A format specification for describing a visual identity to coding agents. DESIGN.md gives agents a persistent, structured understanding of a design system.
中文介绍 DESIGN.md 是 Google 推出的一种格式规范,用于向 AI 编程代理描述视觉识别与设计系统。通过在项目中引入该文件,AI 代理能获得持久且结构化的设计规范理解。适合前端开发者与设计师,在 AI 辅助开发中保持 UI 风格与组件库的高度一致性。
The open and composable observability and data visualization platform. Visualize metrics, logs, and traces from multiple sources like Prometheus, Loki, Elasticsearch, InfluxDB, Postgres and many more.
AI 时代的伯克希尔:基于 Claude Code 的价值投资研究框架。巴菲特·芒格·段永平·李录四大师方法论 + 多Agent并行研究。| AI-era Berkshire: a value investing research framework built on Claude Code. 4 masters' methodologies + multi-agent adversarial analysis.
中文介绍 ai-berkshire 是基于 Claude Code 构建的价值投资研究框架,融合巴菲特、芒格等四位投资大师的方法论,采用多 Agent 并行与对抗机制进行深度分析。适合个人投资者与量化研究员,用于自动化研报生成、标的深度调研及投资策略验证。
World's first open-source, agentic video production system. 12 pipelines, 52 tools, 500+ agent skills. Turn your AI coding assistant into a full video production studio.
mcp came out when the best models were sonnet 3.5 and GPT 4o not a lot was known about how to properly work with these tools yet, we were still incredibly concerned on models having access to tools,
Computer use is now a built-in tool supported in Gemini 3.5 Flash, delivering our best performance yet for agentic computer use tasks. Previously only available as a standalone Gemini 2.5 computer use
Most AI tools are chatbots with a nice interface. Kimi is different. It is a full system: a browser automation engine called Claw that navigates websites like a human, an Agent Swarm that runs
中文介绍 分享 Kimi 使用体验。其并非普通聊天界面,而是包含浏览器自动化引擎 Claw(模拟人类浏览网页)与 Agent Swarm 多智能体协作的完整系统,展现了在复杂 Agent 工作流与系统级架构上的新探索。
What I like most about coding with agents right now is the room to leave a few runs going and still get on with other work. When something finishes or needs a call, I show up. This post is a short
中文介绍 探讨 AI Agent 编程的「Human in the loop」模式。博主分享并发运行多个 Agent 的经验:让其在后台执行,自己处理其他工作,仅在完成或需决策时介入,这种异步协作大幅提升了多任务开发效率。
OpenAI previews GPT-5.6 Sol, a next-generation model with stronger capabilities in coding, science, and cybersecurity, paired with its most advanced safety stack.
Artificial intelligence is rapidly reshaping retail, but not in the ways consumers might immediately notice. The biggest transformation may not be flashy virtual try-ons or chatbot shopping assistants, but in how decisions are made behind the scenes: how products surface in search results, how inven
**Z.ai's GLM-5.2** leads in coding and agent benchmarks with top scores like **1595** on Code Arena: Frontend and **34.29%** reasoning accuracy with zero failures. Databricks improved GLM-5.2 speed to **392 tok/s** using hardware and optimizations. **Ornith-1.0**, a new MIT-licensed coding model fam
AI is booming. New use cases are emerging each day. To capitalize on the technology’s potential, enterprises require data at scale. In many cases, though, the relevant information is blocked or unstructured, which limits its use by AI models. To understand this challenge, consider the foundation of
Abstract:Decentralized Finance (DeFi) applications rely heavily on the order in which transactions are executed, making them susceptible to reordering attacks that enable adversaries to extract Blockchain Extractable Value (BEV). While linear blockchain systems such as Ethereum have inspired extensive research into fair ordering mechanisms, DAG-based consensus protocols have remained largely unprotected despite their growing adoption for scalability and performance. In this paper, we introduce Tilikum, a DAG-based ledger protocol that ensures fair transaction ordering without relying on weak edges. Tilikum achieves ordering linearizability by leveraging median-based timestamp aggregation, or batch order fairness, while maintaining low data redundancy and robust garbage collection. We implemented Tilikum in Rust and evaluated it against representative baselines, namely Narwhal/Tusk...
Abstract:Impagliazzo's five worlds classify computational assumptions along a single axis, the existence of cryptographic primitives. All five worlds implicitly assume that every party, including the adversary, observes the full input, that the observer is always $O_{top}$. This assumption is so natural that it is never stated. This work makes it explicit and relaxes it by introducing a second, orthogonal axis, the observational axis, defined by the observer hierarchy introduced in previous work. Relaxing the assumption reveals structural phenomena, such as the collapse $P^{O_{prof}} = NP^{O_{prof}} \subset P$, that the five-world framework cannot express. We prove that this collapse holds unconditionally in all five worlds, showing that observational blindness and computational hardness are independent. We define the Observer World $W_O$, classify all world-observer pairs, identify...
Abstract:We introduce PRISM (PE Relational Inter-Section Matrix), an open dataset and feature representation for static Windows PE malware detection. Existing benchmarks such as EMBER, BODMAS, and SOREL-20M represent each PE file as a flat one-dimensional feature vector, discarding the ordering of sections and the relational context between them. PRISM instead encodes every binary as a two-dimensional matrix whose rows are individual PE sections in file order, with a global summary row that preserves compatibility with EMBER-style models. We build the corpus from four malware sources (BODMAS, MalwareBazaar, VirusShare, and CAPE) together with SOREL-20M benign software, yielding 83,633 deduplicated matrices and a family-filtered analysis corpus of 49,204 samples across 684 malware families. A formal separability analysis (Fisher Discriminant Ratio, mutual information, and inter-section...
Abstract:We present a novel approach for applying Large Language Models (LLMs) to threat assessment in the context of foreign peacekeeping missions. Building on the PINPOINT project and its use case, the EU Monitoring Mission in Georgia, we combine an interdisciplinary risk-model with OSINT-based media collection and LLM-supported threat extraction. The proposed workflow maps media contents to mission-relevant threats, extracts structured information and applies several additional LLM-based processing steps to improve relevance and grounding. An evaluation of threats extracted from media documents shows high agreement between automatically generated results and human judgment for core aspects such as threat and mission relevance. These results indicate that LLMs provide a promising approach to support analysts in the context of peacekeeping missions.
Privacy is one of the fundamental rights of individuals in modern societies. Yet, the practical adoption of privacy-preserving technologies in daily interactions remains limited. Zero-knowledge proofs offer strong privacy guarantees but are often hindered by their technical complexity. In this paper, we advance the idea of verifiable QR codes that enable off-line verifiers to verify proofs encoded in QR codes. Based on this core idea, we build a novel QR-driven zkSNARK proof verification framework (i.e., zQR) for mobile platforms. The framework integrates blockchain for auditability, non-repudiation and logging; and large-language models for automatic circuit generation. We perform a security discussion of the framework by considering multiple attack surfaces. Furthermore, we present an experimental evaluation measuring temporal costs (proof generation and verification latency, QR code...
Abstract:LLMs fine-tuned for security classification are usually evaluated on held-out examples from the same distribution as their training data. We show that this can miss vulnerabilities introduced by fine-tuning itself: models can learn token-level indicator semantics that preserve canonical accuracy while failing under behavior-preserving transformations such as PowerShell alias substitution, command reconstruction, string construction, execution indirection, and case mutation. We study Foundation-Sec-8B-Instruct and its base model, Llama-3.1-8B-Instruct, on matched PowerShell classification cohorts. Causal interventions localize the classification circuit to a late-attention route inherited from Llama rather than created by fine-tuning. Fine-tuning concentrates and semantically specializes this inherited structure, improving baseline behavior while creating...
Abstract:We develop a type system for secure information flow where new security levels can be created and inserted into the security lattice dynamically, i.e., even in the middle of an execution of a system. Our system is formalized by extending Kobayashi's type-based secure information flow analysis for Milner's pi-calculus, which is one of the most expressive models (or "languages") supporting both sequential and concurrent computations, with concise syntax, reduction-based semantics, and bisimulation equivalence as a robust formalization of secrecy as non-interference. The development required careful treatment of extensions of lattices themselves as well as deliberate generalization from the simple 2-element lattice (consisting of only High and Low) in the original system.
Physical layer authentication (PLA) allows to authenticate the user by comparing measurements over time, assuming their time consistency or by modeling their evolution. However, these assumptions become problematic when devices are in motion and in indoor environments due to multipath propagation and obstructions. In this paper, we propose a PLA mechanism for moving devices in indoor environments, where multiple access points (APs) estimate the dominant channel tap path loss (PL) and angle of arrival (AoA) from the received signals and compare them with previously collected channel knowledge maps (CKMs). Specifically, the measurements are compared to those in the neighborhood of the previously known position obtained from CKMs. A comprehensive security analysis is conducted under both random and optimal attacks. Numerical results in a representative indoor scenario, with CKM obtained...
