safety

Analyzing Public Discourse on Urbanism: Topic Clustering, Sentiment Analysis and Retrieval-Augmented Generation using YouTube Comments

arXiv:2609.22705v1 Announce Type: new Abstract: Online discourse about urban issues - walkability, cycling infrastructure, public transit, housing density, and street safety - is voluminous but unstru

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Anatomy of a Closed-Loop Collapse: A Causal Case Study of a Compressed VLA Policy

DGX agent

arXiv:2609.23048v1 Announce Type: cross Abstract: Compressed manipulation policies can pass offline evaluation while failing in closed-loop execution; this dissociation is established in prior work an

safetyarxiv-cs-lg

22 Sept 2026

AquaWorld: Structure-Consistent Underwater World Generation for Robot Simulation

arXiv:2609.22670v1 Announce Type: new Abstract: Underwater robot simulation requires diverse environments in which terrain, scene composition, tasks, and currents remain mutually consistent. We presen

ARM: Attention with Routed-Memory for Learnable Sparse Control

arXiv:2609.24417v1 Announce Type: new Abstract: Despite advances in long-context inference, large language models (LLMs) remain fundamentally limited by the key-value (KV) caching mechanisms that are

ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation

arXiv:2609.24563v1 Announce Type: new Abstract: Adapting visuomotor policies to new manipulation tasks often requires substantial manual engineering or teleoperated data collection. Simulation can pro

Attack-Resistant Uniform Fairness for Linear and Smooth Contextual Bandits

arXiv:2602.04125v2 Announce Type: replace-cross Abstract: Modern digital platforms use contextual bandits to allocate valuable exposure and opportunities among competing participants. Fair treatment i

Auditing Bayesian Graph Alignment: Diagnostic Comparisons and Reference Failure

arXiv:2609.23232v1 Announce Type: cross Abstract: Bayesian graph alignment estimates correspondence probabilities, but convergence of an alignment-score trace need not imply accurate correspondence ma

Autonomous Model Lifecycle Management for Digital Twin-Based Manufacturing Control

arXiv:2609.22701v1 Announce Type: new Abstract: Manufacturing AI systems must autonomously adapt to continuous distributional shift from raw-material variability, ambient changes, and equipment aging,

BadWAM: When World-Action Models Dream Right but Act Wrong

arXiv:2607.15207v2 Announce Type: replace Abstract: World-action models (WAMs) are emerging as a promising foundation for embodied control: rather than predicting actions alone, they learn representat

Barrier Certificate Synthesis for Non-Polynomial Robotic Dynamics via Polynomial Lifting

arXiv:2609.22885v1 Announce Type: new Abstract: Safe operation of robotic systems requires trajectories to remain within a prescribed safe set under admissible control inputs. Barrier certificates pro

BEACON: Belief-Enabled Adaptive CONtrol for Imitation Learning under Uncertainty

arXiv:2609.22730v1 Announce Type: new Abstract: Robot manipulation tasks often involve hidden state information that cannot be directly observed and must be inferred through sequential physical intera

Beetle: A Bilingual Model Suite for Modelling Second-Language Processing

arXiv:2609.22633v1 Announce Type: new Abstract: Bilingual language models (LMs) offer a controlled setting for studying how training conditions shape second-language (L2) behaviour, but prior work typ

Beyond Emotion Prompts: Fine-Grained Text-to-Image Generation Driven by Valence-Arousal-Dominance

arXiv:2609.24215v1 Announce Type: new Abstract: Although text-to-image models can accurately depict subjects and scenes, creators still struggle to specify the fine-grained emotions an image should co

Beyond Task Completion: Training Capable and Safe Computer-Use Agents

arXiv:2609.22178v1 Announce Type: cross Abstract: Computer-use agents (CUAs) have made rapid progress in completing complex tasks through graphical user interfaces, yet post-training centered on task

BiRoAD: Learning Shared and Role-Adaptive Representations for Bimanual Manipulation

arXiv:2609.23445v1 Announce Type: new Abstract: Bimanual manipulation requires policies that coordinate two arms while adapting their functional roles to scene geometry, object configuration, and task

Block-Sparse Attention with Semantic-Geometric Decoupled Routing

arXiv:2609.22884v1 Announce Type: new Abstract: Long-context inference has become a defining capability of large language models, but exact dense attention remains costly due to its quadratic scaling

