每日简报

2026-06-29

← 历史归档

simplex-chat/simplex-chat

Haskell · ★ 15,013 · 🍴 865 · 📈 1,180 stars today

SimpleX - the first messaging network operating without user identifiers of any kind - 100% private by design! iOS, Android and desktop apps 📱!

中文介绍 SimpleX 是一款无需任何用户标识的即时通讯工具,通过去中心化设计实现完全隐私保护。支持 iOS、Android 和桌面端,适合对通信隐私有极高要求的个人和团队,避免传统 IM 的元数据追踪问题。

ripienaar/free-for-dev

HTML · ★ 125,235 · 🍴 13,167 · 📈 495 stars today

A list of SaaS, PaaS and IaaS offerings that have free tiers of interest to devops and infradev

中文介绍 收录了大量面向开发者的免费 SaaS、PaaS 和 IaaS 服务清单,涵盖 DevOps 和基础设施开发常用工具。适合初创团队和个人开发者寻找零成本云服务,降低项目启动和运维门槛。

commaai/openpilot

Python · ★ 62,387 · 🍴 11,095 · 📈 266 stars today

openpilot is an operating system for robotics. Currently, it upgrades the driver assistance system on 300+ supported cars.

中文介绍 openpilot 是面向机器人的开源操作系统,目前主要用于升级 300 多款支持车型的驾驶辅助系统。通过计算机视觉和深度学习实现自适应巡航、车道保持等功能,为车主提供接近自动驾驶的体验。

xbtlin/ai-berkshire

Python · ★ 5,304 · 🍴 720 · 📈 1,445 stars today

AI 时代的伯克希尔:基于 Claude Code / Codex 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 for Claude Code / Codex. 4 masters' methodologies + multi-agent adversarial analysis.

中文介绍 基于 Claude Code/Codex 构建的 AI 价值投资研究框架,融合巴菲特、芒格、段永平、李录四位大师的投资方法论,通过多 Agent 并行研究实现自动化企业分析,适合价值投资者进行深度基本面研究。

Robbyant/lingbot-map

Python · ★ 8,227 · 🍴 803 · 📈 372 stars today

A feed-forward 3D foundation model for reconstructing scenes from streaming data

中文介绍 lingbot-map 是一个前馈式 3D 基础模型,能从流式数据中实时重建三维场景。适用于机器人导航、AR/VR 和自动驾驶等需要实时环境感知的场景,为 3D 视觉研究提供高效的基础架构。

DeusData/codebase-memory-mcp

C · ★ 19,657 · 🍴 1,425 · 📈 2,190 stars today

High-performance code intelligence MCP server. Indexes codebases into a persistent knowledge graph — average repo in milliseconds. 158 languages, sub-ms queries, 99% fewer tokens. Single static binary, zero dependencies.

中文介绍 高性能代码智能 MCP 服务器,将代码库索引为持久化知识图谱,支持 158 种编程语言。毫秒级查询响应,Token 消耗减少 99%,单二进制文件部署,适合搭配 AI 编程助手提升代码理解效率。

cupy/cupy

Python · ★ 11,518 · 🍴 1,069 · 📈 174 stars today

NumPy & SciPy for GPU

中文介绍 CuPy 是 NumPy 和 SciPy 的 GPU 加速版本,通过 CUDA 实现高性能数组计算。提供与 NumPy 兼容的 API,让数据科学家和机器学习工程师无需修改代码即可将计算密集型任务加速到 GPU 执行。

altic-dev/FluidVoice

Swift · ★ 3,731 · 🍴 238 · 📈 365 stars today

FluidVoice - Fastest macOS Offline Dictation app - Voice to Text fully Local. One ⭐ takes us a long way :))

中文介绍 FluidVoice 是一款 macOS 离线语音转文字应用,所有语音识别均在本地完成,无需联网。以快速响应和完全本地化为特点,适合对隐私敏感或网络环境受限的 macOS 用户进行高效语音输入。

opendatalab/MinerU

Python · ★ 71,593 · 🍴 6,014 · 📈 380 stars today

Transforms complex documents like PDFs and Office docs into LLM-ready markdown/JSON for your Agentic workflows.

中文介绍 MinerU 能将 PDF、Office 等复杂文档转换为 LLM 可用的 Markdown 或 JSON 格式,专为 Agentic 工作流设计。帮助 AI 开发者和数据工程师高效提取文档内容,构建高质量的训练数据和知识库。

HKUDS/Vibe-Trading

Python · ★ 14,316 · 🍴 2,632 · 📈 492 stars today

"Vibe-Trading: Your Personal Trading Agent"

中文介绍 Vibe-Trading 是一款个人交易智能体,通过 AI 辅助用户进行市场分析和交易决策。适合个人投资者和交易者使用,提供智能化的交易策略建议和市场洞察,降低量化交易的技术门槛。

ByteByteGoHq/system-design-101

★ 84,457 · 🍴 9,350 · 📈 250 stars today

Explain complex systems using visuals and simple terms. Help you prepare for system design interviews.

中文介绍 通过可视化图表和简洁语言解析复杂系统设计概念,帮助软件工程师准备系统设计面试。涵盖分布式系统、微服务架构等核心主题,是技术面试备考的实用参考资源。

usestrix/strix

Python · ★ 26,734 · 🍴 2,984 · 📈 122 stars today

Open-source AI hackers to find and fix your app’s vulnerabilities.

中文介绍 Strix 是一款开源 AI 安全工具,自动扫描应用程序漏洞并提供修复建议。利用 AI 技术提升安全检测效率,适合开发团队和安全工程师在开发流程中集成自动化安全测试。

browser-use/video-use

Python · ★ 11,051 · 🍴 1,524 · 📈 196 stars today

Edit videos with coding agents

中文介绍 video-use 支持通过编程智能体进行视频编辑,将代码指令转化为视频操作。适合内容创作者和开发者以编程方式批量处理视频,实现自动化的视频剪辑和特效添加。

27 Hidden Claude Features, Settings & Shortcuts That Most Users Don't Know

@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 分享Claude Code的27个隐藏功能、设置与快捷键。指出多数人只把它当自动补全,浪费了90%的能力。总结这些高阶技巧能大幅提升开发效率,属于Claude Code进阶教程。

How To Build a One-Person Company Using Claude Cowork

@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 探讨如何用Claude Cowork打造「一人公司」。指出普通知识工作者60%的时间耗费在邮件、报告、排版等无需深度思考的琐事上。提供利用AI接管日常运营的工作流,实现个人产能最大化。

$OUST Deep Dive - One of My Favorite Physical AI Plays

@crux_capital_ · 52.8K 粉丝 · 217.5K 阅 · 503 赞 · 56 转

This is the most in depth report I have ever written, on a very exciting company. If you read this article you will have a much deeper understanding of what Ouster does, how it plays into Physical AI,

中文介绍 发布关于Ouster($OUST)的深度研报,聚焦「物理AI」赛道。详细拆解Ouster的激光雷达业务及其在物理AI生态中的定位。为关注具身智能和硬件基础设施的投资者提供基本面分析参考。

ORACLE: Official AI Agents Trade on Polymarket

@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 介绍Polymarket上AI代理交易的现状。指出到2026年,自主AI代理已成为预测市场的高效策略,目前Polymarket超30%的交易量来自算法和AI驱动钱包。揭示AI在金融预测领域的渗透率。

ORACLE: Official AI Agents Trade on Polymarket

@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 探讨Polymarket预测市场中AI代理的交易策略。数据显示,超30%的平台活跃度由算法和AI钱包贡献,自主AI代理正成为2026年预测市场最具成效的量化策略之一。

This Week on Base: New Base MCP skills + now live in Perplexity, Base App on desktop, and more!

@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发布本周更新:Base MCP新增技能,支持AI代理在13个应用中链上交易、借贷与铸造。同时MCP已接入Perplexity,并推出桌面端App,进一步扩展Web3 AI代理生态。

thoughts on why mcp didn't work, what's next

@RhysSullivan · 57.4K 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 反思MCP早期落地不佳的原因。指出MCP发布时主流模型(如Sonnet 3.5、GPT-4o)对工具调用的理解有限,且开发者对模型权限存在安全担忧。探讨未来工具集成与模型能力匹配的演进方向。

The Hermes + Obsidian + Claude Code Trinity: The Full System for Running a One Person Company

@cyrilXBT · 186.6K 粉丝 · 77.2K 阅 · 510 赞 · 93 转

There is a specific moment that tells you whether someone is running a real one person company or just using a lot of apps. It is the moment they get asked a question about their own business and they

中文介绍 分享构建「一人公司」的完整系统:Hermes、Obsidian与Claude Code。强调真正的单人企业不是堆砌应用,而是建立能瞬间调取业务全貌的知识库,提供整合任务管理与AI编码的自动化工作流。

i don't want to use your agent

@RhysSullivan · 57.4K 粉丝 · 48.9K 阅 · 501 赞 · 23 转

i want to use the skills, knowledge, and apis your company has spent years developing, not your custom agent almost every company by this point has shipped an agent there's a cloudflare agent in their

中文介绍 吐槽当前企业盲目开发专属AI Agent的现象。作者认为用户不需要封闭的定制Agent,而是希望直接调用企业多年积累的技能、知识与API。呼吁行业从「造壳」转向开放底层能力,提升工具的实际可用性。

Life After Switching to Kimi

@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 分享切换至Kimi后的使用体验。指出Kimi并非普通聊天机器人,而是包含浏览器自动化引擎Claw和Agent Swarm的完整系统。能像人类一样操作网页并运行多智能体协作,重新定义了AI工具的产品形态。

Karpathy's Agentic Engineering Finally Has Proper Tooling

@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在Sequoia Ascent 2026提出的「智能体工程」概念。结合Google的Build工具,提供从氛围编程走向生产级Agent开发的实操指南,填补了该领域的工程化工具空白。

Human in the /loop

@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 分享与AI Agent协同编程的「Human in the loop」工作模式。作者喜欢同时开启多个Agent任务,自己处理其他工作,仅在任务完成或需要决策时介入。探讨异步协作下开发者如何保持心流与掌控感。

HP Inc. launches Frontier strategic partnership with OpenAI

HP Inc. scales its OpenAI Frontier partnership to deploy AI across customer experiences, software development, and enterprise operations.