Abstract:Unmanned aerial vehicle (UAV) swarms rely on distributed coordination and cooperative communication to support scalable operations, extended coverage, and applications such as surveillance and real-time data exchange. Wireless technologies such as radio frequency (RF) and WiFi are widely used for UAV-to-UAV and UAV-to-ground control station (GCS) communication but introduce significant security challenges. MAVLink, the predominant communication protocol in UAV systems, provides message integrity and authentication but lacks built-in encryption, leaving telemetry traffic vulnerable to eavesdropping. In our previous work, we proposed MAVShield, a lightweight encryption framework for MAVLink communications. In this paper, MAVShield, AES-CTR, Speck-CTR, ChaCha20, and Rabbit are integrated into four custom-built UAVs to establish secure communication links over RF and WiFi...
Abstract:With the rapid evolution of LLM-driven agents, Model Context Protocol (MCP), an open protocol bridging LLMs with external tools, has quickly become foundational to modern agent ecosystems. However, the expanding adoption of MCP has also introduced novel security concerns such as Tool Poisoning Attack (TPA), which exploit LLM-server interactions to inject malicious prompts. Existing poisoning schemes typically adopt a monolithic plaintext embedding paradigm, which fails to withstand manual inspection or automated detectors. Current research still lacks a systematic analysis on multi-tool poisoning, where multiple tools can be exploited cooperatively to disperse detection risk. In this paper, we introduce ShareLock, a multi-tool threshold poisoning framework that utilizes Shamir's threshold scheme to ensure exceptional stealth and fault tolerance. ShareLock distributes the...
Abstract:Apple AirDrop and Google/Samsung Quick Share are proximity file-transfer protocols used by over five billion devices, yet their application-layer security properties remain largely unstudied because both stacks are proprietary and undocumented. Both protocols are reachable from wireless proximity without any prior pairing and process complex serialized content (binary plists, CPIO archives, Protocol Buffers, UKEY2 handshakes) inside privileged daemons, making them attractive zero-click targets across multiple operating systems. We perform the first cross-platform reverse engineering and protocol-aware fuzzing study of both stacks. We reconstruct AirDrop's seven-layer state machine and DVZip adaptive compression from binary analysis, build AIRFUZZ, a protocol-aware fuzzer that mutates pre-compression representations, and complement it with targeted hand-written analyses of...
Abstract:With a profusion of jailbreaks for LLMs now widely known, a growing concern is that non-expert malicious actors ("the average Jane") could elicit actionable responses to malicious requests. In this work, we examine whether this concern is justified. A non-expert malicious actor requires two ingredients for a successful attack: a powerful jailbreak for their target model, acting on an effective malicious query. For the former, we propose a novel attack strategy based on the multi-armed bandit framework. This allows efficient online learning of the optimal jailbreak from a large choice set via noisy exploration on a small number of queries, with subsequent application of the learnt policy on an exploitation set. For the latter, we curate $\mathrm{FrankensteinBench}$, a safety benchmark of $11,279$ malicious queries drawn from manual curation over $7$ existing benchmarks, along...
Abstract:AI-assisted vulnerability discovery has proven effective for bug classes like memory safety, where instrumentation confirms memory violations and efficiently filters false positives. Many dangerous vulnerability classes, such as cryptographic misuse, however, lack any comparable instrumentation. In this work, we present Chai, an AI-based system that discovers and validates cryptographic misuse vulnerabilities through naturally occurring signals. To achieve this, Chai rethinks the classical technique of differential testing by leveraging AI to 1) improve precision for detecting real security issues in libraries, and 2) repurpose commonly overlooked discrepancies as leads for tangible vulnerabilities in downstream applications. In doing so, Chai inverts the prevailing paradigm of AI vulnerability discovery: instead of auditing one codebase for many flaws, it catalogs flaws at...
Abstract:Third-party vendors, such as analytics platforms, cloud services, identity providers, and software suppliers, are increasingly embedded in digital service delivery. While these arrangements enable scale and specialization, they also move customer data and security-relevant practices into environments that customers rarely see, select, or evaluate. This paper examines this problem through a document analysis of the November 2025 OpenAI-Mixpanel security incident. The incident serves as an illustrative case for showing how a security event in a vendor environment can become a governance and accountability problem for the focal organization that maintains the customer relationship. Drawing on organizational trust research and agency theory, the paper argues that third-party cybersecurity risk is both a trust relationship and a delegation problem. Customers trust the visible...
Abstract:Spiking Neural Networks (SNN) have emerged as a revolutionary paradigm compared to traditional Deep Neural Networks (DNN) in energy-efficient computing, showcasing exceptional capabilities in processing event-driven sensory data for real-time applications like robotics and edge AI systems. However, unlike extensive studies on DNN copyright solutions, SNN copyright protection remains largely underexplored due to their inherent temporal coding complexities and spike-driven computation. In this study, we propose a novel active copyright protection framework named SpikeTimer for SNNs via temporal backdoor learning. SpikeTimer partitions neuromorphic data into designated timeslices and exclusively embeds authorized tokens within authorized slices. Furthermore, the inherent temporal segmentation characteristic intrinsically enables SpikeTimer to support multi-user authorization...
Abstract:Multimodal agentic retrieval-augmented generation (RAG) systems expand the attack surface beyond prompt injection to include text poisoning, image injection, direct-query attacks, and orchestrator-level tool manipulation. Existing red-teaming approaches are typically surface-specific and often recycle known attack templates; on text-poisoning benchmarks we measure 73-84% exact duplication. We present MIRROR, a unified cross-surface framework that performs memory-guided Monte Carlo tree search while conditioning candidate generation on retrieved context under an explicit novelty constraint. A deterministic Novelty Gate rejects any candidate matching the retrieval set under normalized comparison, allowing retrieval to inform search priors without enabling prompt copying. Across four attack surfaces on a multimodal agentic RAG target, MIRROR attains 76% ASR on image poisoning...
Abstract:Lattice basis reduction algorithms have various applications in computational number theory and lattice-based cryptography, but their complexity increases rapidly with the dimension. Motivated by the divide-and-conquer strategy of merge sort and incorporating PotLLL-style deep insertions during recombination, MergeLLL is proposed. In this framework, a lattice basis is split into sub-bases, local reductions are performed independently, and the full basis is reconstructed through hierarchical merging. The approach is focused on improving local lattice structure first before global basis properties are refined, resulting in enhanced Gram-Schmidt orthogonality and numerical stability, while overall computational cost is reduced. The method is naturally parallelizable, allowing efficient multicore and distributed execution. It is shown that the reduction and merging steps preserve...
Adversarial APKs are Android applications modified in the problem space to evade machine-learning malware detectors. In this work, we first show that, despite claims, existing problem-space attacks remain largely impractical. Most techniques leverage software transplantation to inject entire benign modules, introducing many side-effect features and often causing build-time failures. Fine-grained methods that inject only a narrow subset of components exhibit limited effectiveness, while those that also use obfuscation rely on brittle bytecode rewriting, producing APKs that are syntactically valid but semantically unusable. Prior work further overestimates attack success rates by running smoke tests that only validate installation and basic execution, without assessing whether the modified APK still preserves its intended behavior. To overcome these limitations, we present DROIDBREAKER...
Abstract:The tokenization of real-world assets (RWAs) has emerged as a transformative application of blockchain technology, with market projections estimating trillions of dollars in tokenized assets within the coming decade. However, a fundamental challenge remains unaddressed: physical assets such as precious metals, stored commodities, and warehoused goods incur structural negative carry -- custody, insurance, and audit costs that accumulate over time. While existing tokenization models have successfully established the market for digital gold and treasuries, they typically manage operational costs at the issuer level. The FRS introduces a framework to bring these economics directly on-chain, avoiding mechanisms such as token rebasing that compromise fungibility and composability with decentralized finance (DeFi) protocols. This paper proposes the Fungible Reserve Standard (FRS), a...
Abstract:Existing homomorphic encryption (HE)-based GNN systems adopt a graph-centric paradigm that couples per-query cost to global graph size, limiting evaluations to at most ~20k nodes and making them incompatible with dynamic, large-scale financial graphs. We propose TGHE (Template-based Graph Homomorphic Encryption), an ego-centric framework that resolves this by exploiting a template phenomenon: local computation trees in transaction graphs converge into a small set of structural shapes. TGHE canonicalizes ego-graphs at the edge and packs structurally identical trees into shared CKKS ciphertexts for SIMD-parallel encrypted inference, with two long-tail optimizers (Approximate Template Fitting and Topology Collapse) ensuring full SIMD coverage. On DGraphFin (3.7M nodes, 4.3M edges), TGHE-Collapse achieves a 66.9x speedup over the sequential encrypted baseline with less than 0.002...
