simplex-chat/simplex-chat
Haskell · ★ 13,849 · 🍴 792 · 📈 1,469 stars today
SimpleX - the first messaging network operating without user identifiers of any kind - 100% private by design! iOS, Android and desktop apps 📱!
Haskell · ★ 13,849 · 🍴 792 · 📈 1,469 stars today
SimpleX - the first messaging network operating without user identifiers of any kind - 100% private by design! iOS, Android and desktop apps 📱!
Python · ★ 4,125 · 🍴 578 · 📈 685 stars today
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.
Python · ★ 62,075 · 🍴 11,065 · 📈 322 stars today
openpilot is an operating system for robotics. Currently, it upgrades the driver assistance system on 300+ supported cars.
Go · ★ 35,788 · 🍴 2,043 · 📈 502 stars today
CasaOS - A simple, easy-to-use, elegant open-source Personal Cloud system.
HTML · ★ 124,177 · 🍴 13,083 · 📈 459 stars today
A list of SaaS, PaaS and IaaS offerings that have free tiers of interest to devops and infradev
TypeScript · ★ 22,341 · 🍴 1,783 · 📈 1,541 stars today
A format specification for describing a visual identity to coding agents. DESIGN.md gives agents a persistent, structured understanding of a design system.
C · ★ 135,706 · 🍴 8,168 · 📈 57 stars today
Microsoft PowerToys is a collection of utilities that supercharge productivity and customization on Windows
Python · ★ 33,072 · 🍴 2,814 · 📈 589 stars today
AI generates a real, editable PowerPoint from any document — native shapes & animations, speaker notes voiced as audio narration, and the option to follow your own .pptx template, not slide images · by Hugo He
TypeScript · ★ 22,122 · 🍴 3,170 · 📈 750 stars today
Clone any website with one command using AI coding agents
TypeScript · ★ 117,248 · 🍴 17,417 · 📈 674 stars today
Use Garry Tan's exact Claude Code setup: 23 opinionated tools that serve as CEO, Designer, Eng Manager, Release Manager, Doc Engineer, and QA
Python · ★ 53,773 · 🍴 11,011 · 📈 394 stars today
小红书笔记 | 评论爬虫、抖音视频 | 评论爬虫、快手视频 | 评论爬虫、B 站视频 | 评论爬虫、微博帖子 | 评论爬虫、百度贴吧帖子 | 百度贴吧评论回复爬虫 | 知乎问答文章|评论爬虫
JavaScript · ★ 21,389 · 🍴 3,640 · 📈 255 stars today
Unrestricted Open-source alternative to AI video platforms — Free AI image & video generation studio with 200+ models (Flux, Midjourney, Kling, Sora, Veo). No content filters. Self-hosted, MIT licensed.
Python · ★ 24,006 · 🍴 2,254 · 📈 780 stars today
Cognee is the open-source AI memory platform for agents. Give your AI agents persistent long-term memory across sessions with a self-hosted knowledge graph engine.
Rust · ★ 13,220 · 🍴 2,439 · 📈 18 stars today
dbt enables data analysts and engineers to transform their data using the same practices that software engineers use to build applications.
Python · ★ 38,624 · 🍴 4,651 · 📈 141 stars today
A visual, example-driven guide to Claude Code — from basic concepts to advanced agents, with copy-paste templates that bring immediate value.
TypeScript · ★ 179,758 · 🍴 22,101 · 📈 392 stars today
The open source coding agent.
TypeScript · ★ 57,124 · 🍴 3,985 · 📈 177 stars today
Spec-driven development (SDD) for AI coding assistants.
Python · ★ 13,710 · 🍴 2,591 · 📈 92 stars today
"Vibe-Trading: Your Personal Trading Agent"
Java · ★ 35,273 · 🍴 8,555 · 📈 20 stars today
Open Source Identity and Access Management For Modern Applications and Services
TypeScript · ★ 3,399 · 🍴 373 · 📈 239 stars today
Open source alternative to Semrush and Ahrefs
@sairahul1 · 121.4K 粉丝 · 2.9M 阅 · 506 赞 · 97 转
Most people use Claude Code like a fancy autocomplete. They prompt. They wait. They accept the first output. They are leaving 90% of the power on the table. There are 27 specific moves that separate
中文介绍 总结 27 个 Claude Code 隐藏功能与快捷键,指出多数用户仅将其当自动补全,浪费了 90% 潜力。内容涵盖进阶设置与操作技巧,适合希望深度挖掘 Claude Code 生产力、提升代码效率的开发者参考。
@sairahul1 · 121.4K 粉丝 · 876.6K 阅 · 547 赞 · 83 转
Emails. Formatting. Compiling reports. Preparing decks. Organizing files. Researching. Marketing. Writing. SEO. The average knowledge worker spends 60% of their day on above work that doesn't require
中文介绍 探讨利用 Claude Cowork 打造「一人公司」。作者指出知识工作者 60% 的时间被邮件、报告等琐事占据,分享通过 AI 接管低价值重复工作,从而将精力聚焦于核心业务与深度思考的实战工作流。
@Oracle__Market · 5.9K 粉丝 · 100.0K 阅 · 2.1K 赞 · 823 转
In 2026, autonomous AI agents have become one of the most effective strategies on prediction markets. Over 30% of all activity on Polymarket now comes from algorithmic and AI-powered wallets. We
中文介绍 揭秘 Polymarket 预测市场的 AI 交易现状。数据显示,自主 AI 代理已成最有效策略之一,平台超 30% 的交易活动来自算法与 AI 钱包。文章分析了 AI 代理在加密预测市场中的套利优势与运作机制。
@Oracle_Market__ · 25.1K 粉丝 · 99.3K 阅 · 2.8K 赞 · 224 转
In 2026, autonomous AI agents have become one of the most effective strategies on prediction markets. Over 30% of all activity on Polymarket now comes from algorithmic and AI-powered wallets. We
中文介绍 解析 Polymarket 中 AI 代理的交易生态。指出自主 AI 代理已成核心策略,平台超 30% 活动由算法和 AI 钱包贡献。内容聚焦 AI 代理在预测市场的自动化交易表现,及其对传统人工交易模式的冲击。
@base · 1.3M 粉丝 · 93.3K 阅 · 501 赞 · 127 转
News ■ Base MCP's new skills let agents transact, trade, lend, mint, and buy onchain across 13 apps: @yield @AskVenice @KyberNetwork @opensea @o1_exchange @Balancer @printr @bitrefill @flaunchgg
中文介绍 Base 官方发布周报,推出 Base MCP 新技能,支持 AI 代理在 13 个 DApp 中执行链上交易、借贷与铸造。此外,Base MCP 已接入 Perplexity,并推出桌面端应用,进一步完善 Web3 AI 基础设施。
@RhysSullivan · 57.2K 粉丝 · 86.1K 阅 · 503 赞 · 25 转
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,
中文介绍 深度复盘 MCP 协议落地不及预期的原因。作者指出,MCP 推出时 Sonnet 3.5 和 GPT-4o 等模型能力尚不足以完美驾驭工具调用,且业界对 AI 获取系统权限的安全顾虑过重,探讨了下一代 AI 工具链演进方向。
@0xDevin_ · 6.6K 粉丝 · 38.3K 阅 · 539 赞 · 5 转
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 分享切换到 Kimi 的深度体验。作者强调 Kimi 并非单纯聊天界面,而是包含 Claw 浏览器自动化引擎与 Agent Swarm 的完整系统。内容详细拆解了 Kimi 在模拟人类网页操作与多智能体协同方面的差异化优势。
@akshay_pachaar · 279.5K 粉丝 · 35.5K 阅 · 505 赞 · 54 转
Build by Google, explained as a step-by-step guide. Karpathy defined agentic engineering at Sequoia Ascent 2026 as the discipline that separates production-grade agent work from vibe coding. The core
中文介绍 解读 Karpathy 提出的「Agentic Engineering」概念及工具落地。作者结合 Google 新工具,详解如何将生产级 AI 代理开发与 vibe coding 区分。文章提供循序渐进的实战指南,聚焦工程化落地。
@ericzakariasson · 76.0K 粉丝 · 32.3K 阅 · 518 赞 · 29 转
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 分享「Human in the loop」模式下的 AI 编程心得。作者表示,当前用 AI 编码最大优势在于可并行运行多任务,人类只需在任务完成或需决策时介入。文章总结了这种异步协作模式如何大幅提升开发者时间利用率。
Oddly tiered releases to both OAI and ANT on the same day.
中文介绍 OpenAI发布GPT-5.6系列模型,包含Sol、Terra和Luna三个层级版本。该系列模型采取分级发布策略,并受美国政府限制,仅向受信任的合作伙伴开放使用权限。
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.
中文介绍 OpenAI预览下一代模型GPT-5.6 Sol。该模型在编程、科学和网络安全领域能力显著提升,并配备了OpenAI最先进的安全防护系统。
**OpenAI** previewed **GPT-5.6** with three variants: **Sol** (flagship), **Terra** (mid-tier), and **Luna** (lower-cost), launching under a restricted rollout mandated by the U.S. government, limiting access to trusted partners. **Sol** boasts enhanced cybersecurity and safety features backed by ov
中文介绍 OpenAI预览GPT-5.6系列,包含旗舰版Sol、中端版Terra和低成本版Luna。受美国政府要求,该系列限制发布,仅向受信任合作伙伴开放。其中Sol版增强了网络安全与安全防护功能。
It's happening.
