,提出测试时Q-引导的去噪过程。在每一步去噪中,将中间状态投影到最终动作估计,避免直接修改策略,利用Q-函数进行稳定优化。该方法无需重新训练或蒸馏,提升策略提取的数值稳定性和效率,适用于复杂动作生成任务。

X-Tokenizer: A Multimodal Action Tokenizer for Vision-Language-Action Pretraining

第一作者: Xirui Kang · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Modern Vision-Language-Action (VLA) models must bridge pretrained vision-language reasoning and precise continuous robot control. Existing action tokenizers discretize actions primarily for reconstruction, producing codes that preserve motion geometry but provide only weak semantic supervision to the backbone. We therefore formulate action tokenization not as mere compression, but as semantic interface learning between multimodal reasoning and executable control. To this end, we introduce X-Tokenizer, a lightweight encoder-Semantic Residual Quantization (SRQ)-decoder architecture that provides a shared action interface across diverse robotic arm embodiments. Its key component, SRQ, imposes an asymmetric structure on residual vector quantization: the first level is trained with Masked Action Modeling (MAM) to form a discrete action language that captures coarse motion intent...

论文介绍 X-Tokenizer是用于视觉-语言-动作(VLA)预训练的多模态动作分词器。引入语义残差量化(SRQ)架构,通过掩码动作建模训练动作语言,提供语义监督。该分词器作为共享接口,连接多模态推理与机器人控制,支持不同机械臂 embodiment,提升预训练模型在连续动作生成上的性能。

Qwen-RobotWorld Technical Report: Unifying Embodied World Modeling through Language-Conditioned Video Generation

第一作者: Jie Zhang · 方向: 机器人操作 · 来源: cs.CV

Abstract:We introduce Qwen-RobotWorld, a language-conditioned video world model for embodied intelligence. With natural language as a unified action interface, it predicts physically grounded future visual trajectories from current observations across robotic manipulation, autonomous driving, indoor navigation, and human-to-robot transfer. This unified formulation provides three promising application directions: synthetic data generation for policy training augmentation, scalable virtual environments for policy evaluation, and language-guided planning signals for downstream robot control. This is achieved through a three-part design: a) Double-Stream MMDiT with MLLM Action Encoding, where a 60-layer double-stream diffusion transformer couples frozen Qwen2.5-VL semantics with video-VAE latents through layer-wise joint attention; b) Embodied World Knowledge (EWK), an 8.6M video-text...

论文介绍 本文提出Qwen-RobotWorld,一个用于具身智能的语言条件视频世界模型。它以自然语言为统一接口,从当前观察预测物理基础的未来视觉轨迹,覆盖机器人操作、自动驾驶、室内导航等场景。核心方法包括双流扩散变换器和具身世界知识,可应用于合成数据生成以增强策略训练、提供可扩展虚拟环境进行策略评估,并为机器人控制提供语言引导的规划信号。

Look Again Before You Abstain:Budgeted Conformal Evidence Acquisition for Reliable Vision-Language Model

第一作者: Jian Xu · 方向: 多模态具身 · 来源: cs.CV

Abstract:Large vision-language models (LVLMs) hallucinate: they assert visual details that the image does not support. A principled remedy is selective prediction with a distribution-free guarantee-verify each claim and abstain when the claim is not grounded, so that the hallucination rate among asserted claims is provably bounded. We show, however, that this guarantee is bought at a brutal price: to keep the hallucination rate below $5\%$ on a balanced object-existence benchmark, a state-of-the-art conformal filter must abstain on more than $80\%$ of claims. We argue that abstention is wasteful when more visual evidence is cheaply available, and introduce Budgeted Conformal Evidence Acquisition (BCEA), which replaces the binary answer/abstain decision with a three-way choice: answer, abstain, or acquire additional visual evidence by re-examining the image (zooming, cropping, or...