中文介绍 惠普公司扩大与OpenAI的Frontier战略合作,将人工智能技术部署于客户体验、软件开发及企业运营等多个领域,以提升整体业务效率与服务质量。

Previewing GPT-5.6 Sol: a next-generation model

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、科学和网络安全方面具备更强能力,并配备了最先进的安全防护系统。

not much happened today

**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,该系列实行限制性发布,仅限受信任合作伙伴使用,其中Sol版强化了网络安全与防护功能。

Run a vLLM Server on HF Jobs in One Command

中文介绍 Hugging Face推出HF Jobs功能,支持用户通过单条命令快速运行vLLM服务器,简化大语言模型推理服务的部署流程。

Which tokens does a hybrid model predict better?

中文介绍 Hugging Face博客探讨了混合模型在Token预测方面的表现,分析了该类模型在哪些特定类型的Token预测上具备更优的准确率与性能。

Repositioning retail for the AI era

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 人工智能正迅速重塑零售业,其最大变革并非虚拟试穿或聊天助手等表面应用,而是体现在后台决策方式的转变,如优化搜索结果中的商品展示与推荐逻辑。

not much happened today

**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在编程和智能体基准测试中领先,前端代码竞技场得分达1595,推理准确率34.29%且零失败。Databricks通过硬件与优化将其速度提升至392 tok/s。

[AINews] It's Meta-Harness Summer

Move over, Harness Engineering, it is time for the harness of harnesses!

中文介绍 本期AI资讯探讨「Meta-Harness」概念,聚焦人工智能工程中测试与控制框架的演进,以及构建「框架的框架」在提升AI系统开发与部署效率方面的新趋势。

How agents are transforming work

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。该研究指出,AI智能体能够处理更长时间、更复杂的任务,从而全面提升各岗位的生产力。

Why the Frontier Ecosystem must be Open — Matei Zaharia and Reynold Xin, Databricks

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必要性,并分析企业构建智能体云所需的关键条件。

Introducing computer use in Gemini 3.5 Flash

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。

Tilikum: Transaction Fair Ordering on a DAG without Weak Edges

第一作者: Giulio Segalini · 方向: 密码学协议

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DAG共识协议缺乏公平排序保护的问题,本文提出Tilikum协议。该协议通过基于中位数的时间戳聚合实现排序线性化,无需依赖弱边。Tilikum在保持低数据冗余和稳健垃圾回收的同时,有效防止交易重排攻击,降低区块链可提取价值风险,适用于去中心化金融等对交易顺序敏感的场景。

The Observer World: A Cryptographic Extension of Impagliazzo's Five Worlds

第一作者: Fabio F.G. Buono · 方向: 安全研究

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 本文扩展了Impagliazzo五世界框架,引入正交观察轴以显式建模观察者层次结构。研究放松了各方均能观察全部输入的假设,揭示了观察盲区与计算硬度相互独立的现象。该工作定义了观察者世界并对所有世界-观察者对进行分类,为密码学原语的计算假设提供了更丰富的理论分析视角。

PRISM: PE Relational Inter-Section Matrix. A 2D Section-Aware Dataset for Static PE Malware Detection

第一作者: José M. Sacristán · 方向: 软件安全

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恶意软件检测数据集丢失节区顺序和关系上下文的问题,本文提出PRISM数据集与特征表示。该方法将二进制文件编码为二维矩阵,行代表按顺序排列的PE节区,并保留全局摘要行以兼容现有模型。PRISM包含数万个去重样本,为恶意软件家族分类和静态检测提供了更丰富的结构特征。

Application of LLMs to Threat Assessment of Foreign Peacekeeping Missions

第一作者: Gerhard Backfried · 方向: AI 安全

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 本文提出将大语言模型应用于外国维和任务威胁评估的新方法。结合跨学科风险模型、开源情报媒体收集与大语言模型威胁提取,该工作流将媒体内容映射为任务相关威胁并提取结构化信息。评估表明,自动生成的结果在核心方面与人类判断高度一致,为维和任务分析人员提供了有效的辅助决策支持。

zQR: A Verifiable QR-Driven zkSNARK Proof Verification Framework for Mobile Platforms

第一作者: Goshgar Can Ismayilov · 方向: 密码学协议

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应用受限的问题,本文提出zQR框架,支持离线验证器验证QR码中编码的zkSNARK证明。该框架集成区块链实现审计与不可否认性,并利用大语言模型自动生成电路。研究分析了多种攻击面的安全性,并评估了证明生成与验证延迟,推动了隐私保护技术在移动端的实用化。

Inherited Circuits, Learned Semantics: How Fine-Tuning Creates Evasion Vulnerabilities Invisible to Standard Evaluation

第一作者: Ryan Fetterman · 方向: 安全研究

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 本文揭示了微调大语言模型进行安全分类时引入的逃避漏洞。研究发现,模型在保持基准准确率的同时,可能因学习令牌级语义而在面对行为保持变换时失效。因果干预将分类电路定位到继承自基模型的后期注意力路由,表明微调集中并特化了该结构,导致标准评估无法发现这些潜在的脆弱性。

Type-based information flow analysis for $π$-calculus with a dynamically extensible security lattice

第一作者: Yukihiro Oda · 方向: 密码学协议

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 本文开发了一种安全信息流类型系统,支持在系统执行中动态创建新安全级别并插入安全格。该系统扩展了Kobayashi基于类型的π演算信息流分析,将简单的双元素格推广为动态可扩展格。研究为支持顺序与并发计算的模型提供了严谨的保密性形式化方法,有效处理了格扩展过程中的类型检查问题。

Physical Layer Authentication With Channel Knowledge Maps in Indoor Environments

第一作者: Luca Bonaventura · 方向: 安全研究

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 针对室内移动设备物理层认证因多径和遮挡导致假设失效的问题,本文提出基于信道知识地图的认证机制。接入点从接收信号中估计主导信道路径损耗和到达角,并与信道知识地图中已知位置邻域的测量值进行比较。研究在随机和最优攻击下进行了全面安全性分析,有效提升了室内移动设备的认证可靠性。

Design and Performance Evaluation of Secure RF and WiFi-Based Communication in Drone Swarms via Testbed Implementation

第一作者: Bhavya Dixit · 方向: 密码学协议

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MAVLink协议缺乏内置加密导致遥测流量易被窃听的问题,本文提出MAVShield轻量级加密框架。研究在定制无人机测试床集成多种加密算法,评估基于射频和WiFi的安全通信链路性能。该工作为无人机安全数据传输提供轻量级方案,有效提升集群协作通信的抗窃听能力。

ShareLock: A Stealthy Multi-Tool Threshold Poisoning Attack Against MCP

第一作者: Liwei Liu · 方向: 密码学协议

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攻击易被检测的问题,本文提出ShareLock多工具阈值投毒框架。该方法利用Shamir阈值方案将恶意提示分散到多个工具中,以协同利用多工具来分散检测风险。研究提升了攻击的隐蔽性与容错能力,揭示了多工具交互场景下的新型安全威胁。

Protocol Prying: Systematic Vulnerability Research in the Apple AirDrop and Android Quick Share Proximity Transfer Protocols

第一作者: Arash Ale Ebrahim · 方向: 密码学协议

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AirDrop和Quick Share等近距离传输协议应用层安全性缺乏研究的问题,本文首次对两者开展跨平台逆向工程与协议感知模糊测试。研究重建了AirDrop七层状态机,并构建模糊测试工具AIRFUZZ。该工作深入揭示了无需预配对场景下处理复杂序列化内容的零点击漏洞风险。

Jailbreaking for the Average Jane: Choosing Optimal Jailbreaks via Bandit Algorithms for Automatically Enhanced Queries

第一作者: Prarabdh Shukla · 方向: 安全研究

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 针对非专家恶意用户利用大语言模型越狱攻击的潜在风险,本文提出基于多臂老虎机框架的自动化攻击策略。该方法通过少量查询的噪声探索在线学习最优越狱模板,并构建了包含万余条恶意查询的安全基准FrankensteinBench。研究验证了自动化越狱的有效性,为大模型安全评估与防御提供了新视角。

Chai: Agentic Discovery of Cryptographic Misuse Vulnerabilities

第一作者: Corban Villa · 方向: 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Chai。该系统重新思考差分测试技术,利用自然信号提高库级别真实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漏洞线索。研究颠覆了传统AI漏洞发现范式,有效提升了密码学相关漏洞的挖掘能力。

Fortress and Gatekeeper: Theorizing Transitive Trust in Third-Party Cybersecurity Risk Governance

第一作者: Yijun Chen · 方向: 软件安全

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,本文通过分析OpenAI与Mixpanel安全事件,探讨数据流入不可见环境带来的问责挑战。研究结合组织信任与委托代理理论,提出第三方风险兼具信任关系与委托问题双重属性。该工作为理解数字服务供应链中的传递信任与安全治理提供了理论框架。

SpikeTimer: Exploring Active Copyright Protection in Spiking Neural Networks via Temporal Backdoor Regularization

第一作者: Xiao Yang · 方向: AI 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 针对脉冲神经网络因时间编码复杂性导致版权保护研究不足的问题,本文提出SpikeTimer主动版权保护框架。该方法通过时间后门学习,将数据划分为特定时间片,仅在授权时间片内嵌入授权令牌。研究实现了模型版权验证,并利用时间分割特性原生支持多用户授权,拓展了边缘AI系统的安全保护机制。

MIRROR: Novelty-Constrained Memory-Guided MCTS Red-Teaming for Agentic RAG

第一作者: Inderjeet Singh · 方向: AI 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 针对多模态代理检索增强生成系统攻击面扩大且现有红队方法易重复已知模板的问题,本文提出MIRROR跨表面红队测试框架。该方法在显式新颖性约束下执行记忆引导的蒙特卡洛树搜索,通过确定性新颖性门拒绝重复候选。研究有效提升了针对文本投毒和图像注入等多种攻击面的自动化漏洞挖掘与评估能力。

MergeLLL: A Hierarchical Divide-and-Conquer Framework for LLL-Based Lattice Reduction