BreakFun: Jailbreaking LLMs via Object Instantiation under Simulated Code Execution

arXiv:2510.17904v3 Announce Type: replace-cross Abstract: Large Language Models (LLMs) are widely used because they process structures, syntax and code well, but this same ability also makes them para

Calibrating Lightweight Sparse Autoencoder Feature Steering

arXiv:2506.12576v3 Announce Type: replace Abstract: Sparse autoencoders (SAEs) can enable inference-time topic steering by modifying latent feature activations, but existing steering methods often fai

Calpric: Inclusive and Fine-grain Labeling of Privacy Policies with Crowdsourcing and Active Learning

arXiv:2401.08038v2 Announce Type: replace Abstract: A significant challenge to training accurate deep learning models on privacy policies is the cost and difficulty of obtaining a large and comprehens

Classifier-Free Guidance in Flow Matching: Non-Autonomous Potentials, Overshoot, and Posterior-Mean Control

arXiv:2609.24287v1 Announce Type: new Abstract: Classifier-free guidance (CFG) improves conditional generation in Flow Matching, but strong guidance can distort the generated distribution and reduce d

CLIP-Powered Domain Generalization and Domain Adaptation: A Comprehensive Survey

arXiv:2504.14280v2 Announce Type: replace Abstract: As machine learning evolves, domain generalization (DG) and domain adaptation (DA) have become crucial for improving model robustness across diverse

CLOOPD: Closing the Learner Loop in On-Policy Distillation

arXiv:2609.24141v1 Announce Type: new Abstract: On-policy distillation (OPD) pays twice for each fresh batch: the student generates trajectories and a stronger teacher scores them. Existing methods im

Closing the Speech-Text Gap with Limited Audio for Effective Domain Adaptation in LLM-Based ASR

arXiv:2604.06487v2 Announce Type: replace Abstract: Conventional end-to-end automatic speech recognition (ASR) systems rely on paired speech-text data for domain adaptation. Recent LLM-based ASR archi

Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport

arXiv:2603.03768v2 Announce Type: replace Abstract: Full-stack human-robot collaboration (HRC) can become brittle when replacing a planner, partner model, coordination policy, or controller changes th

Comparing Latent Concept Formation in State Space Models and Transformers via Sparse Autoencoders

arXiv:2609.24440v1 Announce Type: new Abstract: The quadratic scaling of Transformer self-attention has driven the adoption of sub-quadratic Selective State Space Models (SSMs) like Mamba, which compr

Computationally efficient safe exploration in reinforcement learning

arXiv:2609.22919v1 Announce Type: new Abstract: Reinforcement learning in real-life applications requires safety guarantees during exploration. Typical reinforcement learning algorithms do not provide

ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks

arXiv:2609.23800v1 Announce Type: new Abstract: High-precision connector insertion remains challenging for robotic systems due to tight mechanical tolerances, partial observability during contact, and

Cool paper showing how effective tuning a system prompt for an agent can be. Recommended paper if you tune agent harnesses. This paper prese…

Cool paper showing how effective tuning a system prompt for an agent can be. Recommended paper if you tune agent harnesses. This paper presents EvolveTrade, which treats a trading agent's system promp

safetydair-ai--x

Correct-by-Construction Vision-based Pose Estimation using Geometric Generative Models

arXiv:2601.17556v2 Announce Type: replace Abstract: We consider the problem of vision-based pose estimation for autonomous systems. While deep neural networks have been successfully used for vision-ba

Correcting Learning-based Perception for Safety

arXiv:2609.22108v1 Announce Type: cross Abstract: Learning-enabled perception is important in many autonomous systems. Unlike traditional sensors, the boundary where ML perception does or does not wor

Cost-Aware Reinforcement Learning with Action Masking and Projection for Battery Energy Storage Dispatch under Suppressed-Spread Market Shifts

arXiv:2609.23590v1 Announce Type: new Abstract: Battery energy storage system (BESS) dispatch must preserve operational feasibility while declining price spreads reduce the margin available to pay for

Critical-State RL: Diagnosing Trainable States for Multi-Turn Tool Use

arXiv:2609.24985v1 Announce Type: cross Abstract: Multi-turn tool-use failures can hinge on a single model call, yet reward variation alone does not reveal which call would benefit from training. When