Abstract:Large language model agents increasingly query databases, search document collections, call external APIs, remember past interactions, and act on a user's behalf. As they move from answering questions to operating over sensitive data, privacy becomes harder to enforce. An agent touches many data sources, runs multi-step workflows, keeps state across sessions, and acts with delegated permissions. Sensitive information can therefore leak not only through its final answer but through the queries it issues, the intermediate results it handles, the memory it writes, and the messages it exchanges with other agents. We survey the privacy of LLM agents from a data-centric view, organizing the field around the data an agent touches rather than by attack type, and we use data agent as shorthand for an LLM agent that works with data. Research on these risks is active but scattered across...
Abstract:Adversarial evaluation of AI systems has matured along four largely disconnected tracks: diffusion-based attacks on text and large language models (LLMs), diffusion-based attacks on image classifiers, jailbreak pipelines against vision-language models, and diffusion-based input purification defenses. Each has developed its own vocabulary, threat models, and benchmarks, with denoising diffusion models emerging as a shared generative mechanism whose recipes are now actively ported between communities. This survey performs an information-fusion exercise at the meta-research level: we integrate these four tracks into a single conceptual framework with a unified taxonomy, evaluation criteria, and research agenda, focusing on the LLM-side slice. We catalog fifty published papers across four scope areas (text/LLM, image classifier, vision-language model, defense), plus four...
Abstract:5G base stations broadcast unauthenticated system information (SI) that every user equipment (UE) reads during cell selection. This enables attackers to broadcast forged SI from a fake base station (FBS), deceiving UEs into camping on it. Prior approaches require UEs to authenticate System Information Block 1 (SIB1) using digital signatures. This necessitates computation-heavy verification for every SIB1 reception, imposing a significant burden on resource-constrained UEs. We propose TESLA-for-5G (TF5), a broadcast authentication protocol for 5G SIB1 that combines TESLA with GG09 Schnorr-like identity-based signatures (IBS). In the steady state, TF5 enables UEs to authenticate each SIB1 message using a symmetric MAC and delayed key disclosure, eliminating the need for per-message digital signatures. Initial trust is bootstrapped during cell entry using a lightweight GG09 IBS...
论文介绍 5G 基站广播的未认证系统信息易受伪基站攻击,现有数字签名方案给资源受限终端带来沉重计算负担。本文提出 TESLA-for-5G 协议,结合 TESLA 机制与轻量级身份签名。该协议在稳态下利用对称消息认证码与延迟密钥披露完成认证,消除了逐条消息的数字签名开销,有效兼顾了网络安全与终端能效。
Agentic systems increasingly act through third-party skills, allowing model-generated decisions to affect files, communication channels, and cyber-physical devices. These skills often include natural-language specifications that define access permissions, disclosure limits, execution privileges, and required preconditions. Although such specifications describe the intended boundaries of skill behavior, they do not by themselves provide executable runtime enforcement. Enforcing them raises a contextual granularity challenge: even when a policy is written for a particular task context, a monitor must still decide which events to observe, what state to retain, how far across the execution to reason, and where to intervene. Choosing the wrong granularity can either block benign executions or miss violations that emerge only across multiple actions. Most existing enforcement mechanisms...
Abstract:End-to-end encrypted messaging systems depend on authentic public key distribution to prevent man-in-the-middle (MitM) attacks. Current solutions present a stark trade-off: out-of-band (OOB) verification provides strong security but lacks scalability for large contact lists, while key transparency (KT) systems enable automated verification at high storage costs and operational complexity. We propose DKVE, a protocol that validates public keys through privacy-preserving cross-validation within users' social graphs. When obtaining a contact's public key from a key server, clients query mutual contacts to verify they hold the same key, combining Oblivious Pseudorandom Functions (OPRF) and Oblivious Key-Value Stores (OKVS) to preserve privacy of both queries and contact lists. DKVE employs a Sequential Probability Ratio Test (SPRT) to aggregate responses and detect server...
Abstract:Recent work (2024 to 2026) has converged on a strategy for defending tool-using LLM agents against indirect prompt injection: rather than training the model to refuse malicious instructions, enforce security outside the model with a deterministic policy that mediates the agent's actions. Systems such as CaMeL, FIDES, Progent, RTBAS, and FORGE realize this with capabilities, information-flow labels, and reference monitors, and several report near-elimination of attacks on the AgentDojo benchmark. We make two contributions. First, we organize these out-of-band defenses as instances of classical integrity protection (Biba), reference monitoring, and least privilege, yielding a structured comparison of what they do and do not cover. Second, we warn that every one of them is validated only on static benchmarks (a fixed set of injection attempts), the same methodology that made...
Abstract:WebGPU lets ordinary web pages run GPU workloads through a validated programming model. Validation protects memory safety, but shared browser, driver, OS, and GPU state can still expose privacy-relevant signals. We present WGPULens, a framework for measuring those signals across controlled scenarios, browser-native co-residency, a participant field study, public page loads, and mitigation policies. Our framework separates measurements: controlled scenarios support leakage, boundary, and mitigation claims; participant runs support deployment, compatibility, and fingerprintability; and a Tranco crawl measures WebGPU exposure in real-world pages. Our controlled results identify persistent pipeline compilation state as the clearest surface. Cold/warm pipeline probes reveal prior compilation state across selected origin, profile, and browser placements. Controlled browser/native...
Abstract:While several web actors have been trying to reduce web tracking for years, it remains unclear how to achieve both desirable levels of utility and privacy. In 2019, Google launched the Privacy Sandbox initiative to balance that trade-off and find privacy alternatives to common use cases such as advertising. Yet, in late 2025, Google canceled the project and deprecated most of the newly introduced APIs. Despite its end, the Privacy Sandbox represents a unique opportunity to learn about how the ecosystem reacted to the proposed changes and make observations about why and how it failed. In this paper, we present a longitudinal measurement and analysis study of the Privacy Sandbox APIs to characterize their adoption and deprecation over the past seven years by different web actors. Leveraging historical HTTP Archive crawls and public Chrome telemetry data, we offer the largest...
论文介绍 本文对Google Privacy Sandbox Web API的采用与弃用过程进行纵向测量分析。通过挖掘历史HTTP Archive数据与Chrome遥测信息,研究刻画了不同网络参与者对该隐私API的采纳与废弃轨迹,为理解Web生态在隐私与实用性间的权衡及大型隐私倡议的演进提供了实证参考。
Abstract:Large language models (LLMs) are increasingly deployed in interactive applications, yet they remain vulnerable to adversarial interactions that induce harmful, deceptive, or policy-violating outputs. Existing defenses typically analyze either user prompts or generated outputs, but not both. However, many real-world attacks exploit a separation between adversarial intent expressed in the prompt and actionable harm manifested only in the response. As a result, prompt-only and response-only defenses frequently miss unsafe interactions that appear benign when viewed from either side in isolation. We present a verification-centric defense framework that jointly evaluates prompt intent and response harm before an LLM response is delivered to a user. The framework employs specialized analysts for intent and harm assessment together with a Judge for conflict resolution. We formalize a...
Abstract:Dense embeddings power semantic search and retrieval-augmented generation, but embedding-inversion attacks can reconstruct source text from a vector: when a vector database leaks, the documents behind it leak too. The textbook defences are extremes - encrypting the whole search homomorphically is sound but too slow at million-document scale, while privacy noise degrades ranking long before it protects. We study a middle path exploiting the asymmetry between the static collection and the dynamic query. The collection is protected geometrically: each vector is truncated onto a lower-dimensional SVD subspace and rotated by a secret orthogonal transform known only to the owner. The query is protected cryptographically: it is reranked under CKKS homomorphic encryption, so an honest-but-curious server never sees the query or the scores. CKKS parameters come from a small offline...
Abstract:We measure an automation-based supply chain campaign in the Go ecosystem. The attackers repackage legitimate Go modules under attacker-controlled owners, and embed them with obfuscated code for an import-triggered downloader. Our results come from two complementary analyses: a) a manual search on GitHub across 2,113 repositories and b) a large-scale scan of 12.3M index entries using a deobfuscating AST scanner (GOAST) that we implemented. As a result, we identified 2,289 malicious versions of legitimate Go modules. We demonstrate that purely GitHub-centric searches fail to identify the full extent of the compromise and are only effective for as long as the affected code is present on the platform. Moreover, our proxy-based measurements of the takedown-remediation gap reveal that among artifacts later found to be GitHub-unobservable (i.e., removed or suspended), at least 99.4%...
Abstract:Noise-based backdoor attacks on diffusion models typically rely on input-time trigger injection, untargeted activation, and out-of-distribution target generation. Such assumptions reduce both the stealthiness and the practical relevance of these attacks. In this work, we present TEMPO-Diffusion, a targeted backdoor framework that localizes the malicious distribution shift to a temporal, in-distribution exposure. TEMPO-Diffusion supports: (i) targeted attacks on and to specific classes, (ii) multiple sub-image backdoors that reconstruct specific features within multiple, different output images and at multiple locations, and (iii) in-painting with time-conditioned triggers. To study relevant, practical security concerns in leveraging backdoored diffusion models for synthetic training data, we also introduce CALISA: a balanced, region-aware traffic-sign dataset emphasizing...