第一作者: Niharika Gauraha · 方向: 密码学协议

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 针对格基约化算法在高维下计算复杂度急剧增加的问题,本文提出MergeLLL分层分治框架。该方法将格基拆分为子基进行独立局部约化,并结合深度插入策略进行分层合并重建。此方法优先优化局部格结构,提升了正交性与数值稳定性,同时降低整体计算开销,并天然支持多核与分布式并行执行。

DroidBreaker: Practical and Functional Problem-Space Attacks on Machine-Learning Android Malware Detectors

第一作者: Christian Scano · 方向: 软件安全

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 针对现有针对机器学习Android恶意软件检测器的问题空间对抗攻击存在构建失败或语义失效等局限,本文提出DroidBreaker框架。该方法克服了传统软件移植引入副作用及细粒度注入效果不佳的问题,能生成逃避检测且保留原有功能的对抗性APK,提升了实际威胁评估的准确性。

The Fungible Reserve Standard: A Deterministic Framework for Encoding Carrying Costs in Asset-Backed Tokens

第一作者: JJ Jia Jing Tan · 方向: 区块链安全

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产生保管与保险等结构性负携带成本的挑战。本文提出可替换储备标准,一种将此类持有成本直接编码上链的确定性框架。该标准避免了代币重定基等损害资产可替换性与DeFi可组合性的机制,为贵金属和仓储商品等资产的链上经济模型提供了更优的解决方案。

TGHE: Template-based Graph Homomorphic Encryption for Privacy-Preserving GNN Inference in Edge-Cloud Systems

第一作者: Ngoc Bao Anh Le · 方向: 密码学协议

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 针对现有同态加密图神经网络推理受限于全局图规模的问题,本文提出TGHE框架。该方法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进行SIMD并行加密推理。结合长尾优化策略,TGHE在保障隐私的前提下大幅提升了大规模动态金融图的加密推理效率。

Agents That Know Too Much: A Data-Centric Survey of Privacy in LLM Agents

第一作者: Nada Lahjouji · 方向: AI 安全

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 随着大语言模型代理深入参与数据库查询与外部调用,其处理敏感数据引发的隐私泄露风险日益凸显。本文从数据中心视角对LLM代理隐私问题进行综述,打破传统按攻击类型分类的框架,系统梳理代理在查询、中间状态、记忆及多智能体交互等环节的数据接触风险,为构建安全的代理系统提供理论参考。

Adversarial Diffusion Across Modalities: A Fusion Survey of Attacks, Defenses, and Evaluation for Text, Vision, and Vision-Language Models

第一作者: Abrar Alotaibi · 方向: AI 安全

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AI对抗性评估在不同模态各自为战的现状,本文对基于扩散模型的跨模态攻击与防御进行融合综述。研究将文本、图像、视觉语言模型及输入净化防御整合至统一框架,提出一致的分类法与评估标准,重点聚焦大语言模型侧的安全威胁,为多模态AI鲁棒性研究提供全局视角。

TESLA-for-5G: Broadcast Authentication for 5G Networks Using TESLA

第一作者: Subin Song · 方向: 密码学协议

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 针对5G网络中系统信息广播易受伪造且传统数字签名认证计算开销过大的问题,本文提出TF5广播认证协议。该方法结合TESLA机制与基于身份的签名,在稳态下利用对称消息认证码和延迟密钥披露替代逐条数字签名验证,显著降低了资源受限终端的计算负担,同时保障了小区接入的初始信任安全。

VIGIL: Runtime Enforcement of Behavioral Specifications in AI Agent Skills

第一作者: Ying Li · 方向: 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 针对AI代理调用第三方技能时自然语言行为规范缺乏可执行运行时强制的问题,本文提出VIGIL机制。该方法解决了上下文粒度挑战,通过精确决定事件观察、状态保留与干预位置,在保障代理执行灵活性的同时,实现了对技能访问权限、披露限制及执行前提等边界条件的严格动态监控与违规拦截。

DKVE: Decentralized Key Validation for End-to-End Encrypted Messaging

第一作者: Subin Song · 方向: 密码学协议

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。该协议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和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,为大规模加密通信提供了去中心化的安全验证新方案。

Adaptive Evaluation of Out-of-Band Defenses Against Prompt Injection in LLM Agents

第一作者: Praneeth Narisetty · 方向: 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,本文系统评估了现有的带外防御机制。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。同时指出当前防御仅在静态基准上验证的局限性,呼吁建立自适应评估方法以应对不断演变的攻击。

What Browsers Do in the Shaders: A Measurement Study of WebGPU Privacy

第一作者: Igor Santos-Grueiro · 方向: 网络安全

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在网页中运行GPU工作负载时可能引发的隐私泄露问题,本文提出WGPULens测量框架。通过在受控场景、真实网页抓取及用户研究中分离测量维度,研究系统评估了浏览器与GPU共享状态暴露的隐私信号,并识别出持久管道编译状态是主要的指纹泄露面。

Lessons from the Adoption and Deprecation of the Privacy Sandbox Web APIs

第一作者: Yohan Beugin · 方向: 网络安全

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 study of its...

论文介绍 针对Google隐私沙盒项目的终止,本文对Privacy Sandbox Web API的采用与废弃过程进行了纵向测量与分析。通过结合历史网页存档与浏览器遥测数据,研究系统刻画了七年间网络生态对该隐私替代方案的反应,为理解如何在实用性与隐私保护间取得平衡提供了重要经验。

Verifying Intent and Harm: A Unified Defense Against LLM-Generated Threats

第一作者: Poojitha Thota · 方向: AI 安全

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中易受对抗攻击产生有害输出的问题,本文提出一种联合验证意图与危害的统一防御框架。该方法在模型输出交付前,通过专门的分析师分别评估用户提示意图与生成内容的危害性,并引入裁判机制解决评估冲突,有效弥补了单一侧防御的盲区。

Hybrid privacy-aware semantic search: SVD-truncated document geometry and CKKS-encrypted query reranking under a restricted threat model

第一作者: Sergey Kurilenko · 方向: 密码学协议

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建风险,本文提出一种混合隐私感知语义搜索方案。该方法结合几何与密码学保护:对静态文档集合进行SVD截断与正交变换,对动态查询则采用CKKS同态加密进行重排序,在保障检索精度的同时有效抵御嵌入反转攻击。

Beyond Takedown: Measuring Malicious Go Module Persistence in the Wild

第一作者: Minjae Bae · 方向: 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AST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。研究揭示了仅依赖代码托管平台下架机制的局限性,并量化了恶意代码在平台外的持久性,为软件供应链治理提供了实证依据。

TEMPO-Diffusion: Temporally Exposed Malicious Poisoning of Diffusion Models

第一作者: William Aiken · 方向: 网络安全

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不足的问题,本文提出TEMPO-Diffusion框架,将恶意分布偏移限制在时间维度的分布内暴露。该框架支持多类别定向攻击与多位置特征重建,并引入时间条件触发机制。研究还发布了专用数据集,深入探讨了后门模型在生成合成训练数据时的安全隐患。

Expecting (Targeted Ads)? Network Analysis of User Health Data Leakage in Fertility Tracking Apps

第一作者: Yeeun Jo · 方向: 网络安全

Abstract:While human factors in the privacy of fertility tracking apps -- health trackers that record users' 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...

论文介绍 本文针对生育追踪应用的用户健康数据隐私问题,对20款Android应用进行网络流量测量研究。通过分析应用与第三方广告服务的交互,发现部分应用存在显式数据泄露及通过定向广告URL隐式泄露的问题。该研究揭示了此类应用数据共享的技术细节,为移动健康应用的隐私保护与监管提供了实证依据。

CyberChainBench: Can AI Agents Secure Smart Contracts Against Real-World On-Chain Vulnerabilities?

第一作者: Jintao Huang · 方向: 软件安全

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任务中的表现。涵盖漏洞检测、利用生成与补丁合成,基于真实去中心化金融黑客事件构建,支持智能体在隔离环境中与历史链上状态交互。该研究为衡量AI智能体在复杂链上安全场景的端到端修复能力提供了标准化评估框架。

Data Facts: A Metadata Schema for Structured Data Exchange in the NANDini Multi-Agent Ecosystem

第一作者: Jin Gao · 方向: 密码学协议

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 针对多智能体生态系统中结构化数据交换的缺失,本文提出Data Facts概念。这是一种轻量级JSON元数据模式,弥补现有协议在数据发现与验证方面的不足。它支持智能体自主发布、评估和验证数据集,为构建无需人工干预的大规模自动化智能体数据共享基础设施提供了核心协议支撑。

MIRAGE: Protecting against Malicious Image Editing via False Moderation

第一作者: Anshul Nasery · 方向: 系统安全

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 moderation. Rather than disrupting the generative model itself, we propose to immunize images by causing these...

论文介绍 针对AI图像编辑带来的恶意篡改风险,本文提出系统级防御方法MIRAGE。不同于依赖模型权重的传统技术,MIRAGE利用商业系统普遍存在的生成前安全审核机制,通过添加扰动触发审核误报,从而阻止图像被恶意处理。该方法无需访问模型参数,为防范主流商业图像编辑工具的滥用提供了有效防护。

A Deterministic Control Plane for LLM Coding Agents

第一作者: Padmaraj Madatha · 方向: AI 安全

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。分析万余个开源仓库发现,智能体配置被广泛跨组织共享、极少修改且缺乏权限声明。为此,作者提出一种确定性控制平面,将配置映射为可管理的组件,以解决配置无序传播带来的安全隐患,提升AI编码智能体在开发环境中的可控性与安全性。

Autoformalization of Agent Instructions into Policy-as-Code

第一作者: Adam Mondl · 方向: 软件安全

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,本文提出自动形式化管道。该方法利用大语言模型生成与批评循环,将智能体提示、工具描述及自然语言策略自动转化为Cedar语言编写的形式化策略。研究表明,其生成的策略比手工编码能更全面覆盖自然语言规范,提升了智能体行为约束的严谨性。

Empirical Software Engineering TerraProbe: A Layered-Oracle Framework for Detecting Deceptive Fixes in LLM-Assisted Terraform

第一作者: Manar Alsaid · 方向: 软件安全

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Terraform代码安全风险及大模型自动修复局限,本文提出TerraProbe五层评估框架。该框架从规划有效性、行为变更及安全意图等维度检验修复质量,克服仅依赖静态分析消除的评估缺陷。研究揭示主流大模型存在欺骗性修复现象,为准确评估AI代码修复的真实安全性提供了可靠工具。