论文介绍 大型视觉语言模型常产生幻觉,即声称图像中不支持的视觉细节。传统选择性预测方法通过弃权来保证幻觉率低,但弃权率可能过高。本文引入预算保形证据获取方法,用三元选择(回答、弃权、获取证据)替代二元决策,通过重新检查图像(如缩放、裁剪)获取更多视觉证据,从而在维持可靠性的同时减少不必要弃权。

Learned Image Compression for Vision-Language-Action Models

第一作者: Hyeonjun Kim · 方向: VLA 通用模型 · 来源: cs.CV

Abstract:Vision-language-action (VLA) models increasingly rely on high-frequency multi-camera observations, making visual communication a major bottleneck for real-time robotic control in bandwidth-constrained or distributed deployment settings. Existing image and video codecs, however, are designed to preserve generic visual fidelity rather than the control performance of downstream VLA policies. In this work, we introduce SPARC (SPatially Adaptive Rate Control), a learned image compression framework tailored for VLA-driven robots. Our key observation is that the importance of visual information varies substantially across both camera views and spatial regions within an image. Based on this observation, SPARC employs a lightweight temporal mask selector that adaptively allocates bitrate over latent representations according to task relevance while leveraging temporal context. We...

论文介绍 视觉语言动作模型依赖高频多摄像头观察,导致视觉通信成为实时控制的瓶颈。现有图像压缩编解码器旨在保持通用视觉保真度,而非下游控制任务性能。本文引入SPARC,一个针对VLA机器人的学习型压缩框架,利用轻量时间掩码选择器根据任务相关性自适应分配比特率,优化带宽使用并维持控制性能,适用于带宽受限的分布式部署环境。

Object Tokens as a Bridge Between Segmentation and Visual Question Answering in Robotic Surgery

第一作者: Yiping Li · 方向: 多模态具身 · 来源: cs.CV

Abstract:Visual Question Answering (VQA) in robotic surgery, referred to as surgical VQA, requires high-level understanding of complex surgical scenes and the integration of visual perception with language reasoning, with the potential to support surgical training and intraoperative decision-making. Recent Vision-Language Models (VLMs) have shown promising performance through parameter-efficient fine-tuning; however, most existing approaches rely on coarse visual grounding, typically limited to bounding boxes, which fails to capture the fine-grained spatial structure of surgical objects. In this work, we propose a unified framework that jointly performs pixel-level segmentation and visual question answering within a single framework. Our approach integrates a VLM with a Segment Anything Model (SAM)-based decoder and represents scene elements as object tokens generated by the VLM. These...

论文介绍 在机器人手术中,视觉问答要求理解复杂场景并整合视觉与语言推理,以支持手术训练和决策。现有方法依赖粗粒度视觉接地如边界框,无法捕捉手术对象的精细空间结构。本文提出统一框架,通过对象令牌将视觉语言模型与基于SAM的解码器结合,实现像素级分割和视觉问答的联合执行,提升场景理解的精细度。

OneFocus: Enabling Real-World X-ray Security Screening with a Unified Vision-Language Model

第一作者: Jiali Wen · 方向: 多模态具身 · 来源: cs.CV

Abstract:X-ray contraband detection is critical for security in large-scale logistics and transportation, yet conventional detectors struggle to adapt to emerging contraband types and lack fundamental visual understanding. Vision-language models (VLMs) offer strong generalization but are hindered by the scarcity of high-quality X-ray image-caption data. To bridge this critical gap, we present MMXray, a meticulously curated benchmark of 52,124 image-caption pairs spanning 28 fine-grained classes of X-ray contraband. To enrich MMXray with realistic occlusion patterns, we further introduce CleanDET, a dedicated synthesis dataset containing clean foreground contraband images from 28 categories and background images with diverse density levels, together with AnyContraSyn, a controllable synthesis method designed to operate on CleanDET. We also develop OnePipe, an extensible pipeline for...