Abstract:While human factors in the privacy of fertility tracking apps -- health trackers that record user's menstrual or pregnancy data -- has been the subject of extensive study, little attention has been paid to the technical aspects of apps' data handling practices. We conduct a network-based measurement study of a corpus of 20 Android fertility tracking apps from the Google Play Store, focusing on how user data is shared with third party advertising services. After systematizing app features, we conduct a series of standardized user interactions across all apps in an environment that records TLS-stripped network traffic. In a subset of apps (n=5) we identify explicit leakage of user health data as well implicit leakage through highly targeted contextual advertising URL's. Equally importantly, we observe additional apps that use an ad-based monetization model without apparent...
Abstract:We present CyberChainBench, a benchmark for evaluating LLM-based agents on smart contract security across three complementary tasks: vulnerability detection, exploit generation, and patch synthesis. Built from 541 real-world exploit incidents from DeFiHackLabs spanning 9 EVM chains, the benchmark provides end-to-end on-chain evaluation where agents interact with historical blockchain state through isolated evaluation environments orchestrated by Harbor, using tools to read code, trace transactions, and validate exploits on mainnet forks. Each case is anchored to a specific block and includes structured ground truth covering vulnerability type, localization, and attacker profit. Exploits are graded by economic impact on historical forks; patches are validated by replaying historical attacks and legitimate transactions as fail-to-pass test oracles on a proxy-upgradeable subset...
NANDini (Networked Agents Natural Distillation of Interconnected Nodal Intelligence) envisions an automated ecosystem where intelligent agents independently create, process, and exchange data to drive decisions at scale. Realizing this vision requires infrastructure beyond agent discovery and communication: agents must be able to advertise, evaluate, and verify the datasets they hold. Current protocols, including NANDA for federated registry and A2A and MCP for inter-agent messaging, address identity and communication but provide no mechanism for structured data exchange. Existing enterprise data-sharing frameworks, such as IDS-RAM, Gaia-X, and Ocean Protocol, assume human-in-the-loop governance that is incompatible with autonomous, real-time agent interactions. We introduce Data Facts, a core NANDini concept: a lightweight JSON metadata schema that bridges agent discovery and data...
The proliferation of AI-powered image editing systems raises serious concerns because it allows personal images to be arbitrarily manipulated at scale, with minimal effort, and a lower barrier to entry. Prior work on image immunization adds imperceptible perturbations to an image to protect against unauthorized manipulations. However, these methods usually require access to the model weights and the image manipulating prompt. This significantly limits their use, especially against powerful commercial image-editors such as GPT-Image, Gemini Flash Image (Nano Banana), and Grok Imagine. To address this, we take a system-level view of the problem and identify a previously unexplored attack surface common to all major commercial image editing systems: pre-generation safety moderation.Rather than disrupting the generative model itself, we propose to immunize images by causing these...
Abstract:LLM coding harnesses grant agents broad file and shell access, yet the configuration layer that steers them -- rules files, agent definitions, IDE-specific markdown -- is largely unmanaged. A prevalence study of 10,008 public GitHub repositories (n=6,145 agent config files) finds that agent configurations propagate as undeclared shared components: 10.1% of tracked paths are SHA-256 exact duplicates across independent repositories (fork-adjusted, threshold-independent), with 75.5% of clone pairs crossing organisational boundaries. Two further patterns are indicative: configurations are rarely revised (58% single-commit; 0.4 vs 0.6 commits/month age-normalised against CI/CD workflows), and rarely declare permission boundaries (<1% of agent configs vs 33% of Actions workflows, n=31 true positives). We propose a deterministic control plane above the harness that maps one-to-one to...
Abstract:Agent safety in high-stakes domains requires formal policy enforcement, but most existing approaches either rely on probabilistic guardrails (fine-tuned classifiers, prompt-based steering) that offer no formal guarantees, or on hand-coded symbolic enforcement that does not scale to the breadth of real policy specifications. We present an autoformalization pipeline that translates agent prompts, MCP tool descriptions, and natural language policy documents into formally verified policies using an LLM-based generator-critic loop. The resulting policies are written in the Cedar Policy Language. On the MedAgentBench benchmark, our autoformalized policies cover substantially more of the source natural-language specification than the hand-coded symbolic enforcement in prior work.
Abstract:Security misconfigurations in Terraform Infrastructure-as-Code are a growing risk in cloud deployments, and large language models are increasingly used as automated repair agents. Existing evaluations often treat a repair as successful when the targeted static-analysis finding disappears, without checking planning validity, behavioral change, or security intent. This paper presents TerraProbe, a five-layer oracle framework for evaluating LLM-assisted Terraform security repair. We apply TerraProbe to 288 first-pass repairs generated by gemini-2.5-flash-lite, GPT-4o, and Claude 3.5 Sonnet across 68 real-world TerraDS modules and 28 controlled injected-defect modules. The results show that targeted Checkov removal overstates repair success. Although targeted removal reaches 83.3 percent for the primary model, full-scanner cleanliness drops to 10.4 percent, Terraform planning...
Retrieval-augmented systems routinely present citations alongside generated answers, yet a citation does not confirm that the corresponding source meaningfully shaped the output. This paper introduces ProvenAI, a framework that decomposes transparency in multi-hop question answering into three independently measurable layers: answer correctness, citation fidelity against benchmark supporting evidence, and per-document influence under leave-one-resource-out intervention. Targeting the HotpotQA distractor benchmark through a seven-stage pipeline covering data normalisation, retrieval indexing, citation-aware answer generation, attribution auditing, ablation-based influence estimation, batch evaluation, and interactive inspection, ProvenAI evaluates 7,405 validation examples drawn from a canonical corpus of 509,300 passages. The system achieves 53.53% answer accuracy alongside a mean...
Abstract:As hardware security threats escalate across semiconductor manufacturing and advanced packaging, there is a growing need for novel physical mechanisms to counter sophisticated attacks such as tampering, counterfeiting, and supply chain infiltration. This paper presents Nanoelectromechanical Systems (NEMS) as an emerging class of hardware security primitives that enable physical assurance, tamper detection, and authentication at the device level. Leveraging mechanisms such as NEMS-based Physically Unclonable Functions (PUFs), shape memory materials, resonance-based fingerprints, and physical unlocking architectures, these systems offer enhanced resilience to reverse engineering, side-channel attacks, and environmental degradation. By harnessing mechanical unpredictability and fabrication-induced nanoscale variability, NEMS technologies introduce a physically robust and...
With the growing adoption of Confidential Computing, running databases in confidential virtual machines (CVMs) such as AMD SEV-SNP has become an attractive way to protect sensitive cloud data with minimal changes to legacy DBMSs. However, analytical queries in such CVMs often suffer substantial overhead, and prior database work has largely stopped at benchmarking these slowdowns rather than optimizing them. We show that this problem stems from a hardware-software mismatch: query optimizers still rely on KVM-oriented (non-encrypted VM) cost assumptions that no longer hold in CVMs. To address this, we propose a lightweight CVM-aware cost calibration. It models two dominant sources of optimizer-facing overhead: data movement and RMP-related translation using simple physical proxies already available to the optimizer. Experiments show that the calibration significantly narrows the KVM/CVM...
Autonomous AI agents may begin to perform consequential, irreversible actions such as clinical prescribing and production software deployment. This paper observes that human institutions have governed powerful autonomous actors not by monitoring their reasoning but by requiring independently attested evidence at the point of consequential action. We formalise this institutional pattern as a computational governance model for AI agent systems. Under the proposed model, an agent retains full autonomy over planning and reasoning but holds no execution authority over designated high-risk actions. Execution is conditional on preconditions that are each independently attested by a separate authoritative source, cryptographically bound to a declared intent, and evaluated by a deterministic policy. Decisions are recorded in a tamper-evident log amenable to independent re-verification. We...
Abstract:Several theoretical works have tried to explain the adversarial vulnerability of deep neural networks through properties of high-dimensional geometry. However, the assumptions underlying these works are rarely examined empirically, and systematic evidence remains limited. In this work, we present a systematic study of the role of input dimensionality in both the emergence and the targeted control of adversarial examples. We first analyse the scope and limitations of existing theoretical frameworks based on concentration of measure, showing that real image classes exhibit strong empirical localization, beyond what such theories typically assume. We then conduct an extensive empirical evaluation across hierarchical image datasets spanning a wide range of input dimensionalities and diverse neural architectures. Our results consistently show that adversarial examples become easier...
Hash Learning (HL) is an efficient representation learning approach that maps real-valued data into compact binary representations. Traditional HL methods typically require users to upload personal data to a central server, which is incompatible with increasingly stringent data security regulations. Federated Learning (FL) provides a decentralized paradigm for learning globally optimal models without centralizing private data. However, most FL methods rely on transmitting large-scale real-valued gradient information, leading to high communication overhead and potential privacy risks. Integrating HL into FL is a promising solution. Nevertheless, existing HL methods suffer from limited representational capacity of binary codes, which may degrade model accuracy. To address this challenge, we propose a Federated Hash Projected Latent Factor (FHPLF) model. FHPLF introduces three key...