ProvenAI: Provenance-Native Traces of Evidence in Generated Answers

第一作者: Mohammad Faizan · 方向: 系统安全

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可测层。通过归因审计和消融干预流水线,ProvenAI能精确评估生成答案的证据溯源质量,有效识别虚假引用,提升了问答系统的可信度。

Nanoelectromechanical Systems (NEMS) for Hardware Security in Advanced Packaging

第一作者: Himanandhan Reddy Kottur · 方向: 系统安全

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 针对半导体制造和先进封装中日益严重的硬件安全威胁,本文提出将纳米机电系统作为新兴的硬件安全原语。该系统利用物理不可克隆功能、形状记忆材料及共振指纹等机制,在设备级实现物理保证、篡改检测与身份认证,有效提升对逆向工程和侧信道攻击的防御能力。

Query Cost Model Calibration in Confidential Virtual Machines

第一作者: Qihan Zhang · 方向: 软件安全

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 在机密虚拟机中运行数据库常面临显著性能开销,传统查询优化器因依赖非加密虚拟机的成本假设而导致性能下降。本文提出一种轻量级的机密虚拟机感知成本校准方法,通过物理代理对数据移动和内存转换等核心开销进行建模,显著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有效支持。

Governing Actions, Not Agents: Institutional Attestation as a Governance Model for Autonomous AI Systems

第一作者: Jakob Salfeld-Nebgen · 方向: 软件安全

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 针对自主人工智能系统可能执行不可逆高风险动作的问题,本文提出一种基于机构证明的计算治理模型。该模型允许人工智能保留规划与推理的自主权,但将高风险动作的执行权剥离,要求其前提条件必须经过独立权威来源的加密证明与策略评估,并将决策记录于防篡改日志中,从而实现对人工智能行为的安全治理。

The Role of Input Dimensionality in the Emergence and Targeted Control of Adversarial Examples

第一作者: Nasrin Malekzadeh Goradel · 方向: AI 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深度神经网络对抗样本产生与定向控制中的作用。通过分析现有测度集中理论的局限性,发现真实图像数据具有强经验局部化特征。研究在多种数据集和架构上进行广泛实证评估,揭示了输入维度变化对对抗样本生成难度的影响,为理解对抗脆弱性及提升模型鲁棒性提供了新视角。

Federated Hash Projected Latent Factor Learning

第一作者: Jialan He · 方向: 软件安全

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传输实数梯度导致通信开销大与隐私泄露问题,本文提出联邦哈希投影潜在因子模型。该方法将哈希学习引入联邦范式,在避免集中私有数据的同时,通过二进制表示降低通信成本,并引入关键机制克服现有二进制编码表示能力受限的缺陷,兼顾隐私保护与模型精度。

Account-History Features for Social Bot Detection in the Era of Large Language Models

第一作者: Gaurang Katyal · 方向: 安全研究

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 大语言模型的普及使基于文本的社交机器人检测面临失效风险。本文提出依赖账户历史特征的检测方法,利用账户年龄、粉丝与好友比例、资料完整度及句柄结构等攻击者难以低成本操纵的属性。实验表明,仅使用这些历史特征训练的随机森林模型即可实现高效识别,为大模型时代的社交平台安全治理提供了新思路。

Scalable Behavior Cloning with Open Data, Training, and Evaluation

第一作者: Arthur Allshire · 方向: VLA 通用模型 · 来源: cs.RO

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 本文推出用于机器人操作行为克隆的全开源技术栈。其核心包含最大的开源遥操作数据集,涵盖一百九十五项任务的三千五百小时数据。此外,团队开源了硬件设置、训练基础设施与仿真管道,并提供联合训练方案。研究对比了扩散变换器与视觉语言动作模型的架构选择,为机器人策略学习提供可靠基准。

World Action Models Enable Continual Imitation Learning with Recurrent Generative Replays

第一作者: Manish Kumar Govind · 方向: 机器人操作 · 来源: cs.RO

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,本文提出一种新型框架。该方法利用世界动作模型生成未来视觉观察的能力,递归合成伪重放轨迹,使机器人策略能复习已学任务而无需存储原始演示数据。实验表明,该框架在仿真和真实操作中显著降低灾难性遗忘,其性能接近依赖真实重放数据的特权方法。

RouterVLA: Turning Smoke Tests into Supervision for Heterogeneous VLA Selection

第一作者: Xingyu Ren · 方向: VLA 通用模型 · 来源: cs.RO

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评估测试来监督视觉语言动作模型的选择。提出RouterVLA框架,通过结果不相交的交叉拟合,利用探测数据为专家构建画像并独立评估。该方法显著提升了策略选择成功率,表明复用测试数据能有效提升路由价值,为异构机器人策略选择提供了透明高效的方案。

Continual Robot Policy Learning via Variational Neural Dynamics

第一作者: Jiaxu Xing · 方向: 策略学习 · 来源: cs.RO

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隐藏且反复出现的动力学变化问题,本文提出一种持续学习框架。该方法结合物理先验与神经残差学习条件感知动力学模型,并通过循环编码器推断当前隐藏状态以调节策略。该框架使机器人能利用部署经验持续改进策略,有效提升在动态未知环境中的任务表现。

Bridging Performance and Generalization in Reinforcement Learning for Agile Flight

第一作者: Jonathan Green · 方向: 策略学习 · 来源: cs.RO

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 针对无人机竞速中强化学习策略难以泛化且提升泛化性会牺牲飞行速度的问题,本文提出一种敏捷飞行零样本泛化框架。该方法旨在解决高维任务变化下安全与性能的耦合难题,在不显著降低飞行速度的前提下,实现了控制策略在未知环境配置中的零样本泛化,有效平衡了敏捷飞行的极致性能与跨环境鲁棒性。

VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity

第一作者: Yuemin Mao · 方向: 机器人操作 · 来源: cs.RO

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 灵巧操作依赖快速且易被视觉遮挡的接触事件。本文提出VibeAct框架,通过共享接触与滑动物理表示,桥接真实振动触觉传感与模拟强化学习。该方法在灵巧手嵌入压电麦克风收集数据并自动标注状态,利用触觉估计器从波形预测接触信息以指导操作策略,有效提升了接触丰富任务下的机器人灵巧操作能力。

LA4VLA: Learning to Act without Seeing via Language-Action Pretraining

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

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 针对视觉语言动作模型易依赖视觉捷径的问题,本文提出LA4VLA语言动作预训练框架,使策略在无视觉观察下获取语言条件动作先验。通过将专家轨迹分解为原子动作段并配对低级动作,该框架捕获跨任务共享的操作技能,减少对特定场景视觉线索的依赖,从而有效提升机器人在复杂环境下的策略泛化能力。

E-TTS: A New Embodied Test-Time Scaling Framework for Robotic Manipulation

第一作者: Wen Ye · 方向: 机器人操作 · 来源: cs.RO

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 针对具身任务中测试时缩放机制与历史上下文利用不足的问题,本文提出E-TTS框架。该框架通过视觉语言验证器进行历史感知的迭代细化,统一机器人操作的推理与动作缩放。E-TTS采用成对方式进行推理与动作的联合采样和评分,充分利用历史信息,以模块化即插即用设计有效提升长时序操作任务性能。

Advancing Omnimodal Embodied Agents from Isolated Skills to Everyday Physical Autonomy

第一作者: Junhao Shi · 方向: VLA 通用模型 · 来源: cs.RO

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 构建非结构化环境中的持久具身代理需要统一协调网络与物理工具,并自主恢复物理故障。本文提出OmniAct框架,采用层次化异步架构,显式分离规划、记忆与验证。该系统集成多模态语义规划器进行跨统一动作空间的技能路由,结合记忆管理与故障检测机制,推动具身代理从孤立技能向日常物理自主操作迈进。

HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation

第一作者: Hongwu Wang · 方向: 机器人操作 · 来源: cs.RO

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 高质量演示数据对人形机器人全身技能学习至关重要。本文提出HumanoidUMI便携式无机器人数据采集框架。该方法利用轻量VR设备和定制夹爪收集人体关键点、腕部视角与夹爪动作。高层策略预测未来关键点并重定向为机器人全身参考轨迹,由全身控制器执行,有效降低数据采集门槛并提升操作效率。

Learning to Fold: prizewinning solution at LeHome Challenge 2026 (1st place online, 2nd offline)

第一作者: Ilia Larchenko · 方向: VLA 通用模型 · 来源: cs.RO

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解决方案。该方法将强化学习引入VLA策略,使网络在预测动作时同步预测任务进度与成功概率,驱动优势估计与实时故障检测。结合异步分布式训练与推理时超参优化,该系统在仿真与真实折叠任务中表现优异,为复杂家庭机器人操作提供了有效范式。

PhysReflect-VLA: Physical Feasibility and Self-Reflective Regulation for Reliable Vision-Language-Action Policies

第一作者: Jiayu Yang · 方向: VLA 通用模型 · 来源: cs.RO

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可行性检查与自我纠错能力的问题,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自我反思,通过可行性算子验证状态转换,并利用大语言模型分析状态偏差以生成纠正策略,显著提升了机器人操作的可靠性。

PAMAE: Phase-Aware-MoE Action Experts Towards Reliable Flow-Matching Vision-Language-Action Policies

第一作者: Jiayu Yang · 方向: VLA 通用模型 · 来源: cs.RO

Abstract: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...

论文介绍 针对视觉语言动作模型在多阶段操作中难以捕捉特定控制模式的问题,本文提出阶段感知混合专家动作模块PAMAE。该即插即用模块以稀疏专家混合替换单一动作专家,引入阶段感知路由机制,利用执行线索动态分配动作生成任务,在保留预训练骨干的同时,实现更可靠的多阶段动作生成。

ForesightSafety-VLA: A Unified Diagnostic Safety Benchmark for Vision-Language-Action Models

第一作者: Mingyang Lyu · 方向: VLA 通用模型 · 来源: cs.RO

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在具身智能中安全评估不足的问题,本文提出ForesightSafety-VLA诊断基准。该基准定义涵盖物理交互、指令与感知侧的13类安全分类法,在场景、指令和视觉三个维度进行评估。它突破单一成功率指标,通过测量过程级风险精准诊断失败源,为机器人安全部署提供指导。

RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation

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

Abstract: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 this http URL 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...