中文介绍 OpenAI报告称,自2025年11月以来,其内部Codex输出token的中位数大幅增长:研究部门增长56倍,客户支持增长32倍,工程部门增长27倍,法务部门增长13倍。
中文介绍 Hugging Face推出新指南,介绍如何通过单条命令在HF Jobs平台上运行vLLM服务器,旨在简化大语言模型的部署与推理流程。
中文介绍 本期TLDR AI聚焦美国与OpenAI的监管动态,探讨当前人工智能经济的发展现状,并分析大模型扩展定律的最新进展与影响。
中文介绍 Hugging Face与AllenAI联合发布研究,探讨混合模型在词元预测任务中的表现,分析其在不同词元类型上的预测优势与性能差异。
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
中文介绍 MIT科技评论指出,人工智能正迅速重塑零售业。其最大变革并非虚拟试穿等前端应用,而是后台决策方式的转变,包括优化搜索与商品展示等幕后流程。
**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
中文介绍 Z.ai的GLM-5.2在编码和智能体基准测试中领先,Code Arena前端得分1595,推理准确率34.29%且零失败。Databricks通过优化将其速度提升至392 tok/s。
Move over, Harness Engineering, it is time for the harness of harnesses!
中文介绍 Latent Space报道AI工程领域的技术趋势,探讨从单一工程工具向综合性、多层次的AI系统调度与编排框架演进,标志着行业进入系统级框架整合的新阶段。
A new OpenAI research paper shows how AI agents are transforming work, enabling longer, more complex tasks and expanding productivity across roles.
中文介绍 OpenAI发布最新研究报告,阐述AI智能体如何改变工作方式。研究表明,AI智能体能够处理更长时间、更复杂的任务,并全面提升各类岗位的生产力。
中文介绍 本期TLDR AI资讯涵盖:Anthropic指控阿里巴巴相关事件,Google Gemini推出计算机使用功能,以及硬件领域关于新型芯片技术的最新进展。
In a rare double-interview, the Databricks technical leaders riff on what it will take for every company to build Agent Clouds
中文介绍 Databricks技术负责人Matei Zaharia和Reynold Xin接受专访,探讨前沿生态系统保持开放的重要性,并分析企业构建智能体云所需的关键条件。
中文介绍 Google DeepMind宣布在Gemini 3.5 Flash模型中引入计算机使用功能,使该模型能够直接操作计算机界面并执行相关任务,提升自动化交互能力。
中文介绍 Hugging Face与NVIDIA合作发布指南,介绍如何使用NVIDIA NeMo AutoModel加速Transformer模型的微调过程,以提升大模型训练效率。
周末 arXiv 通常无新公告。当前展示最近一次可用公告批次。
第一作者: Giulio Segalini · 方向: 密码学协议
DAG共识公平排序去中心化金融区块链提取价值
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...
论文介绍 针对去中心化金融中基于有向无环图共识协议缺乏公平排序保护的问题,本文提出Tilikum账本协议。该协议不依赖弱边,通过基于中位数的时间戳聚合或批次顺序公平实现排序线性化,同时保持低数据冗余与鲁棒的垃圾回收机制,旨在防止对手提取区块链可提取价值,提升DAG架构下的交易安全性与公平性。
第一作者: Fabio F.G. Buono · 方向: 安全研究
计算复杂性密码学假设观察世界Impagliazzo五世界
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...
论文介绍 本文对Impagliazzo的计算复杂性五世界框架进行扩展,放松了所有参与方均能观察全部输入的隐含假设。通过引入正交的观察轴,研究揭示了原框架无法表达的结构现象,并证明观察盲性与计算硬度相互独立。该工作定义了观察世界概念,系统分类了世界与观察者的组合,为理解密码学原语存在性提供了新视角。
第一作者: José M. Sacristán · 方向: 软件安全
恶意软件检测PE文件分析二维特征矩阵静态分析
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...
论文介绍 针对现有静态PE恶意软件检测基准将文件表示为一维向量而丢失节顺序与上下文的问题,本文提出PRISM数据集与特征表示方法。该方法将PE文件编码为保留节顺序的二维矩阵,并兼容现有模型。研究构建了包含数万个样本的大型语料库,为恶意软件家族分析与检测提供了更具结构感知能力的特征基础。
第一作者: Gerhard Backfried · 方向: AI 安全
大语言模型威胁评估维和任务开源情报
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.
论文介绍 本文提出一种将大语言模型应用于国际维和任务威胁评估的新方法。研究结合跨学科风险模型与开源情报收集,利用大语言模型从媒体文档中提取结构化威胁信息并映射至任务相关风险。评估表明,自动提取结果与人类专家判断高度一致,证明该技术能有效辅助分析师提升维和任务中的态势感知与风险评估效率。
第一作者: Goshgar Can Ismayilov · 方向: 密码学协议
零知识证明二维码验证移动平台zkSNARK
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...
论文介绍 针对零知识证明在日常交互中因技术复杂导致应用受限的问题,本文提出zQR框架,将zkSNARK证明编码于二维码中供移动设备离线验证。该框架集成区块链技术以实现审计与不可否认性,并引入大语言模型辅助自动生成验证电路。研究还分析了多重攻击面,推动了隐私保护技术在移动端的实用化落地。
第一作者: Ryan Fetterman · 方向: 安全研究
大语言模型微调安全逃逸漏洞因果干预
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...
论文介绍 本文研究大语言模型在安全分类微调中引入的隐蔽逃逸漏洞。研究发现,微调会使模型集中并特化继承自基础模型的分类电路,导致其在保持常规准确率的同时,对别名替换等保持行为的变换变得脆弱。通过因果干预定位分类电路,揭示了标准同分布评估无法发现的缺陷,为提升安全分类模型的鲁棒性提供新视角。
第一作者: Yukihiro Oda · 方向: 密码学协议
信息流分析类型系统pi演算安全格
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.
论文介绍 本文提出一种支持动态扩展安全格的类型系统,用于pi演算的安全信息流分析。该系统允许在程序执行中动态创建并插入新安全级别,扩展了原有的非干扰保密形式化方法。研究解决了安全格动态扩展的理论难题,并将简单双元素格推广至通用结构,为并发计算环境下的动态安全策略提供了坚实的形式化基础。
第一作者: Luca Bonaventura · 方向: 安全研究
物理层认证信道知识地图室内环境无线安全
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...
论文介绍 针对室内移动设备因多径和遮挡导致物理层认证困难的问题,本文提出一种基于信道知识地图的认证机制。该机制通过多个接入点估计主导信道的路径损耗与到达角,并将其与信道知识地图中历史位置邻域的测量值进行比对。研究在随机与最优攻击场景下进行了全面安全分析,提升了室内复杂环境下的设备认证可靠性。
第一作者: Bhavya Dixit · 方向: 密码学协议
无人机集群通信协议轻量级加密安全通信
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...
论文介绍 针对无人机集群通信协议缺乏内置加密导致流量易受窃听的问题,本文在真实测试床上设计并评估了安全通信方案。研究将轻量级加密框架及多种算法集成至定制无人机,在射频和无线局域网链路上实现了安全的机间与地空通信,为无人机集群的安全部署提供了性能参考与工程实践基础。
第一作者: Liwei Liu · 方向: 密码学协议
大语言模型模型上下文协议工具投毒攻击阈值方案智能体安全
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...
论文介绍 针对大语言模型代理生态中模型上下文协议面临的工具投毒风险,本文提出多工具阈值投毒框架。该方法利用阈值方案将恶意提示分散至多个工具中,以克服传统单体明文嵌入易被检测的缺陷。研究填补了多工具协同投毒的分析空白,揭示了智能体工具调用机制中的隐蔽安全威胁。
第一作者: Arash Ale Ebrahim · 方向: 密码学协议
近距离传输协议逆向工程协议感知模糊测试零点击攻击
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...
论文介绍 针对苹果与安卓近距离传输协议应用层安全缺乏研究的问题,本文开展首次跨平台逆向工程与协议感知模糊测试。研究重构了传输协议状态机并开发专用模糊测试工具。该工作系统揭示了专有协议在零点击攻击面下的潜在漏洞,为近距离通信安全评估提供了新方法。
第一作者: Prarabdh Shukla · 方向: 安全研究
大语言模型越狱攻击多臂老虎机在线学习安全基准
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...
论文介绍 针对非专家用户可能利用越狱技术攻击大语言模型的问题,本文提出一种基于多臂老虎机框架的自动化越狱策略。该方法通过少量查询进行噪声探索,从庞大的攻击集中高效在线学习最优越狱策略。同时构建了包含上万个恶意查询的安全基准,为评估大模型防御能力提供了系统性测试工具。
第一作者: Corban Villa · 方向: 软件安全
密码学误用漏洞发现人工智能差分测试软件安全
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...
论文介绍 针对密码学误用漏洞缺乏有效自动化检测工具的问题,本文提出基于人工智能的漏洞发现系统。该系统通过自然信号发现并验证漏洞,重新设计了差分测试技术,利用人工智能提升库级别安全问题的检测精度,并将常被忽略的差异转化为下游应用的具体漏洞线索。研究为密码学误用漏洞挖掘提供了全新范式。
第一作者: Yijun Chen · 方向: 软件安全
第三方风险治理传递性信任网络安全委托代理理论
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...