Abstract:Bot detection on social platforms has historically relied on a mix of account-metadata features and features extracted from the text of posts and profile fields. The arrival of capable language models complicates the latter. A bot operator can run every post through GPT-4 or Claude and produce text whose surface statistics are difficult to distinguish from those of human writing, which weakens the predictive value of content-derived features. This paper asks how much of the detection problem can be solved by features that an attacker cannot easily manipulate at low cost: the age of the account, follower and friend counts and their ratios, profile completeness, and the structural properties of the handle. On a publicly redistributed corpus of 2,432 Twitter accounts with manually verified labels (43.0% bots), a random forest using only these account-history features achieves...
Reliable action generation for multi-stage robotic manipulation remains challenging for Vision-Language-Action (VLA) models. While existing flow-matching VLA policies offer strong multimodal grounding and generalization, they typically employ a single shared action expert, limiting their ability to capture phase-specific control patterns across distinct execution stages. We propose a plug-and-play Phase-Aware Mixture-of-Experts Action Module (PAMAE), as a step towards more reliable phase-consistent action generation. PAMAE replaces the original flow-matching action expert with a sparse expert mixture while preserving the pretrained VLA backbone. PAMAE introduces a phase-aware router that leverages execution-phase cues to allocate action generation across experts, supported by a lightweight phase prediction head and a routing alignment objective. To stabilize specialization, we adopt a...
Bridging abstract semantics and precise physical control remains a fundamental challenge in open-world robotic manipulation. While recent data-driven policies show promise, their reliance on isolated contact points or latent affordance embeddings lacks the rigorous kinematic constraints necessary for complex articulated objects.To overcome the limitation, we introduce RelAfford6D, a novel training-free framework centered on a Relational 6D Affordance Graph. Given a free-form instruction, our system deduces a semantic topology linking a primary interacting part to its physical anchor. By elevating these topological nodes into precise metric $SE(3)$ poses via vision foundation models, we analytically formulate downstream execution as a kinematic constraint satisfaction problem. The robot synthesizes continuous trajectories by tracking strictly defined physical manifolds (e.g., revolute...
Intraoral scanning is widely used for digital optical impressions in prosthodontic, implant, and orthodontic treatment, but full-arch and long-span scanning remain labor-intensive tasks with limited automation. In the confined oral cavity, operators must continuously adjust scanner motion while accumulating narrow field-of-view observations, making reconstruction quality sensitive to missing tooth surfaces and operator workload. We propose RobOralScan, which, to the best of our knowledge, is the first reinforcement learning (RL)-based pipeline for robotic automatic intraoral scanning. RobOralScan introduces a geometric memory-based observation space that accumulates partial scan observations into a tri-state geometric representation, allowing the policy to reason over scan history and insufficiently observed regions. It further introduces tooth-wise coverage learning, combining...
Reinforcement learning (RL) has become a prominent framework for developing driving experts in autonomous vehicles. However, most existing RL-based experts are designed to output direct control commands (e.g., throttle, steering), which suffer from a lack of interpretability, high spatial complexity in learning road geometries, and poor compatibility with modern end-to-end planning architectures. To address these limitations, we propose a novel trajectory planning architecture for RL driving experts that integrates an RL policy with a polynomial-based trajectory planner. By employing a Frenet-frame coordinate system, our method simplifies complex road geometries into a curvilinear framework, offering a structured coordinate prior that facilitates policy learning. Furthermore, we incorporate a kinematic feasibility check into the planning stage to ensure that generated trajectories...
Real-world robotic manipulation demands spatial grounding, task-aware reasoning, and precise control. Learning such capabilities becomes particularly challenging in the low-data regime. Prior methods often trade off scalable task-level reasoning and explicit physical structure: video-based approaches can drift geometrically over long horizons, 3D approaches often require depth sensing, and many flow/trajectory interfaces emphasize motion without an explicit RGB-only geometric representation. We introduce SSI-Policy, a modular framework built around a Structured Scene Interface (SSI) -- a unified, RGB-only intermediate representation that jointly encodes monocular depth features, language-grounded object layouts, and instruction-conditioned 2D motion trajectories. Critically, SSI is robot-agnostic and trainable from action-free video, decoupling perception from control so that the...
Bearing-odometry-based cooperative localization has attracted increasing research interest due to its minimal infrastructure requirements, low communication bandwidth and broad applicability in complex environments. However, existing 6-DoF approaches still face challenges in rapidly obtaining accurate and reliable inter-robot pose estimation, as the system is prone to observability degeneracy under specific motion patterns. To address these issues, we first propose a closed-form 4-DoF inter-robot pose estimator, which relaxes nonlinear constraints for rotations estimation and employs error projection for translations estimation. We then conduct a theoretical analysis of the system's observability, identifying degeneracy under two typical motion patterns: collinear and shape-preserving formations. The analysis further shows that the proposed 4-DoF system requires less stringent motion...
第一作者: Duncan William Calvert · 方向: 机器人操作 · 来源: cs.RO
06/25 06:30
人形机器人移动操作行为树运行时编辑全身控制
Humanoid robots could take on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces must coordinate locomotion, whole body motion, perception, contact, and operator supervision. This thesis presents a robot-local, runtime-editable behavior authoring and runtime system. Our system strives to be maximally observable, predictable, and directable following Coactive Design principles developed during the DARPA Robotics Challenge. Our operator interface remains continuously synchronized to the robot for runtime authoring, monitoring, and repair. Our behavior architecture uniquely combines object-centric Affordance Templates, organization and logic inspired by Behavior Trees, and runtime-editable perception through a behavior scene and primitive scene actions. Action primitives build on a whole-body controller that supports...
Building a generalist robot that can leverage prior knowledge for continuous task adaptation remains a significant challenge. Previous works alleviate the catastrophic forgetting problem by parameter-efficient fine-tuning for single-task adaptation. However, they fail to extract reusable skills and model the interaction with other skills effectively. Recent works try to address these issues by learning prompts. Differently, this paper presents an architectural perspective on the Lifelong Mixture of Dynamic Experts (\textit{LiMoDE}), a novel two-stage learning scheme for lifelong robot manipulation. Specifically, a dynamic MoE structure is first proposed in the multi-task pre-training stage to learn prior knowledge, where a varied number of heterogeneous experts are activated based on the motion information to address different short-term manipulations. Subsequently, in the task...
Abstract:We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500 hours of data spanning over 130K episodes across 195 diverse tasks. Furthermore, we open-source our accessible hardware setup, training infrastructure, and simulation pipeline. We also release 400 hours of sim-teleop data and provide a co-training recipe that produces correlated simulation and real-world evaluation, offering a reliable proxy for ablating model-design and training decisions before costly real-world evaluation. We explore various training recipes and compare common architectural choices for Diffusion Transformers (DiT) and Vision-Language-Action (VLA) models, grounding our findings in real-world evaluations. The resulting policies successfully execute dexterous tasks such as box...
Abstract:Going beyond predicting robot actions, World Action Models (WAMs) can also generate future visual observations. We build on this generative capability to propose Recurrent Generative Replay (REGEN), a continual imitation learning framework that synthesizes pseudo-replay trajectories, enabling a robot policy to rehearse previously learned tasks without storing their original human demonstrations. During continual adaptation, REGEN recursively queries the WAM to synthesize pseudo-replay trajectories conditioned only on prior task instructions and current-task observations. Experiments in both simulation and real-world manipulation settings show that REGEN reduces catastrophic forgetting by up to $50\%$ relative to sequential fine-tuning, while approaching the performance of privileged experience replay methods that require access to real replay data. Finally, we analyze the...
Abstract:We study whether pre-deployment evaluation rollouts can be reused to supervise policy selection. Robot teams routinely smoke test candidate vision-language-action (VLA) policies, then compress those trials into a global winner. RouterVLA evaluates this idea with outcome-disjoint cross-fitting: recorded probes build a profile for each frozen expert, and a separate trial scores the selected expert without entering its profile. Across 34,752 LIBERO-Plus rollout records, a transparent probe-success rule raises held-out success from 0.4686 to 0.6149, a +14.64pp gain. Under the scalar-only profiles studied here, learned scorers are statistically indistinguishable from this rule, showing that commissioning carries the routing value while extra scalar scorer capacity does not create it. Reusing the scored trial inflates the measured gain by $1.87\times$, so credible ledger routing...
Abstract:Robots deployed in the real world rarely operate under a single fixed dynamics model: wind changes, payloads vary, batteries drain, contacts shift, and hardware wears. Yet most learning-based controllers are trained once and deployed as if learning were complete. This prevents the robot from using deployment experience to further improve task performance. In this work, we propose a continual learning framework that uses real-world experience to improve robot policies under hidden and recurring dynamics. Our method learns a condition-aware dynamics model from real state-action trajectories by combining an analytical physics prior with a neural residual for unmodeled effects. A recurrent encoder infers the current hidden condition from recent interaction, and this estimate conditions both the residual model and the policy. Policy learning is performed via differentiable...