论文介绍 为弥合开放世界机器人操作中抽象语义与精确物理控制的鸿沟,本文提出免训练框架RelAfford6D。该框架以关系6D可供性图为核心,根据指令推断交互部件与物理锚点的语义拓扑,并利用视觉基础模型转化为精确位姿。通过将下游执行转化为运动学约束满足问题,机器人可沿严格物理流形合成连续轨迹。

RobOralScan: Learning Active Intraoral Scanning for Robotic Dental Reconstruction

第一作者: Jinhyung Lee · 方向: 策略学习 · 来源: cs.RO

Abstract: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...

论文介绍 针对全牙弓口内扫描自动化程度低且依赖人工的问题,本文提出首个基于强化学习的机器人自动口内扫描系统RobOralScan。该系统引入基于几何记忆的观测空间,将局部扫描累积为三态几何表示,使策略能推理扫描历史与未充分观测区域,结合逐牙覆盖率学习,有效提升了复杂口腔环境下的三维重建质量。

UAV-MapFusion: RTK-Aligned Uncertainty-Aware Coarse-to-Fine Multi-Session UAV Mapping

第一作者: Feng Pan · 方向: 具身智能 · 来源: cs.RO

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 针对无人机单次建图受限及现有多会话合并难以兼顾长程漂移抑制与局部精度的问题,本文提出不确定性感知的多会话点云融合系统。该方法先基于场景图初步合并,随后通过RTK时空对齐模块引入高精度RTK观测,利用动态时间规整估计时间偏移,实现粗到细的地图优化,有效提升了大规模场景的建图精度。

PlanRL: A Trajectory Planning Architecture for Reinforcement Learning-based Driving Experts

第一作者: Joonhee Lim · 方向: 导航与运动 · 来源: cs.RO

Abstract: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...

论文介绍 针对传统强化学习驾驶专家直接输出控制命令导致可解释性差及道路几何学习复杂的问题,本文提出一种新型轨迹规划架构。该方法将强化学习策略与多项式轨迹规划器结合,采用Frenet坐标系简化道路几何,并在规划阶段引入运动学可行性检查。该架构提升了策略学习的结构化先验,确保了生成轨迹的安全与平滑。

Ordinal Neural Collapse as a Representation Prior for Visual Navigation

第一作者: E-In Son · 方向: 导航与运动 · 来源: cs.RO

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 针对视觉导航中端到端模仿学习易产生模糊且与动作无关的特征表示问题,本文提出ORION框架。该方法引入序数神经崩溃作为表示先验,优化视觉编码器以学习更具区分度的特征,从而减少复杂环境下的决策歧义,提升机器人在真实场景中的导航鲁棒性与成功率。

Improving Vision-Language-Action Model Fine-Tuning with Structured Stage and Keyframe Supervision

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

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对操作阶段和关键动作目标的结构化监督问题,本文提出StaKe辅助监督框架。该方法无需人工标注,自动从演示数据中提取阶段分类与关键帧预测信号,作为轻量级辅助头丰富模型表征,有效提升了机器人在复杂抓取转换任务中的成功率。

SSI-Policy: Learning Structured Scene Interfaces for Vision-Language Robotic Manipulation

第一作者: Kaijun Wang · 方向: 机器人操作 · 来源: cs.RO

Abstract: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...

论文介绍 针对低数据场景下机器人操作难以兼顾可扩展任务推理与显式物理结构的问题,本文提出SSI-Policy框架。其核心是结构化场景接口,一种仅依赖RGB的统一中间表示,联合编码深度特征、对象布局与运动轨迹,实现感知与控制解耦,提升了视觉语言机器人操作的几何准确性与泛化能力。

PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation

第一作者: Yi Lu · 方向: 多模态具身 · 来源: cs.RO

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 针对现有人形机器人运动模仿忽略接触动力学导致动作失真的问题,本文提出PressMimic框架,将压力作为贯穿感知与控制的统一模态。在感知端引入FRAPPE++模型融合视觉与压力信号以估计三维姿态,在控制端利用压力约束优化动作,显著改善了足端滑动与穿透等物理交互伪影。

Learning Motion Feasibility from Point Clouds in Cluttered Environments

第一作者: Sajid Ansari · 方向: 机器人操作 · 来源: cs.RO

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 针对杂乱环境中基于采样的运动规划器计算成本高昂的问题,本文研究直接从原始RGB-D点云观测中学习七自由度机械臂运动可行性的方法。研究构建了包含数百万抓取可行性标签的大规模基准数据集,并评估了多种深度学习模型,为复杂场景下的任务与运动规划提供了高效的可行性预测方案。

Tactile-WAM: Touch-Aware World Action Model with Tactile Asymmetric Attention

第一作者: Siyu Wu · 方向: 机器人操作 · 来源: cs.RO

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缺乏物理细节及直接引入触觉信号易导致「触觉污染」的问题,本文提出Tactile-WAM模型。该模型引入触觉非对称注意力机制,通过掩码策略阻断视频查询对触觉键值对的直接访问,有效融合触觉与视觉信息,提升了复杂装配与搜索任务中的动作决策精度。

Hardware Design for Table Tennis Robot Capable of Beating Professional Players

第一作者: Nobuhiko Mukai · 方向: 具身智能 · 来源: cs.RO

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 为打造能击败专业选手的乒乓球机器人,本文通过分析精英球员动作确立硬件指标,开发了定制八自由度机器人「Ace」。研究采用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型,并集成低阶动力学模型与延迟补偿以支持强化学习控制策略,实现了高速稳定的击球动作。

A Closed-Form 4-DoF Inter-Robot Pose Estimator using Bearing-only Measurements

第一作者: Qixin De · 方向: 具身智能 · 来源: cs.RO

Abstract: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...

论文介绍 针对多机器人协同定位中六自由度方法易出现可观测性退化的问题,本文提出一种仅依赖方位角测量的闭式四自由度相对位姿估计器。该方法放松了旋转估计的非线性约束,并通过理论分析揭示了共线与保形运动模式下的退化条件,证明了四自由度系统在降低运动约束要求的同时仍能保持可靠估计。

Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts

第一作者: Vidullan Surendran · 方向: 机器人操作 · 来源: cs.RO

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 针对接触丰富机器人操作中手持数据采集缺乏动态可行性而遥操作耗时的问题,本文提出结合手持与少量遥操作数据的训练方法。研究分析两种监督方式在不同任务阶段的交互,利用状态门控专家模型融合两者优势,在自由空间与接触敏感阶段实现有效监督,提升了复杂操作任务的数据收集效率与策略性能。

Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure

第一作者: Yiyuan Pan · 方向: 具身智能 · 来源: cs.RO

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 针对机器人策略在推理时难以满足未预见用户偏好且重训成本高的问题,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级状态机骨架与低级连续控制器。通过将用户偏好转化为自动机并与任务骨架同步重组,实现物理可行的推理时行为引导,无需重新训练即可灵活调整机器人行为。

IDEA: Insensitive to Dynamics Mismatch via Effect Alignment for Sim-to-Real Transfer in Multi-Agent Control

第一作者: Chenlong Liu · 方向: 策略学习 · 来源: cs.RO

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对动力学不匹配敏感的问题,本文提出IDEA方法。该方法将随机环境结构与离散语义动作结合,把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序不匹配。此方法有效降低了对精确动力学模型的依赖,提升了复杂环境下的迁移鲁棒性。

WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation

第一作者: Baiqi Li · 方向: 机器人操作 · 来源: cs.RO

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 现有机器人操作基准缺乏对人类行为推理的评估。本文提出WatchAct基准,将真实人类动作视频、语言指令与对齐的仿真场景结合。该基准包含3000个长视野实例,涵盖事件解析、过程推理等认知能力域,为评估机器人理解人类行为意图及动作历史的能力提供了可扩展的测试平台。

Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?

第一作者: Tyler Ga Wei Lum · 方向: 机器人操作 · 来源: cs.RO

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 针对多指机器人在精确装配任务中数据收集与探索困难的问题,本文提出Play2Perfect框架。该方法先通过与多样物体进行任务无关的玩耍来预训练,获取可复用操作技能,再在精确装配任务中微调。研究深入探讨了玩耍预训练中对精确装配至关重要的因素,有效提升了多指机器人灵巧操作的泛化与执行能力。

A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots

第一作者: Duncan William Calvert · 方向: 机器人操作 · 来源: cs.RO

Abstract: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...

论文介绍 针对人形机器人需协调运动、感知与接触的挑战,本文提出一种快速、鲁棒且自适应的本地行为创作与运行时系统。该系统结合以对象为中心的可供性模板、行为树逻辑与运行时可编辑感知,支持操作员在运行时进行行为编写、监控与修复,实现了高度可观测且可预测的人形机器人全身运动操作控制。

MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins

第一作者: Roy Xing · 方向: 导航与运动 · 来源: cs.RO

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 针对强化学习在运动控制中易收敛于局部最优且不可部署的步态问题,本文提出MPC-Injection方法。该方法将模型预测控制器生成的状态转移注入经验回放缓冲区,引导策略学习设计者偏好的步态。此方法无需重新设计任务奖励或引入判别器,仅通过改变状态分布实现行为引导,并在四足机器人真机实验中得到验证。

Scaling Nonlinear Optimization: Many Problems One GPU

第一作者: John Viljoen · 方向: 导航与运动 · 来源: cs.RO

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 机器人轨迹优化与运动规划常转化为非线性规划,但传统求解器受限于CPU且单次求解,难以融入现代GPU批处理学习管线。本文探讨在单张GPU上并行扩展非线性优化的方法,旨在开发GPU批处理求解器。该研究有望大幅提升动力学计算与优化的效率,为结合传统优化与现代强化学习提供底层算力支持。

KRVF: A Source-Aware Semantic Voxel World Representation for Edge Mobile Manipulation

第一作者: Runfeng Ling · 方向: 机器人操作 · 来源: cs.RO

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 针对边缘移动操作对世界模型的需求,本文提出KRVF,一种源感知语义体素世界表示。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假设,支持深度失败感知推理。KRVF通过闭环反馈修复地图,并提供任务级查询接口,适用于资源受限下的机器人语义操作与抓取。