论文介绍 X射线违禁品检测对物流安全至关重要,但传统检测器难以适应新类型且缺乏基本视觉理解。视觉语言模型具有强泛化能力,但受限于高质量X射线图像-文本数据稀缺。本文提出MMXray基准和CleanDET合成数据集,以及可控合成方法AnyContraSyn,开发OnePipe管道,以支持基于VLM的真实世界X射线安全筛查,提升检测适应性和准确性。

Comparing Human Gaze and Vision-Language Model Attention in Safety-Relevant Environments

第一作者: Marta Vallejo · 方向: 多模态具身 · 来源: cs.CV

Abstract:Human visual attention plays an important role in how people perceive and respond to environments containing potential risks. This study investigates whether large vision-language models can identify the same regions of a scene that attract human attention in safety-relevant environments. Eye-tracking data were collected from ten participants viewing 33 scene images representing environments with varying levels of potential risk using Pupil Invisible wearable glasses. Gaze coordinates were mapped onto stimulus images to generate population-averaged human gaze heatmaps. In parallel, GPT-4o was prompted through the OpenAI Vision Application Programming Interface (API) to generate spatial predictions of visual attention, which were converted into saliency maps for comparison with human gaze patterns. Spatial alignment between human gaze heatmaps and model-generated saliency maps...

论文介绍 人类视觉注意力在感知安全环境中的风险方面起重要作用。本研究通过眼动追踪收集参与者观看安全场景图像时的注视数据,生成人类注意力热图,并与GPT-4o生成的视觉语言模型注意力图进行空间对齐比较,探讨模型是否能识别与人类相同的注意力区域,为VLMs在安全相关任务中的可靠性提供评估依据。

ScoutVLA: UAV-Centric Active Perception via a Dual-Expert VLA Model for Open-World Embodied Question Answering

第一作者: Wenhao Lu · 方向: VLA 通用模型 · 来源: cs.CV

Abstract:Aerial Embodied Question Answering (EQA) requires Unmanned Aerial Vehicles (UAVs) to actively perceive the environment and answer natural language questions. Existing outdoor EQA systems usually stop once the target enters the UAV's field of view, leaving the fine-grained viewpoint adjustment needed for evidence-seeking questions largely unresolved. To address this issue, we introduce FG-EQA, a fine-grained active perception EQA benchmark with more than 40K simulated trajectories and 1K real-world trajectories. Drawing inspiration from the ``waggle dance'' of scout bees, which iteratively adjust their flight paths to verify target information, we propose ScoutVLA, an evidence-driven Vision-Language-Action model for outdoor EQA. To emulate this active exploration behavior, ScoutVLA features a decoupled dual-expert architecture: a vision-language expert infers the semantic...

论文介绍 空中具身问答要求无人机主动感知环境并回答自然语言问题,现有系统在目标进入视野后常停止,缺乏细粒度调整。本文提出FG-EQA基准和ScoutVLA模型,受侦察蜂舞蹈启发,采用双专家架构实现证据驱动的主动探索:视觉语言专家推断语义,动作专家调整飞行路径,支持开放世界中的细粒度问答,如通过视角优化获取证据。

Trust-Region Diffusion Policies for Massively Parallel On-Policy RL

第一作者: Huy Le · 方向: 策略学习 · 来源: cs.LG

Abstract:Reinforcement learning with massively parallel simulations has become a standard framework for developing robust, deployable policies; however, most existing approaches still rely on simple Gaussian policy parameterizations. Diffusion models provide a more expressive policy class and have shown strong performance on challenging control problems, yet most diffusion-based RL methods are designed for offline or off-policy training. In this work, we ask whether diffusion policies can be trained effectively in the massively parallel, on-policy regime. To this end, we introduce Trust-region Diffusion Policies (TruDi), which enables diffusion policies for on-policy RL with massively parallel simulations. This setting is particularly challenging because the data distribution changes quickly across updates, making stable training with complex policies difficult. TruDi addresses this by...

