Search: “safety”

MV-WAM: Manifold-Aware World Action Model with Value Augmentation

arXiv:2606.21088v1 Announce Type: new Abstract: Achieving robust and generalizable manipulation across diverse environments remains a fundamental challenge in embodied robotics. Recent world action mo

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Neural Conjugate Aggregation: Identifiable Unsupervised Multi-Sensor Regression under Heterogeneous Sensor Bias

DGX agent

arXiv:2606.22200v1 Announce Type: new Abstract: We study regression-based data fusion under uncertainty, where multiple noisy and biased measurement sources are available but ground-truth labels are a

safetyarxiv-cs-lg

23 Jun 2026

Objective-Behavior Alignment: Diagnostics for MORL Policy Selection

arXiv:2606.21321v1 Announce Type: new Abstract: Real-world decision-making often requires optimizing multiple competing objectives simultaneously. In reinforcement learning (RL), this is typically add

OmniNWM: Omniscient Driving Navigation World Models

arXiv:2510.18313v5 Announce Type: replace Abstract: Autonomous driving world models are expected to work effectively across three core dimensions: state, action, and reward. However, existing methods

On the Position Bias of On-Policy Distillation

arXiv:2606.22600v1 Announce Type: new Abstract: On-Policy Distillation (OPD) improves the learning efficiency of standard reinforcement learning through dense, token-level supervision from teachers. I

One Size does not Fit All: Heterogeneous Latent Space Alignment for Unsupervised Domain Adaptation

arXiv:2606.21415v1 Announce Type: new Abstract: Domain shift remains a major obstacle to the reliable deployment of machine learning models in high-stakes environments such as healthcare. While Domain

OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation

arXiv:2606.22174v1 Announce Type: new Abstract: Whole-body humanoid loco-manipulation requires coordinating the robot's entire kinematic chain. However, most existing systems typically decouple the up

Overcoming Imperfect Kinematics in Surgical Robotics Through Sim-to-Real Visuomotor Learning

arXiv:2606.21396v1 Announce Type: new Abstract: Robot-Assisted Surgery is integral to modern minimally invasive procedures, with automation emerging as the next frontier to enhance precision and reduc

PAIWorld: A 3D-Consistent World Foundation Model for Robotic Manipulation

arXiv:2606.18375v2 Announce Type: replace Abstract: World foundation models (WFMs) are powerful simulators, yet they predominantly operate in a single-view setting and lack the multi-view 3D consisten

PanoVine: Whole-Body Visuomotor Control for Soft Growing Vine Robot

arXiv:2606.22923v1 Announce Type: new Abstract: Vine robots, a class of soft, growing robots, are suitable for navigating complex and confined environments due to their compliant bodies and self-suppo

PG-MAP: Joint MAP Optimization for Inference-Time Alignment of Diffusion and Flow-Matching Models

arXiv:2606.22958v1 Announce Type: cross Abstract: Inference-time alignment of pretrained text-to-image models is typically performed along a single control axis, such as classifier-free guidance, atte

phi-Scene: Physically Grounded Image-to-3D Scene Reconstruction

arXiv:2606.21596v1 Announce Type: new Abstract: Reconstructing compositional 3D scenes from a single image is a fundamental challenge in 3D world modeling. Recent methods can recover high-fidelity, co

Physically-guided Image Generation for Multi-Projection Mapping

arXiv:2606.22477v1 Announce Type: new Abstract: Projection Mapping (PM) enables seamless superimposition of digital content onto real-world 3D objects, serving as a fundamental technique for immersive

PISCES: Annotation-free Text-to-Video Post-Training via Optimal Transport-Aligned Rewards

arXiv:2602.01624v2 Announce Type: replace Abstract: Text-to-video (T2V) generation aims to synthesize videos with high visual quality and temporal consistency that are semantically aligned with input

PJ-RoPE: A Fourier-Jet-Affine Position Space for Relative Attention

arXiv:2606.05345v2 Announce Type: replace Abstract: We organize relative-position mechanisms in attention as a learnable Fourier-Jet-Affine position space. The starting point is lag-shift dynamics: a

PoLAR: Factorizing Extent and Mode in Latent Actions for Robot Policy Learning

arXiv:2606.21139v1 Announce Type: cross Abstract: Latent action pretraining learns representations of visual change from pairs of observations, but existing methods typically encode each transition as