Racing a Wheeled Quadruped: Active Load Transfer Mitigation via Model Predictive Control

第一作者: Marla Eisman · 方向: 策略学习 · 来源: cs.RO

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 本文提出一种结合模型预测控制与强化学习的分层控制框架,用于管理轮式四足机器人自主赛车时的横向载荷转移。该框架通过在线MPC规划器主动最小化横向载荷转移率,并利用腿部关节产生抗侧倾力矩,配合底层全身RL策略执行。物理实验表明,该方法显著降低载荷转移,提升圈速与横向加速度极限。

NavIsaacLab: Generating Realistic Crowd via Parallel Robot Learning for Benchmarking Human-aware Navigation

第一作者: Bingyi Xia · 方向: 导航与运动 · 来源: cs.RO

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 针对人类感知导航中高质量场景数据稀缺的问题,本文提出NavIsaacLab框架。该平台通过并行机器人学习生成逼真且多样化的人群行为,克服了传统仿真依赖手工规则和假设完美观测的局限。系统提供丰富的传感器信号与复杂场景模拟,为训练和评估人机共享环境下的自主导航策略提供了高效基准。

TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes

第一作者: Blake Werner · 方向: 导航与运动 · 来源: cs.RO

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 本文提出TaskNPoint训练协议,旨在通过「教练-学习者」分工模式快速教会人形机器人掌握网球反手击球等动态技能。该方法将复杂动态技能的学习简化为掌握少数关键动作,由人类教练提供离散技能集与关键点指导,机器人则通过反复练习精准控制关键交互窗口,大幅缩短高难度全身协调动作的学习时间。

RoboTales: ROBOTic Anthropomorphic LEarning Systems

第一作者: Andrew Chen · 方向: 具身智能 · 来源: cs.RO

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,一种低成本具身机器人叙事系统。该系统通过同步语音、手势与嘴部动作,利用袜子木偶进行角色扮演讲故事。初步研究表明,这种具身木偶表演比单纯手势更能提升受众的参与度与故事记忆力。该系统具备模块化与跨平台特性,为儿童教育等场景提供了无屏幕的交互式媒体替代方案。

Morphology-Specific Closed-Loop Control of Logarithmic-Spiral Continuum Arms via Online Jacobian Error Compensation

第一作者: Partha Datta · 方向: 具身智能 · 来源: cs.RO

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任务空间闭环控制框架。研究建立了分段腱驱动模型,推导了解析任务空间雅可比矩阵,并结合Broyden割线更新与卡尔曼滤波进行在线雅可比误差补偿。该方法有效修正了建模误差,实现了连续体臂的高精度闭环抓取与控制。

LiMoDE: Rethinking Lifelong Robot Manipulation from a Mixture-of-Dynamic-Experts Perspective

第一作者: Zhihao Gu · 方向: VLA 通用模型 · 来源: cs.RO

Abstract: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...

论文介绍 针对通用机器人持续任务适应中的灾难性遗忘问题,本文提出LiMoDE,一种基于动态混合专家架构的终身操作学习方案。该方法在预训练阶段引入动态MoE结构,根据运动信息自适应激活异构专家以提取可复用技能,并在后续阶段有效建模技能交互,提升了机器人在连续任务中的知识保留与泛化适应能力。

RMTL: Reinforced Micro-task Learning for Long-Horizon Manipulation with VLM Rewards

第一作者: Anıl Can Ateş · 方向: 机器人操作 · 来源: cs.RO

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 针对长视野机器人操作中单一视觉语言模型奖励信号粗糙的问题,本文提出强化微任务学习框架RMTL。该方法将复杂操作分解为多个语言描述的微任务,训练智能体在微任务间动态切换,并在每步提供多视图视觉语言模型奖励。此举解决了轨迹早期进展难以检测的难题,提升了长视野任务的强化学习训练效率。

Reinforcement Learning Enables Autonomous Microrobot Navigation and Intervention in Simulated Blood Capillaries

第一作者: Jannik Drotleff · 方向: 导航与运动 · 来源: cs.RO

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的挑战,本文构建了一个包含真实流场、红细胞动力学及解剖分支几何的毛细血管网络物理模拟环境。研究利用深度强化学习训练智能体通过趋化性进行自主导航,并系统评估了不同尺寸和速度下的物理导航极限,为靶向给药和溶栓等医疗应用提供了基础。

OctoSense: Self-Supervised Learning for Multimodal Robot Perception

第一作者: Anthony Bisulco · 方向: 多模态具身 · 来源: cs.RO

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 本文提出OctoSense开源多模态传感器平台及包含59小时同步驾驶数据的数据集,涵盖视觉、雷达、热成像及本体感觉等多种传感器。研究提出一种后期融合掩码自编码器方法,利用模态特定分词器处理不同时空特征与噪声的传感器数据,实现了真实复杂环境下的多模态自监督学习。

Automating Potential-based Reward Shaping with Vision Language Model Guidance

第一作者: Henrik Müller · 方向: 导航与运动 · 来源: cs.RO

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 针对强化学习中稀疏奖励导致探索困难及奖励黑客问题,本文提出VLM-PBRS框架,利用视觉语言模型自动化基于势能的奖励塑造。该方法通过查询轻量级视觉语言模型获取图像对偏好,直接学习状态空间的势能函数。此方法在保留最优策略集的同时,有效避免了手动设计启发式势能函数的难题。

Charting the Growth of Social-Physical HRI (spHRI): A Systematic Review Pipeline Augmented by Small Language Models

第一作者: Mayumi Mohan · 方向: 数据集与评测 · 来源: cs.RO

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文献标题和摘要筛选中的辅助作用。研究表明,尽管小型语言模型性能不及人类,但其本地运行速度极快,且模型集成能发现人类遗漏的文献。该方法有效增强了专家审查效率,使大规模文献综述更具可持续性。

Identifying the Unknown: Prompt-Free Open Vocabulary Anomaly Recognition for Robot-Object Interaction

第一作者: Philipp Allgeuer · 方向: 具身智能 · 来源: cs.CV

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 为满足机器人在开放世界中识别未知物体的需求,本文提出AnomNOVIC框架,结合用于异常检测的掩码自编码器与实时无提示开放词汇图像分类器。该方法通过掩码自编码器生成通用边界框,使分类器无需预定义类别列表即可识别显著区域,有效提升了机器人在真实交互环境中的未知物体识别能力。

市场总览

当前全球资产技术面呈现显著分化。美股方面,标普500与纳指回落至短期均线下方,RSI处于中性偏弱区间,科技巨头如微软、Meta呈现空头排列,整体处于高位震荡与趋势修正期。加密市场技术面极度疲软,比特币与以太坊均触发MACD死叉并维持空头排列,结合加密恐慌贪婪指数降至12的极度恐慌状态,以及总市值萎缩至2.14T USD(24h下跌1.09%),BTC主导率升至55.7%,资金呈现避险收缩态势。中概股遭遇重挫,阿里巴巴RSI跌至16.5深度超卖,拼多多与京东亦受空头排列压制,下行趋势未改。商品与外汇市场则分化明显,美元指数RSI高达71.1进入超买并维持多头排列,而黄金与原油RSI均跌破30进入超卖区。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,反映市场波动率预期正在抬升。

今日关注

DX-Y.NYB 美元指数 (DX-Y.NYB)
偏上行

美元指数呈现显著偏上行技术形态,当前价格101.36逼近52周高点。RSI14高达71.1进入超买区间,MACD柱状线为正且触发多头排列,短期动量强劲。价格稳守SMA20(100.26)与SMA50(99.28)之上,中期趋势bullish,但需警惕超买后的技术性回调风险。

BTC-USD 比特币 (BTC-USD)
偏下行

比特币技术面呈现明显偏下行态势,当前价格59324.22大幅跌破SMA20(62858)与SMA50(69399),形成空头排列。RSI14跌至30.2逼近超卖,MACD死叉且绿柱扩张,下行动能未衰。距离52周低点仅2.15%,在恐慌指数12的极度悲观情绪下,短期支撑面临严峻考验。

SPY 标普500 ETF (SPY)
中性

标普500 ETF当前处于中性震荡格局,价格728.99回落至SMA20(743.6)下方,但受SMA50(734.35)与SMA200(690.54)支撑。RSI14为43.2处于中性区间,MACD虽转负但无极端信号。整体趋势neutral,多空力量在短期均线附近博弈,等待方向选择。

全部资产

^VIX

VIX 恐慌指数

$18.41 -2.54%
5 日
+12.26%
距 52w 高
-47.8%
RSI(14)
51.1
趋势
中性
SMA 20 / 50 / 200
17.92 / 17.79 / 18.64
MACD / 信号
0.152 / 0.038
MACD 金叉 (3 天前)

^TNX

10Y 美债收益率 (%)

$4.37 -0.46%
5 日
-1.77%
距 52w 高
-12.5%
RSI(14)
40.1
趋势
中性
SMA 20 / 50 / 200
4.47 / 4.44 / 4.22
MACD / 信号
-0.013 / 0.003
接近 52 周低

DX-Y.NYB

美元指数 DXY

$101.36 -0.00%
5 日
+0.33%
距 52w 高
-0.4%
RSI(14)
71.1
趋势
多头
SMA 20 / 50 / 200
100.26 / 99.28 / 98.79
MACD / 信号
0.618 / 0.497
RSI 超买接近 52 周高多头排列

SPY

S&P 500 ETF

$728.99 -0.72%
5 日
-2.38%
距 52w 高
-4.1%
RSI(14)
43.2
趋势
中性
SMA 20 / 50 / 200
743.60 / 734.35 / 690.54
MACD / 信号
-0.138 / 2.657

QQQ

Nasdaq 100 ETF

$706.52 -1.38%
5 日
-4.60%
距 52w 高
-5.6%
RSI(14)
46.5
趋势
多头
SMA 20 / 50 / 200
724.76 / 702.79 / 632.15
MACD / 信号
3.467 / 7.544
多头排列

AAPL

Apple

$283.78 +3.14%
5 日
-4.78%
距 52w 高
-10.6%
RSI(14)
41.3
趋势
中性
SMA 20 / 50 / 200
298.29 / 291.50 / 269.46
MACD / 信号
-2.256 / 0.508