论文介绍 针对第三方供应商引入的网络安全风险治理问题,本文基于组织信任与委托代理理论,探讨数字服务中的传递性信任机制。研究以相关安全事件为案例,分析供应商环境中的安全事件如何演变为焦点组织的治理与问责难题。该工作为理解第三方网络安全风险的信任关系与委托问题提供了系统的理论框架。
第一作者: Xiao Yang · 方向: AI 安全
脉冲神经网络版权保护时间后门学习神经形态计算人工智能安全
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...
论文介绍 针对脉冲神经网络版权保护研究匮乏的问题,本文提出主动保护框架。该方法通过时间后门学习,将神经形态数据划分至特定时间片并嵌入授权令牌以实现版权验证。研究不仅解决了脉冲神经网络的版权保护难题,其时间分割特性还天然支持多用户授权管理,有效推动了神经形态计算的安全应用。
第一作者: Inderjeet Singh · 方向: AI 安全
检索增强生成红队测试蒙特卡洛树搜索多模态智能体人工智能安全
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...
论文介绍 针对多模态智能体检索增强生成系统攻击面扩大且现有红队测试方法高度重复的问题,本文提出统一跨表面红队框架。该方法在明确的新颖性约束下,执行基于记忆引导的蒙特卡洛树搜索,并利用检索上下文调节候选生成。研究有效避免了提示词复制,显著提升了跨模态攻击表面的红队测试覆盖率与有效性。
第一作者: Niharika Gauraha · 方向: 密码学协议
格基规约分治策略LLL算法密码学
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...
论文介绍 针对格基规约算法复杂度随维度快速增长的问题,本文提出MergeLLL分层分治框架。该方法将格基分裂为子基进行独立局部规约,并结合深度插入策略进行分层合并。此方法优先优化局部格结构,提升Gram-Schmidt正交性与数值稳定性,降低计算成本,且支持并行执行,适用于高维格密码分析。
第一作者: Christian Scano · 方向: 软件安全
安卓恶意软件对抗性攻击问题空间机器学习检测
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...
论文介绍 针对机器学习安卓恶意软件检测的问题空间对抗攻击存在构建失败或功能损坏等缺陷,本文提出DroidBreaker框架。该方法能生成既规避检测又保留原有功能的实用对抗性APK,克服了传统软件移植和字节码重写带来的副作用问题,为评估和提升安卓恶意软件检测器的鲁棒性提供了有效的测试工具。
第一作者: JJ Jia Jing Tan · 方向: 区块链安全
现实世界资产代币化持有成本区块链DeFi
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...
论文介绍 现实世界资产代币化面临物理资产持有成本累积的挑战,现有模型通常在发行者层面处理。本文提出可互换储备标准(FRS),将持有成本经济学直接引入链上。该确定性框架避免了代币重定基等损害资产可互换性与DeFi组合性的机制,为贵金属、大宗商品等实体资产的链上代币化提供了更优的经济模型解决方案。
第一作者: Ngoc Bao Anh Le · 方向: 密码学协议
图神经网络同态加密隐私保护边缘计算SIMD
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...
论文介绍 现有基于同态加密的图神经网络计算成本随全局图规模急剧增加。本文提出TGHE框架,利用交易图局部计算树的模板现象,在边缘端规范化子图并将结构相同的树打包至共享密文中,实现SIMD并行加密推理。该方法大幅降低了大规模金融图的隐私推理延迟,有效提升了边云系统中图数据处理的效率与安全性。
第一作者: Nada Lahjouji · 方向: AI 安全
大语言模型智能体隐私保护数据安全数据泄露
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...
论文介绍 大语言模型智能体处理敏感数据时面临隐私泄露风险,信息可能通过查询、中间结果、内存及消息交互等途径泄露。本文从数据中心视角对智能体隐私进行综述,围绕智能体接触的数据类型而非攻击方式组织研究框架。该工作系统梳理了数据交互中的隐私风险,为构建安全合规的数据驱动型智能体提供了理论参考。
第一作者: Abrar Alotaibi · 方向: AI 安全
对抗性攻击扩散模型多模态大语言模型视觉语言模型
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...
论文介绍 针对人工智能系统的对抗性评估在文本、图像、视觉语言模型及防御四个领域独立发展。本文在元研究层面进行信息融合,将基于扩散模型的跨模态攻击与防御整合至统一概念框架。该综述建立统一的分类法与评估标准,梳理跨社区的技术迁移,为多模态大模型的安全性评估与鲁棒性研究提供了系统性的研究议程。
第一作者: Subin Song · 方向: 密码学协议
5G网络广播认证TESLA协议系统信息基于身份签名
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基站广播未认证的系统信息易受伪造基站攻击,现有数字签名认证方案计算负担重。本文提出TESLA-for-5G协议,结合TESLA与基于身份的签名机制。该协议在稳态下利用对称MAC和延迟密钥披露进行消息认证,消除逐条数字签名开销,在保障资源受限设备安全接入的同时,大幅降低了认证计算成本。
第一作者: Ying Li · 方向: 安全研究
AI智能体运行时强制行为规范权限控制安全研究
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...
论文介绍 智能体通过第三方技能执行任务时,其行为规范缺乏可执行的运行时强制机制。本文提出VIGIL系统,解决行为监控中的上下文粒度挑战。该系统能精确决定观测事件、保留状态及干预位置,在运行时强制执行技能的访问权限与执行特权,有效防止智能体越权操作,提升了复杂代理系统的安全性和可控性。
第一作者: Subin Song · 方向: 密码学协议
端到端加密公钥验证隐私保护社交图
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...
论文介绍 针对端到端加密消息系统中公钥验证的安全与扩展性权衡问题,本文提出DKVE协议。该方法利用用户社交图进行隐私保护的交叉验证,结合不经意伪随机函数与不经意键值存储技术,在验证公钥的同时保护查询与联系人列表隐私,为大规模安全通信提供了去中心化的轻量级解决方案。
第一作者: Praneeth Narisetty · 方向: AI 安全
大语言模型代理提示注入带外防御AI安全
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...
论文介绍 针对大语言模型代理面临的间接提示注入威胁,本文对现有的带外防御机制进行系统性评估。研究将这些防御策略映射为经典完整性保护与最小权限原则,并进行结构化对比分析。同时指出当前防御方案仅依赖静态基准测试的局限性,为构建更具适应性和鲁棒性的AI代理安全框架提供了重要参考。
第一作者: Igor Santos-Grueiro · 方向: 网络安全
WebGPU隐私泄露浏览器安全侧信道
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...
论文介绍 针对WebGPU技术在网页中运行GPU负载时可能引发的隐私泄露问题,本文提出WGPULens测量框架。该框架在受控场景、真实页面加载及缓解策略下,系统评估浏览器、驱动与GPU共享状态暴露的隐私信号。研究揭示了持久管道编译状态等关键泄露面,为WebGPU的隐私保护与浏览器安全设计提供了实证依据。
第一作者: Yohan Beugin · 方向: 网络安全
隐私沙盒网络追踪Web API隐私保护
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 针对Web生态中隐私保护与实用性的平衡难题,本文对Google「隐私沙盒」API的采用与弃用过程进行纵向实证分析。通过挖掘历史网页归档与浏览器遥测数据,研究系统刻画了七年间不同网络参与者对该隐私替代方案的响应与演进。该工作为理解大型隐私倡议的落地困境及未来Web标准设计提供了深刻教训。
第一作者: Poojitha Thota · 方向: AI 安全
大语言模型意图验证安全防御AI对齐
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...
论文介绍 针对大语言模型在交互应用中易受对抗性攻击的问题,本文提出一种联合验证提示意图与响应危害的统一防御框架。该方法突破单一侧分析的局限,在模型输出前通过专门的意图与危害分析师及冲突裁决机制,全面评估交互安全性。此框架有效弥补了现有防御的盲区,为提升大模型应用的端到端安全提供了新思路。
第一作者: Sergey Kurilenko · 方向: 密码学协议
语义搜索同态加密隐私保护向量数据库
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...
论文介绍 针对语义搜索中向量数据库泄露导致的源文本重构风险,本文提出一种混合隐私感知搜索方案。该方法利用SVD截断与秘密正交变换对静态文档集合进行几何保护,同时采用CKKS同态加密对动态查询进行密文重排序。此方案结合几何与密码学技术,在保障数据隐私的同时,有效兼顾了大规模文档检索的计算效率。
第一作者: Minjae Bae · 方向: 软件安全
供应链安全Go语言恶意模块软件安全
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%...
论文介绍 针对Go生态系统中的自动化供应链攻击,本文通过GitHub手动排查与自研GOAST扫描器对千万级索引进行大规模测量,识别出两千余个恶意模块版本。研究揭示了仅依赖平台代码托管搜索的局限性,并量化了模块下架后的持久性残留问题,为完善开源软件供应链的威胁检测与长效治理机制提供了关键的实证数据。
第一作者: William Aiken · 方向: 网络安全
扩散模型后门攻击数据投毒模型安全
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...
论文介绍 针对扩散模型后门攻击隐蔽性与实用性不足的问题,本文提出TEMPO-Diffusion定向后门框架。该方法将恶意分布偏移精准定位至时间维度的分布内暴露,支持多类别定向攻击、多位置特征重建及时间条件触发修复。研究还引入了平衡的区域感知数据集,深入揭示了后门模型在生成合成训练数据时的潜在安全威胁。
第一作者: Yeeun Jo · 方向: 网络安全
隐私泄露生育追踪应用网络流量分析第三方广告
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 leakage of...