Policy-as-Data: Learning Generalizable HOI Diffusion Models from Simulated Physics

arXiv:2606.22806v1 Announce Type: new Abstract: Synthesizing realistic Human-Object Interactions (HOI) is critical for creating embodied avatars and functional virtual environments. However, current d

PolicyTrim: Boosting Intrinsic Policy Efficiency of Vision-Language-Action Models

arXiv:2606.22540v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models provide a unified paradigm for robotic manipulation, yet their real-world deployment is often bottlenecked by execut

Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization

arXiv:2606.21148v1 Announce Type: new Abstract: Functional robotic grasping requires a policy that generalizes across diverse object geometries and poses while maintaining task-specific contact precis

Pose Anything Anywhere:Model-free Object Poses from Arbitrary References

arXiv:2606.23634v1 Announce Type: new Abstract: Estimating the 6D pose of unseen objects is a fundamental yet challenging problem for open-world robotics and embodied perception. Model-based methods a

Pose6DAug: Physically Plausible Multi-view Object Swapping for Robot Data Augmentation

arXiv:2606.20118v2 Announce Type: replace-cross Abstract: Vision-language-action (VLA) policies have shown strong potential for general-purpose manipulation, yet they often fail on novel, out-of-distr

Prefix-Guided On-Policy Distillation: Mining Golden Trajectories from Rollouts

arXiv:2606.21994v1 Announce Type: new Abstract: On-policy distillation (OPD) improves reasoning models by applying dense teacher supervision on student-sampled trajectories. However, scaling OPD to lo

Programmable magnetic soft robots with controlled locomotion and directional liquid cargo release

arXiv:2606.21737v1 Announce Type: new Abstract: Magnetically programmable soft elastomers enable complex shape morphing and locomotion dynamics in small scale soft robots under external magnetic field

Provably Efficient Policy-Reward Co-Pretraining for Adversarial Imitation Learning

arXiv:2606.22056v1 Announce Type: new Abstract: Adversarial imitation learning (AIL) achieves high-quality imitation compared to behavioral cloning (BC), but demands substantial online environment int

RECALL: Recovery Experience Collection for Active Lifelong Learning in Vision-Language-Action Models

arXiv:2606.23617v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models are commonly fine-tuned through passive imitation learning, where additional demonstrations are collected for task

Recency/Frequency Adaptive KV Caching for Large Language Model Serving

arXiv:2606.21238v1 Announce Type: cross Abstract: Key-value (KV) caching is a powerful technique for accelerating large language model inference and generation. Inference workloads are large and diver

ReFPO: Reflow Regularization for Flow Matching Policy Gradients

arXiv:2606.21086v1 Announce Type: new Abstract: We present Reflow-regularized Flow Matching Policy Gradients (ReFPO), a simple online RL method that adds explicit Reflow regularization to FPO for effi

Reinforcement Learning-Based Traffic Signal Control for IoT-Enabled Intersections

arXiv:2606.22108v1 Announce Type: cross Abstract: Urban traffic congestion remains a persistent challenge in car-dependent cities, imposing significant economic and societal costs. Traffic signal syst

RelightAnyone: A Generalized Relightable 3D Gaussian Head Model

arXiv:2601.03357v2 Announce Type: replace Abstract: 3D Gaussian Splatting (3DGS) has become a standard approach to reconstruct and render photorealistic 3D head avatars. A major challenge is to religh

Remember what you did?: Learning Behavioral Memories for Partially Observable Object Manipulation

arXiv:2606.21188v1 Announce Type: new Abstract: Long horizon, contact-rich manipulation is inherently partially observable. This is as a single visual observation rarely captures a robot's full action

Model Releases

Residue-Level Attributions in Protein Language Models Do Not Recover Allergen Epitopes

model-releasesarxiv-cs-lg

arXiv:2606.22181v1 Announce Type: new Abstract: Deep allergenicity classifiers are increasingly used in safety screening of novel foods, and recent protein language models have substantially improved

Rethinking Object-Centric Representations for Video Dynamics Modeling

arXiv:2606.23436v1 Announce Type: new Abstract: Unsupervised video object tracking aims to decompose dynamic scenes into persistent, object-centric entities without manual annotations. Many recent app