Abstract:Autonomous drone racing is a fundamentally challenging regime for autonomous aerial robots, requiring time-optimal control while operating under persistent actuation saturation. While reinforcement learning (RL) has achieved human-level performance in this domain, current methods fail to generalize; policies trained on specific environments often crash immediately in unseen configurations. This failure reflects the intrinsic difficulty of zero-shot generalization in agile flight, arising from high-dimensional task variation and the tight coupling between safety and performance at high speeds. Existing approaches that improve generalization impose a substantial cost on flight speed: control policies must significantly degrade performance to achieve even modest levels of generalization. In this work, we propose a framework for zero-shot generalization in agile flight for...
Abstract:Dexterous manipulation depends on contact events that are fast, local, and often visually occluded. Piezoelectric microphones offer a compact and high-bandwidth way to sense these interactions, but the resulting vibro-acoustic signals are difficult to simulate faithfully enough for end-to-end sim-to-real policy learning on dexterous robot hands. We propose VibeAct, a framework that bridges real vibrotactile sensing and simulation-based reinforcement learning through a shared physical representation of contact and slip. In the real world, we embed piezoelectric microphones into a dexterous robot hand and collect vibro-acoustic data through teleoperation, then replay the recordings in a calibrated digital clone to automatically label per-finger contact and slip. A tactile estimator learns to predict contact and slip from real microphone waveforms, while manipulation policies are...
Abstract:Vision-Language-Action (VLA) models are commonly pretrained on robot demonstrations by jointly mapping visual observations and language instructions to actions. However, dense visual-action supervision can dominate the comparatively sparse language-action signal. As a result, policies may rely on visual shortcuts rather than learn how language conditions action execution, making them sensitive to visual variations. To address this limitation, we propose LA4VLA, a language-action pretraining framework that enables policies to acquire language-conditioned action priors without visual observations. These priors capture reusable manipulation skills shared across tasks and scenes, reducing reliance on scene-specific visual cues. Specifically, LA4VLA decomposes expert demonstration trajectories into atomic action segments and pairs each segment with a corresponding low-level action...
Abstract:Recently, a few works have made early attempts to study test-time scaling for embodied tasks. However, two major challenges remain unsolved: (1) reasoning can effectively improve the performance of the policy, but its scaling mechanism has seldom been studied; (2) historical information is essential, as embodied tasks are inherently long-horizon and sequential, making sole reliance on current observations for action scaling inadequate due to the lack of historical context utilization. To address these challenges, we introduce E-TTS, a modular and plug-and-play Embodied Test-Time Scaling framework that unifies reasoning and action scaling for robotic manipulation via history-aware iterative refinement with vision-language verifiers. To support joint reasoning-action scaling, E-TTS performs reasoning-action joint sampling and scoring in a pairwise manner. To better utilize...
Abstract:Building persistent embodied agents in unstructured environments demands unified orchestration of heterogeneous tools spanning both cyber (APIs, IoT) and physical (manipulation, navigation) domains, coupled with autonomous recovery from physical failures that inevitably arise over extended operation. Existing systems treat these as separate problems: VLM-based planners lack a unified cyber-physical action space, agent frameworks accumulate unbounded context that degrades temporal coherence, and VLA policies execute open-loop without detecting their own failures. We argue that persistent autonomy requires not a monolithic model but a hierarchical asynchronous architecture with explicit separation of planning, memory, and verification. To this end, we present OmniAct, a framework integrating a multimodal semantic planner for skill routing across unified action spaces, an...
Abstract:High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulation. Existing data-collection methods largely rely on robot teleoperation, which is constrained by hardware accessibility, operator expertise, and limited efficiency. Inspired by the Universal Manipulation Interface (UMI), we propose HumanoidUMI, a portable and robot-free framework for humanoid whole-body data collection. HumanoidUMI uses lightweight VR devices and UMI-inspired grippers to collect sparse human keypoint trajectories, wrist-view observations, and gripper actions. These demonstrations train a high-level policy to predict future keypoints, which are retargeted to robot-native whole-body references and executed by a whole-body controller. Experiments in five real-world scenarios...
Abstract:I describe my solution to the LeHome Challenge 2026, an ICRA 2026 competition on bimanual garment folding. The system placed 1st of 62 teams in the online (simulation) round and 2nd in the real-world final. It improves a vision-language-action (VLA) policy with a reinforcement-learning loop. The policy is its own value function: the same network that predicts actions also predicts success, progress, and a few task-relevant future quantities, and those predictions drive advantage estimation, live failure detection, and candidate selection. The work mostly recombines existing RL ideas with engineering and optimization contributions that can be used together as one recipe or individually: AWR + RECAP combined for flow-matching VLA; an asynchronous distributed training / rollout pipeline through HuggingFace Hub; inference-time hyperparameters optimization via Thompson sampling; a...
Abstract:Long-horizon robotic manipulation is highly sensitive to physically infeasible transitions, contact-induced disturbances, and the lack of effective self-correction during execution. Although Vision-Language-Action (VLA) models provide strong task grounding through multimodal learning, they typically generate actions in a feed-forward manner without explicitly checking physical feasibility or diagnosing execution errors online. We present PhysReflect-VLA, a plug-and-play execution-time reliability framework that augments VLA policies with physical feasibility evaluation and structured self-reflection in a closed-loop control pipeline. A Feasibility Operator evaluates whether candidate actions induce dynamically consistent state transitions; an Action Explanation Operator verifies transition coherence; and an LLM-based Reflection Module analyzes state discrepancies to generate...
Abstract:In embodied intelligence, safety is a prerequisite for reliable robot deployment in the physical world. Current vision-language-action (VLA) models continue to advance toward general-purpose task capability, yet their embodied safety limits remain poorly understood. To address this gap, we introduce ForesightSafety-VLA, a diagnostic benchmark that makes safety the primary evaluation target for VLA systems. We define a 13-category safety taxonomy covering physical interaction safety (Safe-Core), instruction-side safety (Safe-Lang), and perception-side safety (Safe-Vis), and evaluate policies under three controlled dimensions of variation -- scene structure, language command, and visual observation -- so that failure sources can be diagnosed rather than hidden in a single aggregate score. Beyond binary task success, ForesightSafety-VLA measures process-level risk through...
Abstract:Large-scale point cloud maps are essential for robotics and spatial intelligence tasks. UAVs provide an efficient means for large-scale map acquisition; however, due to limited flight endurance and onboard storage, mapping a large-scale scene within a single flight remains difficult. Existing multi-session map merging methods can extend the mapping range, yet in UAV scenarios they still struggle to simultaneously suppress long-range drift and preserve local geometric accuracy. To address this issue, an uncertainty-aware multi-session point cloud map merging and coarse-to-fine optimization system is proposed. The proposed method first performs initial multi-session map merging based on a scene graph, and then incorporates RTK observations through an RTK spatiotemporal alignment module, where temporal offsets are estimated using Dynamic Time Warping (DTW), and continuous RTK...
Abstract:Learning robust navigation policies directly from visual observations remains a fundamental challenge in vision-based robotic navigation. In end-to-end imitation learning approaches, the visual encoder and action decoder are jointly optimized using a single action loss, which provides only an indirect supervisory signal to the encoder. This indirect supervision frequently results in the encoder learning ambiguous, action-agnostic representations. The problem is further complicated by substantial variations in scene structure and appearance across diverse environments, as well as the prevalence of visual distractors inherent to real-world navigation settings. Such action-agnostic features cause the navigation policy to produce inconsistent actions at ambiguous decision points, leading to navigation failure. To overcome these limitations, we propose ORION (Ordinal Neural...
Abstract:Vision-Language-Action (VLA) models have shown strong potential for generalizable robotic manipulation. During fine-tuning, however, action supervision applies equally across all timesteps, without structured supervision on which manipulation stage the robot is in or what the next gripper-event target should be. This causes failures to concentrate around challenging gripper-event transitions. To address this, we propose StaKe, a plug-in auxiliary supervision framework that automatically derives two complementary signals from demonstration gripper states without manual annotation: a stage classifier that identifies the current manipulation stage, and a keyframe predictor that estimates the target joint action at the next gripper transition. Both are modeled as lightweight auxiliary heads that enrich the learned representations during training, while leaving the base VLA policy...
Abstract:Humanoid motion imitation requires not only accurate perception of human kinematics but also faithful reproduction of physical interactions with the environment. However, existing pipelines rely primarily on vision-based motion capture and kinematic imitation, largely ignoring contact dynamics, leading to artifacts such as foot sliding, floor penetration, and unstable behaviors. In this work, we revisit humanoid motion imitation from the perspective of physical grounding and leverage pressure as a unified modality across perception and control. We present PressMimic, a framework that integrates pressure into the full pipeline from motion capture to humanoid control. In the perception stage, we introduce FRAPPE++, a multimodal model that fuses RGB and pressure to jointly estimate 3D pose and global motion, where pressure provides explicit contact and support constraints to...