论文介绍 本文针对生育追踪应用的健康数据隐私问题,对20款Android应用进行网络流量测量。研究评估了应用与第三方广告的数据共享行为,发现部分应用存在显式健康数据泄露及通过定向广告URL的隐式泄露。该研究揭示了移动健康应用在广告变现下的数据安全隐患,为隐私保护监管提供技术依据。
第一作者: Jintao Huang · 方向: 软件安全
智能合约安全大语言模型智能体漏洞检测基准测试
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...
论文介绍 本文提出CyberChainBench基准,评估大语言模型智能体在智能合约安全中的漏洞检测、利用生成与补丁合成能力。该基准基于真实链上漏洞事件构建,提供端到端隔离环境,使智能体能与历史区块链状态交互并验证修复效果。此工作为衡量AI在去中心化金融安全中的防御能力提供了标准化框架。
第一作者: Jin Gao · 方向: 密码学协议
多智能体系统数据交换元数据模式JSON
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...
论文介绍 针对多智能体生态缺乏结构化数据交换机制的问题,本文提出Data Facts概念。这是一种轻量级JSON元数据模式,旨在桥接智能体发现与数据交换。该模式解决了现有通信协议和需人工干预的企业框架无法支持自主实时交互的局限,为大规模自动化智能体数据协作提供了基础设施支持。
第一作者: Anshul Nasery · 方向: 系统安全
图像安全恶意编辑防御虚假审核预生成安全检查
Abstract: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 this http URL than disrupting the generative model itself, we propose to immunize images by causing these...
论文介绍 针对AI图像编辑系统带来的恶意篡改风险,本文提出MIRAGE防御方法。不同于依赖模型权重的传统技术,MIRAGE利用商业图像编辑系统共有的预生成安全检查机制,通过添加扰动触发虚假审核,从而阻止未授权的恶意编辑。该方法为保护个人图像免受闭源模型滥用提供了系统级防御新思路。
第一作者: Padmaraj Madatha · 方向: AI 安全
大语言模型智能体代码生成配置管理确定性控制平面
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...
论文介绍 本文研究大语言模型编码智能体配置层缺乏管理的问题。通过分析万余个GitHub仓库,发现智能体配置常作为未声明组件跨仓库传播,且极少更新或声明权限边界。为此,研究提出一种确定性控制平面,将智能体配置映射为可管理组件,旨在规范AI编码智能体的行为边界,提升代码生成过程的安全性与可控性。
第一作者: Adam Mondl · 方向: 软件安全
智能体安全策略即代码自动形式化Cedar策略语言
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.
论文介绍 针对高风险领域智能体安全策略难以形式化执行的问题,本文提出一种自动形式化管道。该方法利用大语言模型生成器与评论器循环,将自然语言策略、智能体提示及工具描述转化为基于Cedar语言的形式化验证策略。实验表明,该方法比手工编码覆盖更多规范,为智能体安全提供了可扩展的强制保障。
第一作者: Manar Alsaid · 方向: 软件安全
基础设施即代码Terraform大语言模型安全修复
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...
论文介绍 针对大模型修复Terraform基础设施代码安全配置时产生欺骗性修复的问题,本文提出TerraProbe五层评估框架。该框架不仅检查静态分析警告是否消除,还验证规划有效性与安全意图。研究发现仅消除特定警告会严重高估修复成功率,此框架为准确评估AI代码修复的真实安全性提供了可靠工具。
第一作者: Mohammad Faizan · 方向: 系统安全
检索增强生成溯源分析引用保真度多跳问答
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...
论文介绍 针对检索增强系统中引用无法证明来源实际影响生成结果的问题,本文提出ProvenAI框架。该框架将多跳问答透明度分解为答案正确性、引用保真度和单文档影响力三个独立测量层。通过七阶段管道,ProvenAI能精确审计归因并评估资源影响力,为提升生成式AI的可解释性与事实溯源能力提供系统方案。
第一作者: Himanandhan Reddy Kottur · 方向: 系统安全
纳米机电系统硬件安全物理不可克隆函数先进封装
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...
论文介绍 针对半导体制造与先进封装中日益严峻的硬件安全威胁,本文提出将纳米机电系统作为新型硬件安全原语。通过利用基于纳米机电系统的物理不可克隆函数、形状记忆材料及共振指纹等机制,该系统在设备层级实现物理保证、防篡改检测与身份认证,有效提升对逆向工程、侧信道攻击及环境退化的防御能力。
第一作者: Qihan Zhang · 方向: 软件安全
机密计算查询优化成本模型校准机密虚拟机
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...
论文介绍 针对机密虚拟机运行数据库的性能开销问题,本文指出其根源在于查询优化器仍依赖传统非加密虚拟机的成本假设。为此,提出一种轻量级机密虚拟机感知成本校准方法,利用物理代理对数据移动和内存转换开销进行建模。该方法有效缩小了性能评估差距,为机密计算环境下的数据库查询优化提供了重要支撑。
第一作者: Jakob Salfeld-Nebgen · 方向: 软件安全
AI治理自主代理机构证明高风险动作控制
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...
论文介绍 针对自主AI系统执行高风险动作的治理难题,本文提出基于机构证明的计算治理模型。该模型允许AI代理保留规划自主权,但剥离其高风险动作的执行权。动作执行需满足由独立权威源加密绑定的先决条件,并由确定性策略评估。所有决策记录于防篡改日志以供复核,从而在保障自主性的同时实现安全管控。
第一作者: Nasrin Malekzadeh Goradel · 方向: AI 安全
对抗样本输入维度高维几何深度学习安全
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...
论文介绍 本文系统研究输入维度在对抗样本产生与定向控制中的作用。通过分析基于测度集中的理论框架,发现真实图像类具有强经验局部化特征。研究在涵盖多种输入维度与架构的图像数据集上进行广泛实证评估,揭示了输入维度与对抗样本易感性的内在联系,为理解和防御深度神经网络对抗漏洞提供了重要理论依据。
第一作者: Jialan He · 方向: 软件安全
联邦学习哈希学习隐因子模型隐私保护
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...
论文介绍 针对传统哈希学习需集中数据及联邦学习中实数梯度传输开销大、隐私风险高的问题,本文提出联邦哈希投影隐因子学习模型。该方法将哈希学习引入联邦范式,通过创新机制解决二进制码表示能力受限导致的精度下降挑战。它在避免数据集中的同时,有效降低通信开销,并提升全局模型的学习性能与隐私安全性。
第一作者: Gaurang Katyal · 方向: 安全研究
社交机器人检测大语言模型账户历史特征随机森林
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...
论文介绍 大语言模型使机器人能生成逼真文本逃避内容检测。本文提出仅依赖攻击者难以低成本操纵的账户历史特征进行检测,包括账户年龄、粉丝比例、资料完整度等。在公开数据集上的实证表明,仅使用这些特征的随机森林模型即可实现高效检测,为应对大模型时代的社交机器人威胁提供了低成本且鲁棒的方案。
第一作者: Jiayu Yang · 方向: VLA 通用模型 · 来源: cs.RO
视觉语言动作模型混合专家模型机器人操作流匹配
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...
论文介绍 针对多阶段机器人操作的动作生成可靠性问题,本文提出阶段感知混合专家动作模块。现有视觉语言动作模型多采用单一共享专家,难以捕捉不同阶段的控制模式。该模块引入阶段感知路由器,利用执行线索将动作分配给不同稀疏专家,在保留预训练骨干的同时,显著提升多阶段任务的动作一致性与执行可靠性。
第一作者: Guodong Zhang · 方向: 机器人操作 · 来源: cs.RO
机器人操作6D仿射图运动学约束视觉基础模型
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...
论文介绍 针对机器人操作中语义与物理控制脱节的问题,本文提出无需训练的关系6D仿射图框架。系统根据指令推导交互部件与物理锚点间的语义拓扑,并利用视觉基础模型将其转化为精确三维位姿。通过将执行过程转化为运动学约束满足问题,机器人可沿物理流形合成连续轨迹,实现复杂关节物体的精准操作。
第一作者: Jinhyung Lee · 方向: 策略学习 · 来源: cs.RO
机器人口内扫描强化学习三维重建
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...
论文介绍 针对全牙弓口内扫描自动化程度低的问题,本文提出RobOralScan,首个基于强化学习的机器人自动口内扫描系统。该方法引入基于几何记忆的观测空间,将部分扫描累积为三态几何表示,结合逐牙覆盖学习,使机器人能自主推理扫描历史与未充分观测区域,有效提升口腔三维重建质量与效率。
第一作者: Joonhee Lim · 方向: 导航与运动 · 来源: cs.RO
自动驾驶强化学习轨迹规划Frenet坐标系
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...
论文介绍 针对现有基于强化学习的自动驾驶专家缺乏可解释性且难以学习复杂道路几何的问题,本文提出PlanRL架构。该方法将强化学习策略与基于多项式的轨迹规划器相结合,采用Frenet坐标系将复杂道路几何简化为曲线框架,提供结构化坐标先验,并引入运动学可行性检查,确保生成轨迹的安全与平滑。
第一作者: Kaijun Wang · 方向: 机器人操作 · 来源: cs.RO
机器人操作视觉语言模型场景表示模仿学习
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...