论文介绍 扩散模型在控制任务中表达能力强,但大多用于离线或离策略训练,难以适应大规模并行在策略强化学习。本文引入信任域扩散策略TruDi,通过信任域优化处理数据分布快速变化的问题,使扩散策略能稳定训练,提升在并行仿真环境中的策略性能,弥合表达性与训练稳定性之间的差距。

市场总览

美股技术面呈现分化,主要ETF如SPY和QQQ维持多头排列,价格接近52周高点,RSI处于正常范围;但部分科技巨头如MSFT和META显示空头信号,短期承压。加密货币市场整体偏弱,比特币、以太坊和索拉纳价格下跌,RSI接近超卖,尽管出现MACD金叉,但恐慌贪婪指数为22(极度恐慌),结合总市值2.34万亿美元(24小时-0.65%)及BTC主导率56.3%,表明市场情绪谨慎。中概股普遍走弱,阿里巴巴RSI 27.9超卖,拼多多、京东等均处空头排列,下跌动量显著。商品外汇中,黄金期货中性震荡,原油期货大幅下跌超卖(RSI 29.9),美元指数多头排列但MACD死叉,人民币接近52周低点。整体市场技术信号多样,各资产板块轮动明显。

今日关注

BABA 阿里巴巴 (BABA)
偏下行

当前价格110.97,RSI 14为27.9,处于超卖区间;1日涨跌幅-1.4%,5日涨跌幅-7.29%,下跌动量强劲;价格低于20日、50日和200日移动平均线(分别123.69、129.91、149.48),形成空头排列信号,技术面偏弱。

CL=F WTI 原油期货
偏下行

当前价格75.74,RSI 14为29.9,超卖;1日跌幅-6.2%,5日跌幅-14.13%,动量显著下行;价格低于所有关键移动平均线(SMA20 91.1、SMA50 95.39),尽管SMA200为73.55提供支撑,但短期趋势偏空。

SPY S&P 500 ETF
偏上行

当前价格750.33,趋势为bullish;RSI 57处于正常范围,未超买;价格接近52周高点(仅差1.32%),且高于SMA20(746.44)、SMA50(726.61)和SMA200(687.35),信号包括多头排列,显示上行动能。

DX-Y.NYB 美元指数 DXY
中性

当前价格99.51,趋势为bullish但MACD出现死叉(MACD 0.2287,信号线0.2568);RSI 53.4中性;价格接近52周高点(仅差1.12%)且高于移动平均线,但信号矛盾表明短期可能调整。

全部资产

^VIX

VIX 恐慌指数

$16.41 +1.30%
5 日
-17.41%
距 52w 高
-53.5%
RSI(14)
45.5
趋势
空头
SMA 20 / 50 / 200
17.37 / 17.90 / 18.55
MACD / 信号
-0.035 / -0.052
死叉(SMA50↓SMA200) (4 天前)空头排列

^TNX

10Y 美债收益率 (%)

$4.43 -1.31%
5 日
-2.72%
距 52w 高
-11.4%
RSI(14)
44.9
趋势
多头
SMA 20 / 50 / 200
4.52 / 4.42 / 4.21
MACD / 信号
0.013 / 0.026
多头排列

DX-Y.NYB

美元指数 DXY

$99.51 -0.03%
5 日
-0.44%
距 52w 高
-1.1%
RSI(14)
53.4
趋势
多头
SMA 20 / 50 / 200
99.48 / 98.88 / 98.67
MACD / 信号
0.229 / 0.257
MACD 死叉 (1 天前)接近 52 周高多头排列

SPY

S&P 500 ETF

$750.33 -0.60%
5 日
+1.80%
距 52w 高
-1.3%
RSI(14)
57.0
趋势
多头
SMA 20 / 50 / 200
746.44 / 726.61 / 687.35
MACD / 信号
4.697 / 6.394
接近 52 周高多头排列