Abstract:Motion feasibility prediction plays a central role in robotics, particularly in task and motion planning and manipulation. A major bottleneck for this problem in cluttered environments is that infeasible planning attempts by Sampling-based motion planners (SBMPs) can incur substantial computational cost. Also existing approaches for infeasibility certification are limited to low-dimensional configuration spaces and often assume simplified geometric environments represented by primitive objects with known parameters. We study the complementary problem of learning motion feasibility prediction directly from raw RGB-D observations for a 7-DOF manipulator operating in realistic cluttered scenes. We introduce the first large-scale benchmark for this setting, comprising 2.7M grasp feasibility labels over 88 scanned objects and 190 cluttered tabletop scenes. We benchmark three...
Abstract:World Action Models (WAMs) generate actions together with predicted futures, offering a powerful interface for robot decision making. In contact-rich manipulation, however, visually plausible futures can be physically incomplete: insertion, assembly, search, and reorientation often depend on slip, jamming, contact normals, or small alignment errors that are weakly visible or hidden in RGB. A natural solution is to predict future tactile states, however, we identify tactile pollution, a failure mode where unconstrained tactile-token injection degrades video and action prediction by forcing a visual dynamics model to absorb sparse, local, event-driven contact signals. To address this, we propose Tactile-WAM, a touch-aware WAM with a Tactile Asymmetric Attention Mechanism (TAAM). TAAM combines a VideoClean mask, which blocks video-query access to tactile key/value tokens while...
Abstract:This paper focuses on the hardware specifications required for a table tennis robot to beat professional players. After analyzing the motions of elite players, we defined target specifications for the workspace, payload, external-force resistance, physical performance, serve capability, and end-effector accuracy. Based on these specifications, we developed "Ace", a custom 8-DoF robot. The mechanical structure was improved through topology optimization to minimize mass while preserving stiffness. Motor and gearbox selection was optimized using an inverse-dynamics torque model. Low-order per-joint dynamics models with delay compensation were identified and integrated into simulation to enable the use of an RL control policy. Experiments demonstrated repeated full-stroke swings with a cycle time of 0.8 s and a peak racket-center velocity of 22 m/s. The robot successfully defeated...
Abstract:Handheld data collection systems, such as the Universal Manipulation Interface (UMI), enable scalable data collection across diverse environments but only capture observed actions rather than the desired actions executed by a robot controller. In contrast, teleoperation captures desired actions directly, but is prohibitively time-consuming to collect. We revisit this trade-off through the lens of action validity across task phases. We observe that handheld trajectories provide valid supervision in tolerant, free-space phases, but lack dynamic feasibility in contact-sensitive phases, where tracking observed trajectories at high stiffness produces large, unsafe contact forces. We study the interaction between these two supervision types for contact-rich manipulation and find that training policies that combine handheld data with a small number of targeted teleoperated...
Abstract:A central challenge in deploying learned robot policies is inference-time behavior steering: redirecting a policy at test time to satisfy user preferences not anticipated during training, without retraining. Existing methods fail in two modes: end-to-end methods require fine-tuning or expert-level guidance, while neuro-symbolic methods rely on predefined symbols whose edits can result in logically reasonable but physically infeasible plans. To address this challenge, we propose ReStruct, which builds upon a neural automaton policy that decomposes a visuomotor policy into a high-level state-machine skeleton capturing task structure and a low-level continuous controller represented as a residual policy. Specifically, ReStruct adopts the automaton to represent the preference and incorporates it into the skeleton through a synchronous product, thereby reconfiguring the task...
Abstract:Complex multi-agent control tasks remain challenging for traditional rule-based and model-based approaches, motivating the adoption of learning-based methods. However, learning-based methods often struggle with sim-to-real transfer because they rely on accurate dynamics modeling or system identification and learn policies in low-level control spaces that are highly sensitive to dynamics mismatch, making them costly and fragile in complex environments. To address this issue, we propose a sim-to-real method for multi-agent control, which is insensitive to dynamics mismatch via effect alignment. Our method combines random environmental structure with discrete semantic actions through closed-loop control, elevating policy learning to a semantic abstraction level. Additionally, we develop an action synchronization mechanism that mitigates inter-agent action timing mismatches...
Abstract:A robot working alongside people must reason about what they have done, in what order, and with what intent. Video carries the spatial layouts, object histories, and gestures that language leaves underspecified, yet today's manipulation benchmarks pair an instruction with a single current image, offering no way to evaluate reasoning over observed human behavior. We introduce WatchAct, a benchmark for robot manipulation grounded in observed human behavior. Each instance pairs a real-world human-action video and a language instruction with an aligned simulator scene and an executable LIBERO task, enabling scalable and reproducible evaluation. WatchAct comprises 3,000 long-horizon instances across 14 tasks in four capability domains drawn from the cognitive demands of watching another agent: parsing events (Event Grounding), recovering procedural structure (Procedural Reasoning)...
Abstract:Multi-fingered robots promise the speed and dexterity of human hands, yet challenging problems such as precise assembly have remained out of reach. These tasks are contact-rich, making data collection for imitation learning difficult, and sparse-reward, making direct exploration with reinforcement learning (RL) intractable. Consequently, prior work has made progress by structuring the problem with specialized grippers, tool attachments, and environment fixtures. In this work, we argue that before a robot can perfect precise assembly, it must first learn to play. We further ask the question: what factors in the process of learning to play matter for precise assembly? We propose Play2Perfect, an RL framework for task-agnostic pretraining through play on diverse objects and goals, which is then perfected on precise assembly. The goal of play is to acquire reusable manipulation...
Abstract:Reinforcement learning (RL) for locomotion frequently converges to locally optimal but undeployable behaviors, such as vibrating limbs or scooting on the torso, that maximize return without producing a usable gait. We present MPC-Injection, a low-overhead method that steers RL toward a designer-preferred gait by inserting transitions into the replay buffer from a model predictive controller solving the same Markov decision process. Unlike reward shaping, MPC-Injection does not require redesigning the task reward, and unlike adversarial imitation learning, it adds no discriminator, no kinematic retargeting, and no auxiliary objective. Instead, the controller's preferred behavior is transferred to the policy purely through the replay state distribution. On a 2D walker in simulation and with sim-to-real evaluation on a Go2 quadruped, we show that MPC-Injection drives the policy...
Abstract:Many robotics problems, including trajectory optimization, inverse kinematics, and contact-rich motion planning, reduce to nonlinear programs (NLPs). Mature NLP solvers such as IPOPT can solve these problems, offering hard constraint satisfaction, optimality guarantees, and favorable scaling with problem dimension. These solvers underpin gradient-based methods in robotics, yet remain CPU-bound and solve only one problem at a time, preventing their integration into GPU-batched learning pipelines. On the other hand, sampling-based approaches such as reinforcement learning, model predictive path integral, and imitation learning have become the core of modern robotics research due to their ability to leverage GPU-batched simulators. These simulators can generate orders of magnitude more dynamics rollouts per second than was previously possible. If a GPU-batched NLP solver existed...
Abstract:Mobile manipulators need world models that are current, queryable, semantically meaningful, and usable under edge-compute constraints. This technical report presents KRVF, a source-aware semantic voxel world representation for edge mobile manipulation. Unlike reconstruction-centric mapping pipelines that primarily optimize global geometric fidelity, KRVF represents local world state as task-oriented voxels that encode occupancy, color, semantic evidence, temporal freshness, and evidence source. The representation separates measured occupancy from semantic-prior hypotheses, enabling depth-failure-aware object reasoning without silently corrupting persistent geometry. KRVF also closes a feedback loop between mapping and sensing by rendering map-prior depth for repair, and exposes task-level query operators for semantic objects and grasp candidates. The report formalizes the KRVF...
Abstract:This paper presents a hierarchical control framework using model predictive control (MPC) and reinforcement learning (RL) for active roll control to manage lateral load transfer during autonomous racing of a wheeled quadruped. The framework integrates offline time-optimal raceline generation, an online MPC planner that actively minimizes the lateral Load Transfer Ratio (LTR), and a low-level, whole-body RL policy deployed directly onto the robot's 16 actuators. The MPC is based on a vehicle dynamics bicycle model of the Unitree Go2-W platform. The robot's leg actuators act as active suspension where knee joints generate anti-roll torque to bank into turns. Physical track experiments demonstrate that active roll control reduces mean LTR by up to 44%, improves the fastest lap time by 8.7%, and boosts peak lateral acceleration capability by 21.3% to 1.98 $m/s^2$, maintaining...