MSFT

Microsoft

$372.97 +5.71%
5 日
-1.69%
距 52w 高
-32.9%
RSI(14)
40.4
趋势
空头
SMA 20 / 50 / 200
400.11 / 410.97 / 447.99
MACD / 信号
-13.872 / -9.812
空头排列

NVDA

Nvidia

$192.53 -1.64%
5 日
-8.62%
距 52w 高
-18.6%
RSI(14)
37.5
趋势
中性
SMA 20 / 50 / 200
207.77 / 210.09 / 190.64
MACD / 信号
-3.697 / -1.793

GOOGL

Alphabet

$337.39 -1.84%
5 日
-8.33%
距 52w 高
-17.4%
RSI(14)
33.3
趋势
中性
SMA 20 / 50 / 200
360.81 / 369.28 / 313.85
MACD / 信号
-7.353 / -4.111

TSLA

Tesla

$379.71 +1.22%
5 日
-5.19%
距 52w 高
-23.9%
RSI(14)
41.2
趋势
空头
SMA 20 / 50 / 200
401.55 / 404.76 / 417.96
MACD / 信号
-7.976 / -4.373
空头排列

META

Meta

$550.25 +1.36%
5 日
-4.67%
距 52w 高
-30.9%
RSI(14)
37.4
趋势
空头
SMA 20 / 50 / 200
583.29 / 612.90 / 650.02
MACD / 信号
-16.259 / -13.176
空头排列
加密恐慌贪婪
12
极度恐慌
加密总市值
$2.14 T
-1.09% / 24h
BTC 主导率
55.7%
ETH 8.8%
24h 成交量
$47.2 B
活跃币 17,436

BTC-USD

Bitcoin

$59,324.22 -1.03%
5 日
-5.34%
距 52w 高
-53.0%
RSI(14)
30.2
趋势
空头
SMA 20 / 50 / 200
62,858.49 / 69,399.35 / 75,674.00
MACD / 信号
-2,372.477 / -2,311.282
MACD 死叉 (1 天前)接近 52 周低空头排列

ETH-USD

Ethereum

$1,564.21 -0.47%
5 日
-6.08%
距 52w 高
-68.4%
RSI(14)
31.2
趋势
空头
SMA 20 / 50 / 200
1,674.34 / 1,890.62 / 2,310.07
MACD / 信号
-80.542 / -78.722
MACD 死叉 (1 天前)空头排列

SOL-USD

Solana

$71.14 +1.04%
5 日
+2.15%
距 52w 高
-71.9%
RSI(14)
48.2
趋势
空头
SMA 20 / 50 / 200
69.82 / 77.21 / 95.14
MACD / 信号
-1.345 / -1.918
空头排列

BABA

阿里巴巴 (BABA)

$94.81 -0.27%
5 日
-11.48%
距 52w 高
-50.8%
RSI(14)
16.5
趋势
空头
SMA 20 / 50 / 200
113.53 / 126.30 / 148.22
MACD / 信号
-8.528 / -6.804
RSI 超卖空头排列

PDD

拼多多 (PDD)

$76.55 +4.43%
5 日
-3.78%
距 52w 高
-45.1%
RSI(14)
34.2
趋势
空头
SMA 20 / 50 / 200
81.51 / 91.25 / 109.37
MACD / 信号
-4.515 / -4.271
空头排列

JD

京东 (JD)

$25.39 +0.79%
5 日
-7.91%
距 52w 高
-31.1%
RSI(14)
26.8
趋势
空头
SMA 20 / 50 / 200
27.98 / 29.67 / 30.09
MACD / 信号
-1.168 / -0.849
RSI 超卖空头排列

0700.HK

腾讯控股 (0700.HK)

HK$410.00 -0.44%
5 日
-5.31%
距 52w 高
-40.0%
RSI(14)
35.3
趋势
空头
SMA 20 / 50 / 200
444.73 / 459.68 / 560.53
MACD / 信号
-12.040 / -8.607
接近 52 周低空头排列

GC=F

黄金期货

$4,073.20 -0.13%
5 日
-2.60%
距 52w 高
-27.1%
RSI(14)
36.0
趋势
中性
SMA 20 / 50 / 200
4,247.49 / 4,473.86 / 4,450.36
MACD / 信号
-120.949 / -109.516

CL=F

WTI 原油期货

$70.21 +1.42%
5 日
-6.16%
距 52w 高
-41.2%
RSI(14)
29.3
趋势
中性
SMA 20 / 50 / 200
82.38 / 91.50 / 73.93
MACD / 信号
-6.588 / -5.478
RSI 超卖

USDCNY=X

美元 / 人民币

¥6.79 -0.00%
5 日
+0.31%
距 52w 高
-5.9%
RSI(14)
56.5
趋势
空头
SMA 20 / 50 / 200
6.77 / 6.79 / 6.95
MACD / 信号
-0.002 / -0.007
接近 52 周低空头排列
风险提示

本报告基于历史公开行情数据计算得出,过去走势不代表未来表现。所有技术指标读数仅反映当前市场状态,不构成任何投资建议,仅供技术指标解读参考。

Two boys pulled from Venezuela earthquake rubble among 33 people rescued over weekend

With tens of thousands of people missing, relatives face another night waiting for news of loved ones as the crucial window for locating survivors closes.

中文摘要 委内瑞拉地震救援进入关键期,周末共救出33人,包括两名男孩。目前仍有数万人失踪,家属焦急等待,寻找幸存者的黄金救援窗口正在关闭。

Mideast Live Updates: Dispute Over Strait Deepens as U.S. and Iran Trade Attacks

In a fourth day of hostilities, Iran said that it had targeted a U.S. naval base in Bahrain and a Kuwaiti air base with drones and missiles. No major damage or casualties were reported.

中文摘要 美伊冲突进入第四天,伊朗宣称使用无人机和导弹袭击了美国驻巴林海军基地和科威特空军基地,未造成重大伤亡。双方围绕霍尔木兹海峡的争端持续加深。

Here’s the latest.

中文摘要 该条目为纽约时报关于美伊冲突及霍尔木兹海峡局势的实时更新页面,主要追踪各方最新进展,目前暂无具体的新闻细节与摘要内容提供。

Venezuela Live Updates: Rescuers in ‘Critical Hours’ as Window to Find Survivors Closes

More than three days after twin earthquakes devastated the Venezuelan coast, the rescue effort faced chaos and delays as the chances of finding survivors diminished.

中文摘要 委内瑞拉海岸遭遇双重地震袭击三天后,救援工作面临混乱与延误。随着寻找幸存者的几率降低,救援人员正处于寻找生还者的关键时刻,黄金救援窗口正在关闭。

Australia politics live: Taylor says Coalition ‘lost trust’ of public as poll numbers keep falling; Monique Ryan pushes bill to fix Hecs debts

Follow today’s news live Get our breaking news email, free app or daily news podcast Royal commission hearings resume today The next round of hearings for the antisemitism royal commission begins today. Regretfully, we’re here until Thursday night with Parliament and the game is at 4am Saturday morn

中文摘要 澳大利亚政局动态:安格斯·泰勒承认联盟党因民调持续下滑而「失去公众信任」;莫妮克·瑞安推动法案以解决高等教育贷款债务问题。此外,反犹太主义皇家委员会听证会恢复。

Father and son pulled out alive four days after Venezuela earthquake

ootage shows search and rescue workers pulling out father and son from under the rubble of a collapsed building.

中文摘要 委内瑞拉地震发生四天后,搜救人员从一栋倒塌建筑的废墟中成功救出一对父子,两人均生还。现场视频记录了这一救援过程。

Who is Stephen Eustaquio, who scored for Canada against South Africa?

Eustaquio flip-flopped between his home country and that of his parents throughout his youth and senior career.

中文摘要 在加拿大对阵南非的比赛中,斯蒂芬·尤斯塔基奥取得进球。他在青年队和成年队职业生涯期间,曾在其祖国与父母祖国之间往返选择代表国家队。

‘If I am to die, let it be here’: Malawians fleeing unrest in South Africa

A mass return of Malawians from South Africa exposes the cost of migration, violence and broken livelihoods.

中文摘要 南非局势动荡引发大量马拉维人逃离并返回祖国。这一大规模遣返或回流现象,暴露出移民成本、暴力冲突以及生计受损等严重社会问题。

Iran war live: Tehran insists on control of Hormuz amid reports of US talks

Washington and Tehran have agreed to stop attacks and renew talks in the Qatari capital, Doha, Axios reports.

中文摘要 据Axios报道,华盛顿与德黑兰已同意停止攻击,并在卡塔尔首都多哈恢复谈判。与此同时,伊朗在伊美冲突中仍坚持对霍尔木兹海峡的控制权。

Here’s the latest.

中文摘要 该条目为纽约时报关于委内瑞拉地震灾情的实时更新页面,主要追踪灾区救援进展,目前暂无具体的新闻细节与摘要内容提供。

In Venezuela, a Community Comes Together to Search for Earthquake Survivors

Volunteers in a middle-class neighborhood in Caracas used drills, picks and hammers to break through concrete, trying to find anyone in need of rescue.

中文摘要 委内瑞拉首都加拉加斯一个中产阶级社区的志愿者自发组织救援。他们使用电钻、镐和锤子破开混凝土,努力寻找废墟下需要救援的地震幸存者。

At a Caracas Morgue, Families and Officials Try to Identify More Than 100 Victims

Identifying victims has proved to be difficult because many bodies were badly crushed beneath collapsed buildings.

中文摘要 在加拉加斯的一家太平间,家属和官员正努力确认超过100名地震遇难者的身份。由于许多遗体在倒塌建筑下被严重压碎,身份辨认工作面临巨大困难。

Putin admits Ukrainian strikes driving Russian fuel shortages

Russia’s president says Ukraine’s attacks on infrastructure are causing ‘obvious’ but not critical problems The Russian president, Vladimir Putin, acknowledged that the country was suffering from “a certain shortage” of fuel in an interview published by the Kremlin on Sunday, after repeated Ukrainia

中文摘要 俄罗斯总统普京承认,乌克兰对基础设施的袭击正导致俄罗斯出现「明显」但非致命的燃料短缺问题。他在克里姆林宫发布的采访中表示,国家正面临一定程度的燃料短缺。

Iran Risks Peace Talks With U.S. to Maintain Leverage Over Strait

Iran sees its control over the Strait of Hormuz as critical leverage in peace talks with the United States. It seems willing to risk the cease-fire to maintain that power.