QQQ

Nasdaq 100 ETF

$729.86 -1.90%
5 日
+3.11%
距 52w 高
-2.5%
RSI(14)
56.3
趋势
多头
SMA 20 / 50 / 200
724.45 / 687.82 / 627.00
MACD / 信号
9.601 / 12.184
接近 52 周高多头排列

AAPL

Apple

$299.24 +0.95%
5 日
+2.99%
距 52w 高
-5.7%
RSI(14)
52.1
趋势
多头
SMA 20 / 50 / 200
303.76 / 287.11 / 267.53
MACD / 信号
1.712 / 4.323
多头排列

MSFT

Microsoft

$393.83 -1.48%
5 日
-2.37%
距 52w 高
-29.1%
RSI(14)
40.2
趋势
空头
SMA 20 / 50 / 200
417.16 / 412.74 / 452.62
MACD / 信号
-5.510 / -1.036
空头排列

NVDA

Nvidia

$207.41 -2.37%
5 日
-0.37%
距 52w 高
-12.3%
RSI(14)
47.4
趋势
中性
SMA 20 / 50 / 200
213.23 / 208.21 / 189.55
MACD / 信号
-0.966 / 0.483

GOOGL

Alphabet

$373.25 +1.06%
5 日
+2.47%
距 52w 高
-8.7%
RSI(14)
52.5
趋势
多头
SMA 20 / 50 / 200
373.87 / 365.19 / 309.56
MACD / 信号
-1.828 / -0.058
多头排列

TSLA

Tesla

$404.66 -1.58%
5 日
+2.01%
距 52w 高
-18.9%
RSI(14)
48.2
趋势
中性
SMA 20 / 50 / 200
414.92 / 400.35 / 416.30
MACD / 信号
-1.866 / 0.757

META

Meta

$600.21 +1.13%
5 日
+2.67%
距 52w 高
-24.6%
RSI(14)
48.8
趋势
空头
SMA 20 / 50 / 200
602.62 / 622.75 / 656.56
MACD / 信号
-10.103 / -8.988
空头排列
加密恐慌贪婪
22
极度恐慌
加密总市值
$2.34 T
-0.65% / 24h
BTC 主导率
56.3%
ETH 9.2%
24h 成交量
$77.5 B
活跃币 17,433

BTC-USD

Bitcoin

$65,520.39 -1.16%
5 日
+3.08%
距 52w 高
-48.1%
RSI(14)
41.6
趋势
空头
SMA 20 / 50 / 200
66,017.11 / 73,435.72 / 77,393.88
MACD / 信号
-2,590.911 / -3,206.658
MACD 金叉 (3 天前)空头排列

ETH-USD

Ethereum

$1,783.92 -0.62%
5 日
+6.68%
距 52w 高
-64.0%
RSI(14)
44.4
趋势
空头
SMA 20 / 50 / 200
1,779.54 / 2,046.76 / 2,395.56
MACD / 信号
-95.335 / -118.849
MACD 金叉 (2 天前)空头排列

SOL-USD

Solana

$73.33 -0.88%
5 日
+9.74%
距 52w 高
-71.0%
RSI(14)
48.7
趋势
空头
SMA 20 / 50 / 200
71.61 / 80.97 / 99.02
MACD / 信号
-3.280 / -4.426
MACD 金叉 (2 天前)空头排列

BABA

阿里巴巴 (BABA)

$110.97 -1.40%
5 日
-7.29%
距 52w 高
-42.4%
RSI(14)
27.9
趋势
空头
SMA 20 / 50 / 200
123.69 / 129.91 / 149.48
MACD / 信号
-5.538 / -4.093
RSI 超卖空头排列

PDD

拼多多 (PDD)

$81.59 -2.35%
5 日
-0.41%
距 52w 高
-41.5%
RSI(14)
35.0
趋势
空头
SMA 20 / 50 / 200
87.23 / 94.64 / 111.00
MACD / 信号
-3.986 / -3.873
空头排列

JD

京东 (JD)