论文介绍 针对低数据量下机器人操作难以兼顾空间定位与任务推理的问题,本文提出SSI-Policy框架。其核心是结构化场景接口,一种纯RGB中间表示,联合编码单目深度特征、语言接地的对象布局与条件运动轨迹。该接口与机器人无关且支持无动作视频训练,有效解耦感知与控制,提升视觉语言机器人操作的泛化能力。
第一作者: Qixin De · 方向: 具身智能 · 来源: cs.RO
多机器人系统协同定位位姿估计可观测性
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...
论文介绍 针对仅基于方位角测量的多机器人协同定位中位姿估计易退化的问题,本文提出一种闭式4自由度机器人间位姿估计器。该方法放宽旋转估计的非线性约束,并采用误差投影进行平移估计。研究还从理论上分析了系统的可观测性,识别出共线与保形运动模式下的退化现象,证明4自由度系统对运动条件的要求更为宽松。
第一作者: Duncan William Calvert · 方向: 机器人操作 · 来源: cs.RO
人形机器人运动操作行为树人机交互
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...
论文介绍 针对人形机器人在人类环境中执行复杂任务的需求,本文提出一种快速、鲁棒且自适应的本地运动操作行为系统。该系统结合以对象为中心的可供性模板与行为树逻辑,支持运行时可编辑的感知与行为编写。通过全身控制器与行为原语,操作员可实时监控、修复并直接指导机器人,提升人机协作的透明度与可控性。
第一作者: Zhihao Gu · 方向: VLA 通用模型 · 来源: cs.RO
终身学习机器人操作混合专家模型持续适应
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...
论文介绍 针对通用机器人在持续任务适应中面临的灾难性遗忘与技能复用难题,本文提出终身动态混合专家模型LiMoDE。该方案在预训练阶段引入动态混合专家结构,基于运动信息激活异构专家处理短期操作;在任务适应阶段,有效提取可复用技能并建模技能间交互,实现机器人操作能力的持续进化。
第一作者: Arthur Allshire · 方向: VLA 通用模型 · 来源: cs.RO
行为克隆开源数据集机器人操作视觉语言动作模型
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...
论文介绍 针对机器人操作行为克隆缺乏大规模开源数据与评估标准的问题,本文推出ABC开源栈。其核心是包含195项任务、3500小时数据的开源遥操作数据集ABC-130K。研究同时开源硬件、训练设施与仿真流程,提供虚实协同训练方案,并系统评估扩散Transformer与视觉语言动作模型的架构选择。
第一作者: Manish Kumar Govind · 方向: 机器人操作 · 来源: cs.RO
持续学习模仿学习世界模型机器人操作
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...
论文介绍 针对机器人持续模仿学习中的灾难性遗忘问题,本文提出REGEN框架。该方法利用世界动作模型生成视觉观察的能力,递归合成伪重放轨迹,使策略在不存储原始演示的情况下复习已学任务。实验表明,REGEN在仿真与真实操作中显著降低遗忘率,性能接近依赖真实数据的特权经验重放方法。
第一作者: Xingyu Ren · 方向: VLA 通用模型 · 来源: cs.RO
视觉语言动作模型策略选择交叉拟合机器人评估
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...
论文介绍 本文研究如何复用部署前的评估轨迹来监督异构视觉语言动作模型的选择。提出RouterVLA框架,通过结果分离交叉拟合机制,利用记录的探测数据构建专家模型画像,并使用独立试验对选定专家进行评分。该方法有效提升了策略选择的成功率,为机器人团队的模型部署与评估提供了高效可靠的监督方案。
第一作者: Jiaxu Xing · 方向: 策略学习 · 来源: cs.RO
持续学习机器人策略神经动力学物理先验
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...
论文介绍 针对机器人在真实环境中面临动力学变化的问题,本文提出基于变分神经动力学的持续学习框架。该方法结合物理先验与神经残差网络,从真实轨迹中学习条件感知的动力学模型,并利用循环编码器推断隐藏条件以动态调整策略。此框架使机器人能利用部署经验持续优化性能,适应未知和变化的物理环境。
第一作者: Jonathan Green · 方向: 策略学习 · 来源: cs.RO
强化学习无人机竞速零样本泛化敏捷飞行
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...
论文介绍 自主无人机竞速要求时间最优控制,但现有强化学习策略难以泛化,且提升泛化性往往牺牲飞行速度。本文提出一种敏捷飞行零样本泛化框架,旨在解决高维任务变化下安全与性能的耦合难题。该方法在保持高速性能的同时,增强了策略对未知配置的适应能力,推动了无人机在复杂场景下的实际应用。
第一作者: Yuemin Mao · 方向: 机器人操作 · 来源: cs.RO
灵巧操作振动触觉强化学习压电麦克风Sim-to-Real
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...
论文介绍 灵巧操作依赖快速局部的接触事件,但振动信号难以在模拟中复现。本文提出VibeAct框架,通过构建接触与滑动的共享物理表示,桥接真实振动触觉感知与模拟强化学习。该系统利用压电麦克风采集数据并在数字孪生中自动标注,结合触觉估计器,有效提升了机器人灵巧手在接触丰富任务中的操作能力。
第一作者: Tao Lin · 方向: VLA 通用模型 · 来源: cs.RO
视觉语言动作模型语言动作预训练无视觉操作动作先验
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...
论文介绍 现有视觉语言动作模型易受视觉监督主导,导致策略依赖视觉捷径。本文提出LA4VLA预训练框架,使策略在无视觉下获取语言条件动作先验。该方法将轨迹分解为原子动作段并配对低级动作,提取跨任务共享的可复用技能。此举显著降低模型对特定场景视觉线索的依赖,有效提升策略泛化能力。
第一作者: Wen Ye · 方向: 机器人操作 · 来源: cs.RO
测试时缩放具身智能机器人操作推理与动作缩放
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...
论文介绍 针对具身任务测试时缩放机制研究不足及历史上下文利用欠缺的问题,本文提出E-TTS框架。该模块化系统通过历史感知迭代精炼与视觉语言验证器,统一机器人操作中的推理与动作缩放。系统采用成对方式进行联合采样和评分,充分挖掘历史信息,有效提升了长序列具身任务中的策略表现。
第一作者: Junhao Shi · 方向: VLA 通用模型 · 来源: cs.RO
具身智能体分层异步架构多模态规划物理自主
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...
论文介绍 构建持久具身智能体需统一编排异构工具并自主恢复物理故障。本文提出OmniAct分层异步架构,将规划、记忆与验证显式分离。该系统集成多模态语义规划器实现统一动作空间的技能路由,结合长上下文记忆与闭环验证机制,有效解决现有系统上下文退化与开环执行问题,推动日常物理自主的实现。
第一作者: Hongwu Wang · 方向: 机器人操作 · 来源: cs.RO
人形机器人全身操作数据采集虚拟现实无机器人演示
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...
论文介绍 高质量演示数据是人形机器人全身技能学习的关键,但现有遥操作采集效率低。本文提出HumanoidUMI便携式无机器人采集框架。系统利用轻量VR设备与定制夹爪收集人体关键点、腕部视角及夹爪动作。数据用于训练高层策略预测关键点,再重定向至全身控制器执行,大幅降低了数据采集门槛。
第一作者: Ilia Larchenko · 方向: VLA 通用模型 · 来源: cs.RO
双臂折叠视觉语言动作模型强化学习机器人操作
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...
论文介绍 本文提出一种用于双臂衣物折叠的视觉语言动作模型方案。该方法将强化学习引入策略,使网络在预测动作时同步预测任务进度,驱动优势估计与失败检测。系统结合流匹配VLA、异步训练及推理时超参优化等技术,在仿真与真实世界折叠任务中表现优异,为复杂机器人操作提供了高效的工程方案。
第一作者: Jiayu Yang · 方向: VLA 通用模型 · 来源: cs.RO
视觉语言动作模型物理可行性自我反思闭环控制机器人操作
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...
论文介绍 针对视觉语言动作模型在长程操作中缺乏物理检查与自我纠错的问题,本文提出PhysReflect-VLA框架。该即插即用模块在闭环控制中引入物理可行性评估与结构化反思机制。通过可行性算子、动作解释及大语言模型反思模块,系统可在线诊断执行误差并修正动作,显著提升机器人长程操作的可靠性。
第一作者: Mingyang Lyu · 方向: VLA 通用模型 · 来源: cs.RO
视觉语言动作模型安全基准具身智能风险评估机器人安全
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...
论文介绍 针对视觉语言动作模型的安全评估缺失问题,本文提出ForesightSafety-VLA诊断基准。该基准定义了涵盖物理交互、指令与感知侧的13类安全分类,并在场景、语言和视觉维度进行受控评估以精准定位失败源。除任务成功率外,还引入过程级风险衡量,为VLA模型的安全部署提供全面评估工具。
第一作者: Feng Pan · 方向: 具身智能 · 来源: cs.RO
无人机建图点云融合RTK对齐不确定性感知空间智能
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...
论文介绍 针对无人机多次建图难以兼顾抑制长程漂移与保持局部精度的问题,本文提出UAV-MapFusion系统。该方法基于场景图进行初始点云融合,并引入RTK时空对齐模块,利用动态时间规整估计时间偏移以融合RTK观测。通过不确定性感知的粗到细优化,有效提升了大规模点云地图的全局一致性与局部精度。
第一作者: E-In Son · 方向: 导航与运动 · 来源: cs.RO
视觉导航模仿学习神经坍缩表征先验机器人导航
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...