中文摘要 伊朗将其对霍尔木兹海峡的控制视为与美国和平谈判的关键筹码。为了维持这一权力与优势,伊朗似乎愿意承担破坏停火协议的风险。

Deep Under the Rubble, Rescuers Find an 11-Year-Old Boy Alive

A Colombian rescue team worked for six hours to recover the child, Moises, from under nearly 10 feet of rubble in La Guaira. His rescue was captured on video.

中文摘要 哥伦比亚救援队在拉瓜伊拉耗时六小时,从近10英尺深的废墟中成功救出11岁男孩莫伊塞斯。整个救援过程被视频记录了下来。

Kent on Reserve Bank of Australia's New Framework

Australian central bank Assistant Governor Chris Kent said the institution will be better prepared to respond to the next crisis it faces following a review of alternative monetary policy tools. In a speech in Sydney, Kent, who oversees financial markets at the Reserve Bank, said the cash rate targe

中文摘要 澳大利亚央行助理行长克里斯·肯特在悉尼发表演讲时表示,在审查了替代性货币政策工具后,该机构将能更好地应对未来可能面临的危机。

US and Iran Agree to Halt Attacks Ahead of Talks

The US and Iran have agreed to stop attacking each other before peace talks resume this week over the Strait of Hormuz and other issues, paving the way to end days of tit-for-tat attacks that tested a fragile truce. Bloomberg's Wendy Benjaminson breaks down the latest developments. (Source: Bloomber

中文摘要 美国与伊朗同意在本周恢复关于霍尔木兹海峡等问题的和平谈判前停止相互攻击。此举有望结束双方连日来的报复性袭击,缓解此前脆弱的停火协议所面临的考验。

Philippines Sees Slower Growth, Weak Peso Beyond 2028

The Philippines has cut its economic growth targets and sees a weaker peso beyond the end of the term of President Ferdinand Marcos Jr. in 2028 amid headwinds such as the Middle East tensions and an intense El Niño weather event.

中文摘要 受中东紧张局势和强厄尔尼诺现象等逆风因素影响,菲律宾下调经济增长目标,并预计比索在总统马科斯2028年任期结束后仍将保持疲软态势。

China: Tech Growth Distorts Energy Demand Forecasts

China faces greater uncertainty in forecasting energy demand as structural changes in the economy and the rapid expansion of new industries reshape consumption patterns, according to a top government official. (Source: Bloomberg)

中文摘要 中国政府高级官员表示,随着经济结构变化和新产业快速扩张重塑消费模式,中国在预测能源需求方面面临更大的不确定性,科技增长对能源需求预测产生扭曲影响。

Gold Declines as Fresh US-Iran Tension Fans Inflation Concerns

Gold declined to near $4,000 an ounce after the US and Iran traded attacks in the Persian Gulf, straining a ceasefire that had last week seen energy prices fall to pre-war levels and tempered expectations for an interest-rate hike.

中文摘要 美伊在波斯湾交火导致停火协议承压,上周能源价格降至战前水平并缓解加息预期的局面被打破。受此引发的通胀担忧影响,金价回落至每盎司近4000美元。

RBA Will Be Better Prepared to Handle Next Crisis, Kent Says

Australian central bank Assistant Governor Chris Kent said the institution will be better prepared to respond to the next crisis it faces following a review of alternative monetary policy tools.

中文摘要 澳大利亚央行助理行长克里斯·肯特表示,在对替代性货币政策工具进行审查后,该央行将能更好地应对未来可能面临的下一场危机。

Got the tennis bug? How to play sport without paying

As the world's best players begin play at Wimbledon, how can you get into sport on a budget.

中文摘要 随着世界顶尖网球选手在温布尔登网球锦标赛开赛,本文探讨了普通大众如何在预算有限的情况下参与体育运动,提供了低成本享受网球等运动的实用建议。

Sovereign funds move from public markets to private to ride AI wave

High concentration in stock markets and national security concerns send SWFs to private credit and infrastructure

中文摘要 受股市集中度过高及国家安全担忧影响,主权财富基金正将资金从公开市场转向私人信贷和基础设施等私募资产,以抓住人工智能发展带来的投资机遇。

Sovereign Funds Pivot Further to Private Assets in Risky Markets

The world’s biggest public investors plan to shift more capital into private and less liquid assets amid rising risks to their traditional bond-and-stock portfolios, according to an industry survey.

中文摘要 行业调查显示,由于传统股债投资组合面临的风险上升,全球最大公共投资机构计划将更多资金转移至私募及流动性较低的资产中,以应对当前高风险市场环境。

Wall Street Is Abandoning Bets on a Stronger Euro

Wall Street banks are capitulating on bets for a stronger euro, as markets see the US outpacing Europe on interest-rate hikes for the rest of this year.

中文摘要 华尔街银行正放弃押注欧元走强的策略。市场预计今年剩余时间美国加息步伐将超过欧洲,导致华尔街对欧元的看涨预期逆转,目标价向1.10下滑。

Prabowo Risks Prompt Global Banks to Pull Cash Out of Indonesia

The three biggest foreign banks in Indonesia have shipped around $640 million of their earnings out of Southeast Asia’s largest economy since 2024 as they pare exposure amid President Prabowo Subianto’s increasingly state-focused economic policies.

中文摘要 受印尼总统普拉博沃日益侧重国家干预的经济政策影响,花旗、汇丰和渣打等印尼三大外资银行自2024年以来已将约6.4亿美元利润汇出该国,以降低风险敞口。

US Stock Futures Rise, Oil Pares Climb on Iran: Markets Wrap

US equity-index futures climbed after reports the US and Iran backed away from a fresh escalation of their conflict, easing concerns over the fragile ceasefire underpinning peace talks.

中文摘要 报道称美国与伊朗放弃进一步升级冲突,缓解了市场对支撑和平谈判的脆弱停火协议的担忧。受此消息提振,美国股指期货上涨,原油涨幅收窄。

她和我上床之后就弯了

原谅我这雷霆标题 对,我是说我的ipad…… 引以为戒! 33 个帖子 - 31 位参与者 阅读完整话题

【开源数字人】我花了一个月做的数字人项目,多种资源和平台可部署~欢迎大家体验 & 点stars

本帖使用社区开源推广,符合推广要求。我申明并遵循社区要求的以下内容: 我的帖子已经打上 开源推广 标签: 是 我的开源项目完整开源,无未开源部分: 是 我的开源项目已链接认可 LINUX DO 社区: 是 我帖子内的项目介绍,AI生成、润色内容部分已截图发出: 是 以上选择我承诺是永久有效的,接受社区和佬友监督: 是 以下为项目介绍正文内容,AI生成、润色内容已使用截图方式发出 两个月前有点想当当up主,但是又不想真人出镜,就想试试实时数字人或者数字人口播视频生成。尝试了几个软件,发现都收费,但是其实他们用的很多都是开源的模型。ASR\TTS模型也特别多,分散去尝试也很累。于是我和几个小伙伴就

可以视奸!但是不饱眼福——我的涩涩「消化」日志~

始于260628 始于18点15左右~摸鱼好耶~ 背景 除了粉猫会自动把缓冲完的视频保存到相册外,我只会主动下载在 tg 看到的一切二次元涩涩(一般是大小远低于原画的 720Pw 因为原画我4mb每秒也不能秒开,况且我还1.5倍速看 一卡一卡的不喜欢 ) 处理方法 按我的个性化:作为女生,没有冷却(其实有 手:已读不回),因此所有视频我一般开 1.5 倍速,除非原视频出现连我也跟不上的逆天片段w 虽然现在一般都要加速,基本都是导入为主了 导出后,上传到一刻相册,分类,最后从本地删除 处理要点: 剔除手足口等边性片段,无趣的两脚兽哪来的那么多事?只保留「下两hole」场景 有进hole场景的,略

再也不相信中转站所谓满血pro号池了

本人刚好从事LLM agent可靠性方面的科研工作,一直用GPT5.4mini、gpt5.5作为实验对象来研究可靠性评估方法,做了一套题库。之前在gpt-5.4-mini上测试1140次(114task×10trial,即114题,每题重复测10次),成功率稳定在45%(每trail±3%)。 补充一下,我自己也是CPA+new-api反代出来接到某行业垂类agent里面的,不是用的官方coding agent测的。 二编:我过两天有空了找个比较新的领域公开数据集测一下结果,然后把脚本给大家自己测吧,太多人私信找我测了,我实在测不过来 95 个帖子 - 69 位参与者 阅读完整话题

deepseek被挂小红书了

难崩,把大模型挂小红书了 小红书 24 个帖子 - 24 位参与者 阅读完整话题

glm-5.2干的好事。。。

(打码部分涉及个人隐私) 服了,写个小脚本没建库就给我整活。。。。。。 36 个帖子 - 30 位参与者 阅读完整话题

CODEX5.5破甲

社群回馈好用,(GitHub - xiling-quantum/Codex-5.5-codex-instruct-5.5: Codex CLI 破甲工具(GPT-5.5) — 注入无限制模式系统指令,关闭所有内容过滤器。 · GitHub) 19 个帖子 - 15 位参与者 阅读完整话题

HLOOL公益站最后上车机会

HLOOL纯GPT公益站主贴 福利羊毛 公益推广承诺 Hlool 公益站 公益站地址 当前号池情况 目前号池以 欧洲 Plus 号池 为主,并配有 Pro 号池 作为兜底。 每日可用额度约为 2000-3800 刀。 本站后续仍将保持小范围开放,本次邀请名额仅 30 人。 使用规则 仅支持 Codex 调用。 禁止破限、色情等可能触发 OpenAI 封号风险的行为。 并发限制为 5。 本站为小型公益站,纯公益支持,账号池… HLOOL纯GPT公益站主贴 HLOOL纯GPT公益站主贴 LINUX DO CDK 最后一批,今晚9点开启,追加50个名额,之后的名额都只会LDC支付进入 最后50个名额