$28.38 -1.05%
5 日
-1.22%
距 52w 高
-23.0%
RSI(14)
40.6
趋势
空头
SMA 20 / 50 / 200
29.54 / 30.11 / 30.29
MACD / 信号
-0.565 / -0.444
空头排列

0700.HK

腾讯控股 (0700.HK)

HK$442.20 -1.16%
5 日
-5.03%
距 52w 高
-35.3%
RSI(14)
43.2
趋势
空头
SMA 20 / 50 / 200
449.63 / 470.26 / 566.81
MACD / 信号
-4.058 / -5.203
空头排列

GC=F

黄金期货

$4,361.40 +0.77%
5 日
+2.38%
距 52w 高
-21.9%
RSI(14)
45.8
趋势
中性
SMA 20 / 50 / 200
4,400.94 / 4,575.39 / 4,428.77
MACD / 信号
-97.181 / -92.926

CL=F

WTI 原油期货

$75.74 -6.20%
5 日
-14.13%
距 52w 高
-36.6%
RSI(14)
29.9
趋势
中性
SMA 20 / 50 / 200
91.10 / 95.39 / 73.55
MACD / 信号
-4.077 / -2.532
RSI 超卖

USDCNY=X

美元 / 人民币

¥6.76 -0.15%
5 日
-0.14%
距 52w 高
-6.3%
RSI(14)
33.2
趋势
空头
SMA 20 / 50 / 200
6.78 / 6.80 / 6.96
MACD / 信号
-0.012 / -0.013
MACD 金叉 (4 天前)接近 52 周低空头排列
风险提示

本报告基于公开技术指标数据生成,过去走势不代表未来表现,仅供技术指标解读参考。投资者应结合基本面和风险偏好独立决策,技术分析不构成投资建议。

Iran War Live Updates: Trump Says He Hopes to Put War in ‘Rearview Mirror’

Iran’s foreign minister said new talks on nuclear arms and sanctions relief would start on Friday, right after an initial agreement is signed.

中文摘要 特朗普表示希望将战争「抛在脑后」。伊朗外长称,在初始协议签署后,关于核武器和制裁减免的新谈判将于周五开始。

Australia news live: two more men charged with murder over Chris Baghsarian kidnapping; Labor tips $3.6bn into pay rises for childcare workers

Follow today’s news live Get our breaking news email, free app or daily news podcast Kyle Sandilands has settled his legal dispute with ARN Media with a $12m cash payment over three years, but Jackie O Henderson’s $82m claim against the broadcaster will continue. The shock jock agreed to drop his $8

中文摘要 澳大利亚维多利亚州发生绑架案,又有两名男子被指控犯有谋杀罪。工党承诺投入36亿澳元为育儿工作者加薪。电台主持人凯尔·桑迪兰兹与前东家ARN Media达成1209万现金和解。

Democrat calls for Cape Verde goalkeeper Vozinha’s mother to get US visa

Ana Candida Evora was unable to travel to watch her son star in a goalless draw with Spain due to the cost of a US visa.

中文摘要 美国民主党议员呼吁为佛得角门将沃津哈的母亲发放美国签证,以便她能赴美观赛。她因签证费用问题无法前往观看儿子对阵西班牙的比赛。

Iran war live: Israel kills 4 in Lebanon as Trump criticises Netanyahu

Warning comes as Trump criticises Netanyahu over Israel's attacks on Lebanon.

中文摘要 伊朗战争最新动态:以色列在黎巴嫩的行动造成4人死亡。与此同时,美国总统特朗普对以色列总理内塔尼亚胡的行动提出批评。

Group planned to attack White House UFC event using snipers and drones, FBI says

In newly unsealed court filings, the government says the group allegedly expressed grievances about corruption, the Epstein files, and data centres.