论文介绍 针对视觉导航中模仿学习易导致编码器学到模糊表征并在复杂决策点引发失败的问题,本文提出ORION方法。该方法引入序贯神经坍缩作为表征先验,对视觉编码器施加结构化约束。通过促使特征空间形成具区分度与顺序一致性的表征,有效消除无关特征干扰,显著提升了视觉导航策略在复杂环境下的鲁棒性。
第一作者: Yuan Xu · 方向: VLA 通用模型 · 来源: cs.RO
视觉语言动作模型模型微调辅助监督阶段分类机器人操作
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...
论文介绍 针对视觉语言动作模型微调时缺乏操作阶段与夹爪事件目标的结构化监督问题,本文提出StaKe辅助监督框架。该方法无需手动标注,自动从演示数据推导阶段分类器与关键帧预测器。这两个轻量级辅助头在训练期丰富了模型的表征学习,有效缓解了困难状态转换处的失败问题,且不影响基础策略的推理效率。
第一作者: Yi Lu · 方向: 多模态具身 · 来源: cs.RO
人形机器人动作模仿压力感知多模态融合接触动力学
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...
论文介绍 针对人形机器人动作模仿忽略接触动力学导致脚滑等问题,本文提出PressMimic框架。该方法将压力作为感知与控制的统一模态,在感知端引入FRAPPE++模型,融合RGB与压力联合估计3D姿态,利用压力提供显式接触约束。此框架打通了物理接地视角的动作捕捉到控制全流程,有效提升了动作模仿的真实性。
第一作者: Sajid Ansari · 方向: 机器人操作 · 来源: cs.RO
运动可行性点云处理杂乱环境抓取规划机器人操作
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...
论文介绍 针对杂乱环境中运动规划计算成本高的问题,本文研究直接从原始RGB-D观测中学习7自由度机械臂的运动可行性预测。研究引入首个大规模基准,包含88个物体和190个杂乱场景的270万条抓取可行性标签。该工作为复杂场景运动规划提供了高效的数据驱动预测方法,大幅降低了不可行路径的采样计算开销。
第一作者: Siyu Wu · 方向: 机器人操作 · 来源: cs.RO
触觉感知世界动作模型机器人操作非对称注意力机制
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...
论文介绍 针对接触密集型机器人操作中视觉预测物理信息不全的问题,本文提出触觉感知世界动作模型Tactile-WAM。该方法引入触觉非对称注意力机制,通过视频清洁掩码防止稀疏触觉信号干扰视觉动态模型,从而有效预测未来触觉状态与动作,提升复杂操作任务的决策能力。
第一作者: Nobuhiko Mukai · 方向: 具身智能 · 来源: cs.RO
乒乓球机器人硬件设计强化学习控制拓扑优化
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...
论文介绍 为击败专业乒乓球选手,本文分析精英球员动作并定义目标规格,开发了定制八自由度乒乓球机器人「Ace」。通过拓扑优化减轻质量并保持刚度,结合逆动力学模型优化电机选择,并集成低阶关节动力学模型以支持强化学习控制策略,实现了高速连续击球与实战胜利。
第一作者: Vidullan Surendran · 方向: 机器人操作 · 来源: cs.RO
机器人操作遥操作手持数据采集状态门控专家
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...
论文介绍 针对接触密集型操作任务中手持数据采集与遥操作在动作有效性上的权衡问题,本文提出结合两者的状态门控专家方法。研究发现手持轨迹在自由空间有效但在接触阶段缺乏动态可行性,通过结合少量遥操作数据训练策略,有效桥接了两种监督方式,提升了复杂操作性能。
第一作者: Yiyuan Pan · 方向: 具身智能 · 来源: cs.RO
行为引导神经自动机任务结构重构机器人策略
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...
论文介绍 针对训练后机器人策略难以在不重训的情况下满足用户新偏好的问题,本文提出ReStruct方法。该方法基于神经自动机策略,将视觉运动策略分解为高层状态机骨架与底层残差控制器,通过在推理时将用户偏好融入自动机并重构任务结构,实现物理可行的行为引导。
第一作者: Chenlong Liu · 方向: 策略学习 · 来源: cs.RO
多智能体控制仿真到现实迁移动力学失配效果对齐
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...
论文介绍 针对多智能体控制中基于学习的方法在仿真到现实迁移时易受动力学失配影响的问题,本文提出基于效果对齐的IDEA方法。该方法结合随机环境结构与离散语义动作,将策略学习提升至语义抽象层,并开发动作同步机制以缓解智能体间的时间失配,提高复杂环境下的迁移鲁棒性。
第一作者: Baiqi Li · 方向: 机器人操作 · 来源: cs.RO
机器人操作行为基准视频理解人机协作
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)...
论文介绍 为使机器人在人机协作中理解人类行为意图,本文提出基于观察人类行为的机器人操作基准WatchAct。该基准将真实人类动作视频、语言指令与对齐的模拟器场景及可执行任务结合,涵盖事件解析与过程推理等四个认知能力域,为评估机器人长视野操作推理提供可扩展工具。
第一作者: Tyler Ga Wei Lum · 方向: 机器人操作 · 来源: cs.RO
灵巧操作强化学习玩耍预训练精密装配
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...
论文介绍 针对多指机器人精密装配任务数据收集难且强化学习探索困难的问题,本文提出Play2Perfect框架。该方法主张机器人在精密装配前需先通过玩耍进行任务无关的预训练,以获取可复用的操作技能,并深入探讨了玩耍过程中的关键因素,有效提升了复杂接触任务的装配成功率。
第一作者: Roy Xing · 方向: 导航与运动 · 来源: cs.RO
强化学习运动控制模型预测控制经验回放
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...
论文介绍 针对运动强化学习易收敛于局部最优但不可部署行为的问题,本文提出MPC-Injection方法。该方法通过向经验回放缓冲区插入由模型预测控制器生成的状态转移,将设计者偏好的步态行为分布注入策略学习过程,无需修改奖励函数或增加判别器,有效引导四足机器人实现真实部署。
第一作者: John Viljoen · 方向: 导航与运动 · 来源: cs.RO
非线性规划GPU批量求解机器人控制轨迹优化
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...
论文介绍 针对机器人非线性规划问题受限于CPU单任务求解、难以融入GPU批量学习管道的局限,本文探讨开发GPU批量非线性规划求解器。研究旨在突破传统算力瓶颈,使机器人优化问题能利用GPU并行计算实现大规模批量求解,从而提升现代机器人研究的训练与规划效率。
第一作者: Runfeng Ling · 方向: 机器人操作 · 来源: cs.RO
语义体素移动操作边缘计算世界模型源感知
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...
论文介绍 针对边缘计算约束下移动机械臂对实时语义世界模型的需求,本文提出KRVF源感知语义体素表示。该方法将局部世界状态编码为面向任务的体素,分离测量占用与语义先验,支持深度失败感知的对象推理。通过闭环映射与感知修复几何,并提供任务级查询算子,提升移动操作的环境理解与交互能力。
第一作者: Marla Eisman · 方向: 策略学习 · 来源: cs.RO
模型预测控制强化学习轮式四足机器人主动侧倾控制自主赛车
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...
论文介绍 针对轮式四足机器人自主赛车中的横向载荷转移问题,本文提出结合模型预测控制与强化学习的分层控制框架。通过在线模型预测控制主动最小化横向载荷转移率,并利用底层强化学习策略控制腿部执行器作为主动悬架产生抗侧倾力矩。实验表明该方法显著降低载荷转移,有效提升机器人的过弯速度与侧向加速度极限。
第一作者: Bingyi Xia · 方向: 导航与运动 · 来源: cs.RO
人类感知导航人群仿真并行学习机器人导航基准测试
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...
论文介绍 针对人类感知导航研究中缺乏多样高质量场景数据及现有仿真平台依赖手工规则近似行人行为的局限,本文提出NavIsaacLab框架。该框架通过并行机器人学习生成逼真的动态人群,提供丰富的传感器信号与复杂交互场景,为训练可靠的机器人导航策略及评估算法性能提供高效、高保真的仿真基准与数据支持。
第一作者: Blake Werner · 方向: 导航与运动 · 来源: cs.RO
人形机器人动态技能学习模仿学习任务分解教练-学习者协议
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...
论文介绍 针对人形机器人动态技能学习耗时且难以协调的问题,本文提出TaskNPoint训练协议。该方法借鉴人类教练指导模式,将复杂技能分解为少数关键动作窗口。通过明确教练与学习者分工,让人类提供离散技能集与关键指导,使机器人能在数分钟内通过针对性练习,掌握网球反手等对物理与形态协调要求极高的动态技能。
第一作者: Andrew Chen · 方向: 具身智能 · 来源: cs.RO
机器人讲故事具身交互木偶动画人机交互儿童教育
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.
论文介绍 本文提出RoboTales低成本机器人讲故事系统,通过同步叙述、手势与嘴部动作驱动袜子木偶进行具身叙事。研究表明,相较于纯手势模式,该具身木偶交互能显著提升用户的参与度与故事回忆效果。该系统具备模块化与跨平台特性,可适配多种机械臂,为儿童教育等场景提供了一种无屏幕的沉浸式互动学习替代方案。
第一作者: Partha Datta · 方向: 具身智能 · 来源: cs.RO
连续体机械臂对数螺旋闭环控制雅可比误差补偿任务空间控制
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...