D-IMPL: A Diffusion-based Solver for Parameterized BBOs

arXiv:2609.22752v1 Announce Type: new Abstract: Diffusion models have demonstrated strong power in generative modeling tasks across multiple domains, exhibiting a remarkable capability of learning com

Decomposing Error and Style in Automated Clinical Coding

arXiv:2609.24877v1 Announce Type: new Abstract: In automated clinical coding, where the label space spans tens of thousands of diagnosis and procedure codes, models are currently evaluated against a s

DeepInstructor: An Agentic AI Instructor for Experience-Driven Idea Evaluation

arXiv:2609.22104v1 Announce Type: new Abstract: As automated scientific discovery advances, Large Language Models (LLMs) can now generate research ideas at an unprecedented scale, shifting the bottlen

Density-Driven Area Coverage for Nonholonomic Multi-Robot Systems with Safety Guarantee

arXiv:2609.22668v1 Announce Type: new Abstract: Density-Driven Optimal Control (D2OC) provides a principled approach to distributing multi-robot teams over non-uniform spatial distributions. Applying

Dexterous Robot Manipulation from Human Demonstrations via Contact-Anchored Retargeting and Residual Policy Learning

arXiv:2609.24093v1 Announce Type: new Abstract: Learning dexterous manipulation from demonstrations is bottlenecked by data: the contact forces that determine whether a grasp succeeds are absent from

DiaSeg: Diagonal Segment Extraction from DTW Paths for Interpretable Gait Analysis

arXiv:2609.24223v1 Announce Type: new Abstract: Dynamic Time Warping (DTW) is the dominant approach for measuring similarity between time series, yet standard practice discards the optimal warping pat

DIPLOMAT: Dialogue-Span-Aware Direct Preference Optimization for Polite Persuasive Workplace Negotiation Dialogues

arXiv:2609.22256v1 Announce Type: new Abstract: Effective workplace negotiation requires balancing multiple objectives, including achieving task goals, preserving professional relationships, and resol

Discrete Tokenization for Multimodal LLMs: A Comprehensive Survey

arXiv:2507.22920v2 Announce Type: replace Abstract: The rapid advancement of large language models (LLMs) has intensified the need for effective mechanisms to transform continuous multimodal data into

Distill What You Trust: Reliability-Aware Multi-Teacher On-Policy Distillation

arXiv:2609.23697v1 Announce Type: new Abstract: Multi-teacher on-policy distillation allows a student to learn from complementary specialists on its own trajectories. Domain-routed approaches, however

Distributed Infrastructure Sensors and Cues for Robotic Fire-Fighting and Safety System on a Lunar Base

arXiv:2609.22786v1 Announce Type: new Abstract: There are renewed efforts to build a lunar base and house a team of astronauts on the Moon for extended periods. However, important challenges remain, s

DOA-SORT: Directional Occlusion-Aware Multi-Object Tracking with Distributional Observations

arXiv:2609.22706v1 Announce Type: new Abstract: Identity association in multi-object tracking (MOT) is vulnerable to partial occlusion, truncated detections, and fluctuating confidence scores. Existin

DriveReferee: Geometric Safety Verdicts Need Not Be Learned for Driving World-Action Models

arXiv:2609.22762v1 Announce Type: new Abstract: Generative world-action models (WAMs) jointly generate future video and vehicle actions, while their action branches remain primarily optimized by exper

DTKDP: A Dual Teacher Knowledge Distillation and Pruning Framework for Lightweight Oriented SAR Ship Detection

arXiv:2609.24872v1 Announce Type: new Abstract: Two-stage oriented detectors achieve high localization accuracy in synthetic aperture radar (SAR) ship detection, but their large backbones, feature pyr

Efficient and Adaptive Simultaneous Speech Translation with Fully Unidirectional Architecture

arXiv:2504.11809v2 Announce Type: replace Abstract: Simultaneous speech translation (SimulST) produces translations incrementally while processing partial speech input. Although large language models

Embedding Physics Priors in Robot Learning: A Survey

arXiv:2609.22319v1 Announce Type: new Abstract: The rapid progress of artificial intelligence is reshaping robotics and accelerating the adoption of learning-based approaches. While purely data-driven

Embodied Snap: Octopus-Inspired Distributed Reach-and-Attach with a Speed-Limited Soft Arm

arXiv:2609.22926v1 Announce Type: new Abstract: Reach-and-attach of soft robotic arms with passive suction requires accurate targeting and sufficient contact speed, yet geared actuators can impose a s