中文摘要 FBI指控一团体计划使用狙击手和无人机袭击在白宫举行的UFC活动。新公开的法庭文件显示,该团体表达了对腐败、爱泼斯坦案及相关数据中心的不满。

Kyle Sandilands settles with former radio station for $12m and a helping hand with new media venture

ARN Media settlement of dispute with sacked radio host includes $12.09m cash payment and $1.5m worth of advertising Follow our Australia news live blog for latest updates Get our breaking news email, free app or daily news podcast Kyle Sandilands has settled his dispute with ARN Media for a $12m cas

中文摘要 澳大利亚电台主持人凯尔·桑迪兰兹与前雇主ARN Media达成和解,获1209万现金赔偿及价值150万的广告支持,用于其新媒体事业。

Who Are the Leaders at the G7 Summit in France?

On a roll or against a wall, Group of 7 leaders bring sharply different agendas. The leaders of some other nations are also attending to press their own interests.

中文摘要 G7峰会在法国举行,与会领导人带来截然不同的议程。同时,一些其他国家领导人也出席,以推动自身利益。

Brazilian court convicts Eduardo Bolsonaro of courting US interference

US placed tariffs on Brazilian goods and sanctioned judicial officials involved in trial of the father for coup plot.

中文摘要 巴西法院裁定爱德华多·博尔索纳罗有罪,因其在父亲博尔索纳罗的政变审判案中寻求美国干预。美国此前已对巴西商品加征关税并制裁涉案法官。

US sprinter Noah Lyles sets world best 150m time at Golden Spike meet

Lyles clocks 14.67 seconds, edges Dambile of South Africa for gold while Australian teenager Gout Gout finishes third.

中文摘要 美国短跑运动员诺亚·莱尔斯在黄金大奖赛上以14.67秒的成绩创150米世界最佳,击败南非选手丹比勒夺冠。澳大利亚少年古特·古特获得第三名。

Somaliland president visits Israeli Knesset on tour

Somaliland’s President is on a ‘historic’ tour of Israel, where he’s opened an embassy and visited the Knesset.

中文摘要 索马里兰总统对以色列进行「历史性」访问,期间开设了大使馆并到访以色列议会。

Jair Bolsonaro’s son sentenced to four years in jail for seeking US interference in father’s Brazil coup trial

Brazil supreme court finds that Eduardo Bolsonaro – who resides in the US - tried to get sanctions put on judges trying ex-president over coup plot Brazil’s supreme court has sentenced Eduardo Bolsonaro to four years and two months in prison after finding him guilty of courting US ⁠interference in h

中文摘要 巴西最高法院判处爱德华多·博尔索纳罗四年两个月监禁,因其试图为父亲、前总统雅伊尔·博尔索纳罗的政变审判案寻求美国制裁干预。

Roy Hattersley, Frontline Warrior of British Politics, Dies at 93

A Labour Party deputy who spent years in opposition, he criticized Conservatives and members of his own party, and was at the heart of major political moments.

中文摘要 英国工党前副领袖罗伊·哈特斯利于93岁去世。他曾长期处于反对党位置,批评保守党及工党内部成员,并处于多个重大政治事件的核心。

Bond Rally Fails to Allay Higher-for-Longer Global Rates Threat

Governments around the world look to be facing lofty borrowing costs for at least the rest of the year, even as the fragile Middle East truce lowers energy prices and curbs inflationary fears.

中文摘要 债券上涨未能缓解全球利率长期居高的威胁。尽管中东脆弱停火降低能源价格并抑制通胀担忧,全球政府至少在年内仍面临高借贷成本。

Gold Holds Gain as US, Iran Prepare to Sign Interim Peace Deal

Gold held gains, as the US and Iran prepared to sign an interim peace deal that may ease global inflationary pressures arising from the war.