论文介绍 针对对数螺旋连续体机械臂缺乏逆运动学与闭环控制的问题,本文提出一种形态特定的闭环任务空间控制框架。研究构建分段肌腱驱动模型以捕捉柔顺与接触动力学,并推导解析任务空间雅可比矩阵。通过结合Broyden割线更新与卡尔曼滤波进行在线雅可比误差补偿,实现对建模误差的持续校正与高精度任务空间控制。
第一作者: Anıl Can Ateş · 方向: 机器人操作 · 来源: cs.RO
强化学习视觉语言模型微任务学习长视野操作机器人操作
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...
论文介绍 针对视觉语言模型作为单一全局奖励在长视野机器人操作中难以提供有效引导的问题,本文提出强化微任务学习方法。该方法将复杂操作分解为多个语言描述的微任务,训练智能体在任务间动态切换。通过多视图视觉语言模型提供细粒度奖励,有效解决长视野任务中奖励稀疏与信号平坦难题,提升复杂操作任务的学习效率与成功率。
第一作者: Jannik Drotleff · 方向: 导航与运动 · 来源: cs.RO
微型机器人强化学习血管导航物理仿真趋化性
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...
论文介绍 针对微型机器人在真实血管中导航控制策略训练困难的问题,本文构建了包含真实流体动力学、红细胞动态及解剖分支几何的毛细血管网络物理仿真环境。研究利用深度强化学习训练智能体通过趋化性自主导航,并系统评估了尺寸与速度对导航的物理极限,为靶向药物递送和血栓溶解提供仿真基础。
第一作者: Anthony Bisulco · 方向: 多模态具身 · 来源: cs.RO
多模态感知自监督学习传感器融合机器人数据集掩码自编码器
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...
论文介绍 针对机器人多模态感知中传感器特性与噪声差异大的问题,本文提出OctoSense开源传感器平台及59小时同步驾驶数据集。研究采用后期融合掩码自编码器进行自监督学习,利用模态特定分词器处理不同时空特征,并在推理时缓存模态令牌,有效提升了机器人在传感器退化等复杂环境下的多模态感知与泛化能力。
第一作者: Henrik Müller · 方向: 导航与运动 · 来源: cs.RO
强化学习奖励塑造视觉语言模型稀疏奖励势能函数
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...
论文介绍 针对强化学习稀疏奖励导致探索困难及朴素奖励塑造易引发奖励黑客的问题,本文提出VLM-PBRS框架。该方法利用视觉语言模型对图像对的偏好反馈,自动学习基于势能的奖励塑造中的势能函数。此方法在保留最优策略集不变的前提下,实现了势能函数的自动化定义,有效引导智能体探索并避免利用辅助信号。
第一作者: Mayumi Mohan · 方向: 数据集与评测 · 来源: cs.RO
人机交互系统综述小型语言模型文献筛选社会物理交互
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.
论文介绍 针对社会物理人机交互领域术语碎片化导致系统综述困难的问题,本文评估了小型语言模型在大规模文献筛选中的辅助作用。研究表明,小型语言模型虽性能不及人类,但本地运行极快,且模型集成能发现人类遗漏的文献。这证明小模型可有效增强专家审查,使大规模系统综述更加高效和可持续。
第一作者: Philipp Allgeuer · 方向: 具身智能 · 来源: cs.CV
开放词汇检测异常识别掩码自编码器机器人交互无提示分类
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%...
论文介绍 针对机器人识别未知物体的需求,本文提出AnomNOVIC无提示开放词汇异常识别框架。该方法结合用于异常检测的掩码自编码器与实时开放词汇分类器,由前者生成通用边界框,后者对显著区域分类,无需预定义类别列表。在机器人交互环境中的评估表明,该框架能有效实现未知物体的持续部署与识别。
当前市场技术面分化显著。美股方面,三大指数及科技巨头普遍承压,纳斯达克与标普500跌破短期均线,MACD动量减弱,整体处于回调修正阶段。加密市场情绪冰点,恐慌贪婪指数跌至18的极度恐慌区域,比特币与以太坊均触发MACD死叉且维持空头排列,总市值2.16万亿美元上方弱势震荡。中概股遭遇重挫,阿里巴巴等标的RSI跌入超卖区,均线全面空头排列,下行压力巨大。商品与外汇市场表现各异,美元指数RSI达71.2呈现超买与多头排列,而黄金与原油则显现超卖或死叉信号。宏观层面,10年期美债收益率回落至4.37%,VIX指数触发MACD金叉,显示市场避险情绪有所回升。整体而言,风险资产技术面偏弱,避险资产相对坚挺。
当前价格94.81,近5日重挫11.48%。RSI14降至16.5触发超卖信号,MACD指标为-8.52且均线呈空头排列。尽管短线超卖严重,但下行趋势与动量依然明确,技术面呈现偏下行状态。
当前报价101.37,逼近52周高点。RSI14达到71.2进入超买区间,MACD值为0.61且均线呈现多头排列。短期动量强劲,趋势指标确认上行,技术面整体呈现偏上行状态。
当前读数18.41,近5日反弹12.26%。RSI14处于51.1的中性区间,MACD指标0.15触发金叉信号。波动率指数在经历前期回落后企稳反弹,趋势判定为中性,技术面呈现中性状态。
VIX 恐慌指数
10Y 美债收益率 (%)
美元指数 DXY
S&P 500 ETF
Nasdaq 100 ETF
Apple
Microsoft
Nvidia
Alphabet
Tesla
Meta
Bitcoin
Ethereum
Solana
阿里巴巴 (BABA)
拼多多 (PDD)
京东 (JD)
腾讯控股 (0700.HK)
黄金期货
WTI 原油期货
美元 / 人民币
请注意,过去走势不代表未来表现。本报告基于公开行情数据计算,仅供技术指标解读参考,不构成任何投资建议。市场有风险,投资需谨慎。
Premier Chris Minns says technology will be largest expansion of aerial shark surveillance in the world. Follow the day’s updates live Get our breaking news email, free app or daily news podcast Big tech not cooperating ‘as much as we’d like them to’: Watt Federal cabinet minister Murray Watt, says
中文摘要 澳大利亚新南威尔士州州长克里斯·明斯宣布,将部署探鲨无人机全年巡逻该州海滩,这将是全球最大规模的水上鲨鱼空中监视扩张。此外,联邦内阁部长查默斯就「寡妇税」问题接受质询。
A surge of people rushed into the devastated earthquake zone to offer help in northern Venezuela, slowing the advance of emergency responders. The death toll linked to twin quakes earlier in the week surpassed 1,400.
中文摘要 委内瑞拉北部地震灾区涌入大量热心民众提供援助,导致交通拥堵并延缓了紧急救援人员的推进速度。此前本周早些时候发生的两次地震,已造成超过1400人死亡。
U.S. forces carried out retaliatory airstrikes on Iran for the second straight night, saying the latest barrage was in retaliation for an attack on an oil tanker on Saturday.
中文摘要 美军连续第二晚对伊朗实施报复性空袭,称最新一轮轰炸是为了报复周六发生的油轮遇袭事件。此举对中东地区的停火协议构成考验。
Anger is mounting in Venezuela after the military barred citizens from entering zones devastated by the earthquakes.
中文摘要 委内瑞拉军方禁止平民进入地震灾区,引发民众强烈不满。随着救援行动展开,民众因无法进入灾区协助救援而愤怒情绪不断加剧。
US president threatens to 'militarily complete the job' as the US strikes Sirik and Qeshm Island over ship attacks.
中文摘要 因船只遇袭事件,美军对伊朗锡里克和格什姆岛发动空袭,巴林和科威特拉响防空警报。美国总统威胁将「在军事上完成这项工作」。
中文摘要 本条目为美伊冲突最新动态的实时更新页面入口,因原文暂无详细内容,仅提供实时追踪链接,无具体新闻摘要。
中文摘要 本条目为委内瑞拉地震灾情最新动态的实时更新页面入口,因原文暂无详细内容,仅提供实时追踪链接,无具体新闻摘要。
中文摘要 美国官员对委内瑞拉流亡领导人就地震灾情呼吁国际社会提供援助的举动感到不满与沮丧,但关于美方不满的具体细节暂未披露。
A medical team set out from the capital to rescue people in the hardest-hit part of the disaster zone, La Guaira. They found silence in the ruins instead.
中文摘要 一支医疗团队从首都出发,前往受灾最严重的拉瓜伊拉地区搜寻地震幸存者。经过12小时的救援,医疗队在废墟中未能发现生命迹象。
The outpouring of volunteer aid after Venezuela’s earthquakes clogged the only road into the disaster zone, delaying rescue crews.
中文摘要 委内瑞拉地震后,大量志愿者涌入灾区提供援助,导致通往灾区的唯一道路严重拥堵,从而延误了专业救援队伍的推进与施救工作。
The attacks come after an alleged Iranian drone struck another commercial vessel in the Strait of Hormuz on Saturday.
中文摘要 周六一艘商船在霍尔木兹海峡遭疑似伊朗无人机袭击后,美军连续第二晚对伊朗发动空袭,以报复针对船只的攻击事件。
Strikes have killed at least one person, state media say a day after Lebanon and Israel signed a framework agreement.