RoboLineage: Agent-Native Data Lifecycle Governance Across Robot Policy Iterations

arXiv:2606.22142v1 Announce Type: new Abstract: We present RoboLineage, an agent-native data lifecycle governance system for robot policy iteration. Modern robot policies improve through repeated data

Robot Critics that Sweat the Small Stuff

arXiv:2606.21572v1 Announce Type: new Abstract: Large vision-language models contain several priors about the world and object interactions, making them useful critics during inference to steer robot

Robot Self-Improvement via Human-Video Dynamics Models

arXiv:2606.21406v1 Announce Type: cross Abstract: A central question in robot learning is how to acquire skills from the kinds of data that humans learn from: passive observation, embodied practice, a

Robust Representation Learning in Masked Autoencoders

arXiv:2602.03531v2 Announce Type: replace-cross Abstract: Masked Autoencoders (MAEs) achieve impressive performance in image classification tasks, yet the internal representations they learn remain le

Rotation-Aware Point-Cloud Embeddings for Vision-Based In-Hand Reorientation

arXiv:2606.21788v1 Announce Type: cross Abstract: Point-cloud goals provide a direct way to specify dexterous in-hand reorientation: instead of defining an object-specific pose frame or estimating 6D

RubricRL: Simple Generalizable Rewards for Text-to-Image Generation

arXiv:2511.20651v2 Announce Type: replace Abstract: Reinforcement learning (RL) has recently emerged as a promising approach for aligning text-to-image generative models with human preferences. A key

SAGE: An Expert-Annotated South Asian GI Endoscopy Dataset for Multimodal Learning and Hallucination Analysis

arXiv:2606.22144v1 Announce Type: new Abstract: Gastrointestinal cancers represent a growing health burden in the South Asian region, driven largely by rapid changes in socio-economic conditions & lif

Scaling Self-Play for End-to-End Driving

arXiv:2606.19641v2 Announce Type: replace-cross Abstract: End-to-end autonomous driving models are typically trained on offline human-demonstration datasets that provide limited state coverage and oft

ScalingAttention: Discovering Intrinsic Sparse Attention Topology for Video Diffusion Transformers

arXiv:2606.23019v1 Announce Type: new Abstract: While Diffusion Transformers (DiTs) have revolutionized high-fidelity video generation, their reliance on 3D full attention creates a quadratic computat

Scheduling Thoughts: Learning the Order of Thought in Diffusion Language Models

arXiv:2606.23567v1 Announce Type: new Abstract: Masked diffusion language models decode by iteratively unmasking tokens, where the unmasking order defines an 'order of thought' that strongly influence

scLLM-DSC: LLM-Knowledge Enhanced Cross-Modal Deep Structural Clustering for Single-Cell RNA Sequencing

arXiv:2606.13007v2 Announce Type: replace Abstract: Clustering is fundamental to scRNA-seq analysis, serving as a cornerstone for identifying cell populations and resolving tissue heterogeneity. Howev

SCOPE: Scale-Consistent One-Pass Estimation of 3D Geometry

arXiv:2606.21300v1 Announce Type: new Abstract: We present SCOPE (Scale-Consistent One-Pass Estimation of 3D Geometry), a novel approach for estimating 3D geometry from extended monocular video sequen

Seam-to-Graph Reconstruction for Garment Configuration Alignment

arXiv:2606.15171v2 Announce Type: replace Abstract: Seams encode rich structural information about garments but are frequently partially observable in robotic manipulation scenarios. To robustly lever

Seeing Before Reasoning: Decoupling Perception and Reasoning for Shortcut-Resilient Multimodal On-Policy Self-Distillation

arXiv:2606.19120v2 Announce Type: replace-cross Abstract: On-policy self-distillation (OPSD) trains a model on its own rollouts and uses a frozen copy to provide dense token-level targets conditioned

Self-Curriculum Model-based Reinforcement Learning for Shape Control of Deformable Linear Objects

arXiv:2602.21816v2 Announce Type: replace Abstract: Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existin

Semi-Supervised Vision-Language-Action Model

arXiv:2606.21493v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models enable robots to predict actions directly from visual observations and language instructions, but adapting them to n