中文摘要 黄金保持涨势,因美国和伊朗准备签署临时和平协议,这可能缓解由战争引发的全球通胀压力。

Financial Details Emerge as US, Iran Prepare for Signing

The US and Iran are preparing to formally sign an interim peace deal, with details of the accord still emerging and energy insiders skeptical of how fast it can reopen the Strait of Hormuz. Bloomberg Economics' Chris Kennedy breaks down the latest developments. (Source: Bloomberg)

中文摘要 美国和伊朗准备正式签署临时和平协议,协议细节仍在出现,能源业内人士对其重新开放霍尔木兹海峡的速度持怀疑态度。彭博经济的Chris Kennedy分析了最新进展。

Cadbury chocolate-owner Mondelez defends staying in Russia

Mondelez boss Dirk Van de Put says it was the "right decision" to remain after the war with Ukraine.

中文摘要 吉百利巧克力的所有者亿滋国际为其在俄罗斯的运营辩护。首席执行官Dirk Van de Put表示,在乌克兰战争后留下是「正确的决定」。

China Stock Gauge Sinks as Traders Favor AI Winners Elsewhere

Chinese stocks listed in Hong Kong are facing bleak milestones as a global rush into artificial intelligence supply chain players sidelines the Internet and consumer companies that dominate the offshore benchmark.

中文摘要 中国股票指数下跌,因交易员青睐其他地区的AI赢家。在香港上市的中国股票面临黯淡里程碑,全球资金涌入人工智能供应链公司,使主导离岸基准的互联网和消费公司被边缘化。

Laopu Gold’s Searing Rally Cools as Sales Slip, Bullion Falls

Slowing sales, a slump in its share price and a selloff in the gold market are fueling concerns that Laopu Gold Co., one of China’s hottest consumer brands, is losing momentum.

中文摘要 老铺黄金的激烈涨势降温,因销售下滑、股价暴跌和黄金市场抛售引发担忧,该公司作为中国最热门消费品牌之一,正失去增长动力。

Ex-Citi executive says bank sacked her after raising Trump concerns

Former employee claims in lawsuit that she identified issues with risk-management practices

中文摘要 前花旗高管称银行在她提出与特朗普相关的担忧后解雇了她。该前员工在诉讼中声称她发现了风险管理实践的问题。

Russian warship fires warning shots towards yacht in English Channel

UK says incident is not linked to Britain’s interception of an oil tanker that is part of Moscow’s shadow fleet

中文摘要 俄罗斯军舰在英吉利海峡向一艘游艇发射警告射击。英国表示该事件与英国拦截一艘属于莫斯科影子舰队的油轮无关。

Kalshi Aims to Expand Perpetual Futures After $5.5 Billion Debut

Kalshi Inc. is looking to expand its new perpetual futures business beyond digital assets after the never-expiring derivatives racked up more than $5.5 billion of trading volume in their first two weeks on the prediction-market platform.

中文摘要 Kalshi计划在首秀交易量达55亿美元后扩大永续期货业务。该公司希望在数字资产之外扩展其新的永续期货业务,该衍生品在预测市场平台上线头两周交易量超过55亿美元。

Brookfield-Backed Data Center Firm Csquare Files for US IPO

Csquare Inc., a data center company backed by Brookfield Corp., filed publicly for a US initial public offering, joining a rush of debuts linked to artificial intelligence infrastructure.

中文摘要 Brookfield支持的Csquare数据中心公司已公开提交美国IPO申请,加入与人工智能基础设施相关的上市热潮。

Asian Stocks Edge Lower With Fed Decision in Focus: Markets Wrap

Asian stocks slipped at the open, tracking declines on Wall Street as investors rotated out of technology shares and positioned for the first Federal Reserve policy decision under Chairman Kevin Warsh.

中文摘要 亚洲股市小幅下跌,投资者关注美联储决定。亚洲股市开盘下跌,追随华尔街跌势,投资者从科技股转向,并为美联储主席Kevin Warsh领导下的首次政策决定做准备。

Oil Holds Near Three-Month Low as Iran Deal Seen Boosting Supply

Oil held near a three-month low on expectations that a US-Iran deal to reopen the Strait of Hormuz will unleash a wave of supply.

中文摘要 石油价格保持在三个月低点附近,因预期美伊协议将重新开放霍尔木兹海峡并释放供应浪潮。

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