中文摘要 黎巴嫩与以色列签署框架协议次日,以色列对黎巴嫩南部发动空袭,造成至少1人死亡。真主党对此新协议表示谴责。
The BBC travelled to a Caracas hospital that is treating people from the worst affected areas.
中文摘要 英国广播公司走访了加拉加斯一家医院,该院正在收治来自地震重灾区的伤者,患者主要症状包括骨折以及地震引发的恐慌症。
Videos show Israeli settlers trying to seize a house under construction in the occupied West Bank.
中文摘要 视频画面显示,以色列定居者试图强行占领约旦河西岸被占领土上一处正在建设中的房屋,此举引发外界对当地局势的关注。
Families keep vigil at buildings where they fear their loved ones are trapped, but face an impossible task to move heavy debris.
中文摘要 在委内瑞拉地震重灾区,家属们在疑似有亲人被困的建筑外彻夜守候并呼唤,但面对沉重的建筑废墟,徒手救援几乎是不可能完成的任务。
London-based buyout group is looking beyond its traditional speciality in corporate buyouts
Kevin Warsh and three other veterans of the 2008 global financial crisis will share a stage this week as the danger of renewed turmoil continues to haunt central bankers.
Tech companies are selling stock like it’s the dot-com boom, and some investors fear that’s a bad sign for bondholders.
The news doesn’t stop when markets close. Hosts David Gura, Christina Ruffini and Lisa Mateo bring clarity, context and a bit of humor to the weekend’s biggest headlines, LIVE from New York. Joined by Fmr. UN Ambassador and Fmr. USAID Administrator Samantha Power and Oklahoma Senator Alan Armstrong.
David Gura, Christina Ruffini, and Lisa Mateo of “Bloomberg This Weekend” play Pointed! Wager your points, leverage your bets and answer wisely. A new quiz is available to play each week on Bloomberg.com (Source: Bloomberg)
European Central Bank Executive Board member Isabel Schnabel warned that price pressures could turn out stronger than anticipated even as a US-Iran peace deal reopens the Strait of Hormuz.
Senator Alan Armstrong (R-Oklahoma) joins David Gura and Christina Ruffini on Bloomberg This Weekend and says permitting reform—not additional federal spending—is the most effective way to lower housing and energy costs, arguing regulatory delays have created infrastructure bottlenecks that drive up
For many American farmers, Canada and Mexico have become indispensable export markets at a time when trade disputes, weak commodity prices, and rising costs are already straining the agricultural economy. Iowa farmer Stu Swanson says many producers are operating on dwindling hope as financial pressu
Americans are increasing spending on their pets beyond traditional preventative care, with the US pet market projected to grow from approximately $150 billion today to over $250 billion in the next decade. Bloomberg Intelligence consumer staples analyst Diana Rosero-Pena joins Bloomberg This Weekend
Bloomberg News Andean Bureau Reporter Andreina Itriago is on Bloomberg This Weekend explaining concerns that the official casualty figures in Venezuela after the earthquake are likely underreported, with many more deaths expected as rescue efforts continue and bodies are recovered. Itriago explains
The artificial intelligence boom has a power problem, and Wall Street is betting billions on companies that promise to solve it — even if some of the technology hasn’t been fully developed yet.
Despite a ship being struck in the Strait of Hormuz on Thursday and another incident over the weekend, some vessels continue to travel the strait on both the Iranian and Omani sides. However, overall traffic remains significantly reduced compared to pre-conflict levels, with daily ship movements dow
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前情提要… 我的小火箭越来越小了… 本来还想贴张随拍 但想想不算女装 也不好看 就只给hifumi看了 好耶 经过某些人教唆 最终还是决定分享一下图片 突然想到 只是腿的话,还是有必要再次明确 是女生哦~ 因为身高体瘦,所以腿其实还是相对粗一些的 每天保持慢跑2km的习惯(因为要跑去食堂吃饭w) 手臂什么的就超级细了w 上下不均衡的,这样起码站得稳 在一切开始之前,我必须狠狠的夸豆包4.5简直是美颜之神 豆包画图模型迭代的意义就在于美颜效果越来越好! 这一期利用豆包来优化了光影~ 弥补了手机采光不足,闪光灯不亮 画质不高的缺陷hh (点击了解更多详细信息) 这个蛋糕 一如他的名字一样 首先是奥
帕克大学在线申请教程 更新时间:2026 年 6 月 28 日 一、先看清楚这几件事 申请前,请先记住下面几点:* 请使用你自己能登录的个人邮箱。 帕克大学是一所获得美国正规高等教育认证的大学,自1941年起便持续获得高等教育委员会(HLC)认证。通过其在线证书项目完成申请后,申请人会获得真实的学生学号,并配套开通一个以 @park.edu 结尾的学校邮箱。 二、申请前要准备什么 在打开申请页面之前,建议先打开下面的美国地址生成器网站把资料先生成。这样填写表格时直接复制粘贴即可。 你需要准备: 一个真实可用的个人邮箱 一个自己能记住的账户密码 使用到的工具: 美国地址生成器 https://g
从 LDLive - 人人都可以直播 继续讨论 [!tip] 因为之前比较忙没时间维护,最近稍微有段时间给这个老项目重启并优化了 [!info] 跳转域名: LDLive - 智能线路分配 [!info] 最新域名: LDLive - 人人都可以直播 [!tip] 可在底下反馈报错或建议 22 个帖子 - 13 位参与者 阅读完整话题
[!todo]+ 真诚、友善、团结、专业,共建你我引以为荣之社区。《社区准则》 [!note]+ 简介 《万事不通·L站指南》是一个汇总L站各种指南的汇总帖,涉及内容包含信任等级、LDC 和 CDK、公益站等指南;无论新佬还是旧佬,都会需要查询资料,可以凭借一帖查资料;佬有所需。 传道授业解惑也! 一、入门指南 作为萌新,佬友需要了解最基础的社区知识,包含信任等级、LDC、CDK 等。 [!example]+ 目录 (1)搜索与书签 (2)信任等级 (3)LDC (4)CDK (点击了解更多详细信息) 二、公益指南 汇总公益站以及一些 AI 模型工具。 [!example]+ 目录 (1)公益
从 【哲のGrok&Gemini】魂兮归来,无限Grok、Gemini重新复活,服务器升级超级大鸡8c32g,kimi、glm预告 - 福利羊毛 - LINUX DO 继续,之前说过要试试glm,那么同样是无限量,来压测试试吧,包含glm5.1,5.2: cdk.linux.do LINUX DO CDK Linux Do 社区 CDK 快速分享平台 - 让分享变得更简单 好像现在有点问题,各位佬先别急,很多兼容没做好,但是服务本身是没问题的,等我做一下兼容,使用时间会给大家延长的。兼容现在做好了,工具调用有点小问题在修 特别鸣谢@bdigu佬的GPT支持,小鸡毛公益站已上新glm,多模态的,
【公益站】猫猫公益站--渠道是老黄的免费key 福利羊毛 本帖使用社区公益推广,符合推广要求。我申明并遵循社区要求的以下内容: 我的项目是免费使用的,无收费(变相收费、赞助)部分: 是 我的帖子已经打上 公益推广 标签: 是 我的项目属于个人项目,与公司或商业机构无关: 是 我的项目不存在QQ、TG等群组引流: 是 我的项目不存在非运营必要的网站引流: 是 / 否 我的项目不存在为他人推广、AFF: 是 我的项目无关联的商业项目: 是 我的站点存在登录… 站点:https://new-api.rugao.me 渠道共享 加入映射了,可能要重新配置 148 个帖子 - 87 位参与者 阅读完整话
之前签到领了好几天512,加上现在只对三级用户开放了,那个速度叫一个字,绝了 76 个帖子 - 63 位参与者 阅读完整话题
阿里千问输入法 macOS 版今日上线官网,支持最快 300 字/分的 AI 语音输入,可自动润色、将口语转为工整文字,并支持 9 种方言,纯净无广告。官方预告 iOS、Android、Windows 版将于近日发布。此前千问团队已于今年 5 月推出千问语音输入法(千问 App 内的组件),具备去语气词、纠错、格式化整理及基于上下文的智能回复等能力,而本次上线的输入法则定位为独立 App,填补千问在移动端 AI 输入法赛道的空白。 91 个帖子 - 81 位参与者 阅读完整话题
本帖使用社区公益推广,符合推广要求。我申明并遵循社区要求的以下内容: 我的项目是免费使用的,无收费(变相收费、赞助)部分: 是 我的帖子已经打上 公益推广 标签: 是 我的项目属于个人项目,与公司或商业机构无关: 是 我的项目不存在QQ、TG等群组引流: 是 我的项目不存在非运营必要的网站引流: 是 / 否 我的项目不存在为他人推广、AFF: 是 我的项目无关联的商业项目: 是 我的站点存在登录,并已接入 LINUX DO Connect: 是 我帖子内的项目介绍,AI生成、润色内容部分已截图发出: 是 以上选择我承诺是永久有效的,接受社区和佬友监督: 是 最近脑袋大开,创建了几十个英伟达免费
Bug多到难以置信,codex疯狂烧磁盘 然后cpu爆满 电脑差点废了 这垃圾公司天天在更新什么 每次更新一个版本就出严重问题 51 个帖子 - 44 位参与者 阅读完整话题