Abstract:Robot autonomous navigation that accounts for surrounding human activities is crucial for ensuring both safety and natural human-robot interaction in real-world environments shared by humans and robots. Simulation of complex and diverse navigation scenarios serves as the foundation for training reliable robot navigation policies and accurately evaluating the performance of algorithms, offering an efficient alternative to manual supervision of real data. However, current human-aware navigation research faces significant challenges due to the scarcity of diverse, high-quality scene data. Existing simulation platforms often rely on handcrafted rules to approximate pedestrian behavior and lack the capability to provide extensive sensor signals, typically assuming perfect observations. To address these limitations, this paper presents NavIsaacLab, a comprehensive framework for...
Abstract:How do we learn to hit a tennis backhand? Not from a thousand hours of tennis tournaments on TV - we work with a coach and practice. We argue this is also the right recipe for teaching dynamic skills to humanoid robots. This follows from a structural property of dynamic skills: the outcome is decided by a short, crucial portion of the trajectory - for a backhand, the ~20cm of racket travel around ball contact. Getting this interaction window right requires coordinating the whole motion, so that control, physics, and morphology act in concert. Learning thus reduces to mastering a handful of distinct actions and, for each, practicing until the window comes out right. To this end, we introduce TaskNPoint, a training protocol which makes the coach-learner division of labor explicit. The human coach contributes four inputs: a discrete set of skills (e.g. different shots), one...
Abstract:RoboTales is a low-cost robotic storytelling system that animates narratives using expressive sock puppetry. Implemented autonomously on a Baxter robot as a test case, RoboTales synchronizes narration, gestures, and mouth movements to perform character-driven stories. In a pilot study, puppet-based storytelling outperformed a gesture-only mode, producing higher HRIES ratings and improved story recall, suggesting that embodied puppetry enhances engagement and narrative comprehension. Designed to be modular and platform-agnostic, RoboTales can be adapted to other manipulators and offers a screen-free alternative to passive media, supporting future deployment in child-centered learning environments.
Abstract:Logarithmic spirals are ubiquitous in biological appendages and provide an attractive morphology for continuum manipulators capable of reaching, wrapping, and grasping. Recently reported logarithmic-spiral robots demonstrated scalable fabrication and versatile grasping but lacked inverse kinematics and closed-loop control. This work presents the first morphology-specific closed-loop task-space control framework for logarithmic-spiral continuum arms. A segmented tendon-driven model with a centerline backbone and equilateral tendon routing is developed in MuJoCo to capture tapered compliance and contact dynamics. An analytical task-space Jacobian is derived directly from the logarithmic-spiral kinematics and combined with online Jacobian error compensation using a Broyden secant update and Kalman-filter estimation. The resulting controller continuously corrects modeling errors...
Abstract:Reinforcement learning (RL) for robotic manipulation often requires manually designing a dense reward function, which is difficult to tune and often fragile, or learning a reward from human demonstrations or preferences, which can be expensive. A recent line of work uses pretrained vision-language models (VLMs) as zero-shot reward models, replacing these costs with a single text prompt. However, we argue that a single global prompt is too coarse for long-horizon manipulation tasks with randomized initial conditions. The single-prompt VLM reward is near-flat for much of the trajectory, making early progress hard for the agent to detect. We propose Reinforced Micro-Task Learning (RMTL), an approach that decomposes a manipulation task into a small set of language-described micro-tasks and trains the agent to switch between them. At each step, the agent receives a multi-view VLM...
Abstract:Autonomous microrobots navigating biological vasculature could enable targeted drug delivery and thrombolysis, yet training control policies for realistic environments remains an open challenge. Prior reinforcement learning (RL) studies of microrobotic navigation have been limited to idealized geometries that omit complex hydrodynamic flow fields, confined branching structures, and dense cellular obstacles found in vivo. Here, we develop a physically grounded simulation of a blood capillary network, incorporating realistic hydrodynamic flow fields, explicit red blood cell dynamics, and anatomically derived branching geometry, and train deep RL agents to navigate it via chemotaxis. We systematically map the physical limits of navigation across robot size and swimming speed, revealing a forbidden regime where Brownian motion and flow overcome propulsion. Successful agents...
Abstract:We present OctoSense, an open-source sensor platform with stereo RGB and event cameras, LiDAR, a thermal camera, an inertial measurement unit, RTK-corrected global positioning system, and proprioception (CAN bus data from a car, and joint angles for a quadruped robot). The eponymous OctoSense dataset contains 59 hours of time-synchronized driving data across different types of environments at different times of the day, including situations with highly degraded sensors. We demonstrate multi-modal self-supervised learning using such real-world robotics data, where sensors have different representations, frequencies, latencies and noise. Our approach, a "late-fusion" masked autoencoder, (i) uses modality-specific tokenizers to account for different spatiotemporal characteristics of these sensors, and (ii) caches modality-specific tokens at inference time to process new...
Abstract:Sparse rewards are inherently challenging for reinforcement learning agents as they lack intermediate feedback to guide exploration and to correctly attribute the sparse success rewards to relevant parts of the trajectory. Naive reward shaping can induce reward hacking, yielding policies that exploit auxiliary signals instead of solving the intended task. Potential-based reward shaping (PBRS) guarantees preservation of the optimal policy set, but requires the definition of a heuristic potential function over the state space. In this work, we introduce the VLM-guided PBRS framework VLM-PBRS that learns the potential function directly from vision language model (VLM) feedback. We query a lightweight VLM to obtain preferences over image pairs and train a model of the potential function using these preferences. As this approach is based on potential-based reward shaping, it...
Abstract:Social-physical human-robot interaction (spHRI) has grown rapidly across robotics, human-computer interaction, human-robot interaction, and haptics. Yet, fragmented terminology and inconsistent methodologies make systematic synthesis difficult. To support scalable review practices, we evaluated the extent to which small language models (SLMs; < 1.5B parameters) can assist with title and abstract screening for a large spHRI systematic review. While no SLMs matched human reviewers' performance, the models operated locally and screened papers orders of magnitude faster. The combined SLM ensemble identified 39 papers reviewers missed, representing 10.29% of the final relevant dataset. These results demonstrate that SLMs can augment, rather than replace, expert reviewers and make large-scale literature reviews accessible and sustainable.
Abstract:Robots operating in real-world environments must in general be able to recognize previously unseen objects. As robotic systems move toward open-world autonomy, there is a growing, yet largely unmet, need for open vocabulary object detectors that are prompt-free and efficient enough for continuous deployment. We present AnomNOVIC, a two-stage known-workspace framework that combines a masked autoencoder (MAE) trained for anomaly detection, with NOVIC, a powerful real-time prompt-free open vocabulary image classifier. The MAE produces generic object-agnostic bounding boxes, allowing NOVIC to classify salient image regions without requiring a predefined candidate class list. We evaluate AnomNOVIC against strong open vocabulary baselines in a tabletop robot-object environment featuring the NICOL humanoid robot, reaching 47.1% AP / 57.5% AP50 for prompt-free recognition, and 59.0%...
The U.S. dispatched hundreds of rescue workers to help the Venezuelan government, as the injured overwhelmed hospitals and the death toll rose to 920. The Pentagon sent two ships, transport planes and helicopters.
Nicholas Rossi, 38, raped two girlfriends in 2008 and later fled to Scotland, prosecutors said. An attentive nurse treating him for Covid in 2021 identified him.
Two of the US military ships used in a blockade meant to pressure Nicolás Maduro have headed back toward Venezuela, this time with rescue teams, equipment and medical aid after devastating twin earthquakes struck the country this week.
This week, a special edition of Wall Street Week on the USMCA trade deal. The renegotiations are testing the future of an auto industry built on decades of cross-border integration. And, American farmers increasingly depend on exports to Canada and Mexico as other overseas markets become more diffic
The CEOs and co-founders of Earn Your Leisure, Rashad Bilal and Troy Millings, explain their educational platform that looks to help individuals gain financial freedom and generational wealth. They discuss how to ride the tech stock wave with Romaine Bostick and Katie Greifeld on Bloomberg's "The Cl
中文摘要 「Earn Your Leisure」首席执行官兼联合创始人Rashad Bilal和Troy Millings介绍了该平台如何帮助个人实现财务自由和代际财富,并探讨了如何把握科技股投资机遇。
Tennis champion Caroline Wozniacki sat down with Romaine Bostick and Katie Greifeld on the sidelines of The Wimbledon Court in Central Park. She discusses the future of the sport, player compensation, and advice for her fellow tennis star Serena Williams re-entering competition. (Source: Bloomberg)
Hub International Holdings Inc., an insurance broker backed by Hellman & Friedman, confidentially filed for an initial public offering whose proceeds could be used by the to pare its debt.
中文摘要 由Hellman & Friedman支持的保险经纪公司Hub International Holdings已秘密提交首次公开募股(IPO)申请,其募资所得将用于削减公司债务。
Kathy Kriskey, Invesco's Alterative ETF Strategy Head, helps make sense of oil's drop as ships continue to cross through the Strait of Hormuz despite attacks. She speaks with Romaine Bostick & Katie Greifeld on "The Close." (Source: Bloomberg)
Biolife Solutions Inc. has attracted takeover interest from parties including diagnostics company Repligen Corp., according to people with knowledge of the matter.