Search: “safety”

CompassPlay: Rewarding the Proposer for Where It Moves the Solver

arXiv:2609.32228v1 Announce Type: new Abstract: In self-play, a proposer generates verifiable tasks to train a solver. Proposer rewards often depend on the solver's success rate, but equally difficult

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CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets

DGX agent

arXiv:2609.33310v1 Announce Type: new Abstract: Whole-body compliant control is essential for deploying heavy humanoids under high payload in human-centric environments. Most prior force-aware learnin

safetyarxiv-cs-ro

29 Sept 2026

ConCAD: Constraint-Aware Image-to-CAD Generation with Dual-Granularity Rewards

arXiv:2609.34494v1 Announce Type: new Abstract: Image-to-CAD generation seeks executable parametric programs that recover both the geometry and design intent of a reference object. Existing systems ar

Concept-Guided Fine-Tuning: Steering ViTs away from Spurious Correlations to Improve Robustness

arXiv:2603.08309v3 Announce Type: replace Abstract: Vision Transformers (ViTs) often degrade under distribution shifts because they rely on spurious correlations, such as background cues, rather than

Conditioned Direct Feedback Alignment via Activity and Error Geometry

arXiv:2607.18574v2 Announce Type: replace Abstract: Direct feedback alignment (DFA) trains hidden layers with fixed random projections of the output error. Even when this feedback provides useful cred

Constrained Edit Fields for Training-Free Flow Editing

arXiv:2609.33735v1 Announce Type: new Abstract: Text-guided image editing aims to perform a desired edit while preserving source content unrelated to it. Pretrained rectified-flow models enable traini

Contact-Aware Impedance Controller for Robot-Assisted Ultrasound Imaging

arXiv:2609.34400v1 Announce Type: new Abstract: Safe robot-assisted ultrasound imaging requires a reliable controller able to detect and localize probe--tissue interaction. In this paper, we present a

Contextual Distributionally Robust Optimization with Causal and Continuous Structure

arXiv:2601.11016v3 Announce Type: replace-cross Abstract: We propose a framework for contextual distributionally robust optimization (DRO) that considers the causal and continuous structure of the und

Convex Optimization Is Free When Accuracy Is Expensive

arXiv:2609.35418v1 Announce Type: cross Abstract: This paper studies convex optimization when the gradient cannot be evaluated exactly, but only approximated by a hierarchy of algorithms whose compute

Correcting the Dropout-LayerNorm Expectation Gap Improves Protein Structure Models

arXiv:2609.32062v1 Announce Type: cross Abstract: Although E[dropout(x)] = x, here we show that E[LayerNorm(dropout(x))] is not equal to LayerNorm(x). Accordingly, the pattern of a Dropout layer follo

CORTEX: A Verified Experience Layer for Generalist Agents

arXiv:2609.33260v1 Announce Type: cross Abstract: An agent can solve a task today and face the same task under new facts, tools, or governing knowledge tomorrow. Most agent systems can retrieve releva

Counterfactual Attention Policy Distillation for Temporal Video Grounding

arXiv:2609.34581v1 Announce Type: new Abstract: Temporal video grounding is a key capability of advanced Multimodal Large Language Models (MLLMs) for the thorough understanding of video events, which

Counterfactual Rollout Replay: Forkable Environments as Free Process Rewards for Software Engineering Agents

arXiv:2609.33875v1 Announce Type: cross Abstract: Outcome-only reinforcement learning gives software engineering (SWE) agents a terminal success signal but little direct guidance about intermediate de

CTP-FL: Common-Trajectory Gradient Prediction for Federated Learning

arXiv:2609.35130v1 Announce Type: new Abstract: Communication-efficient federated optimization commonly spends several gradient evaluations between server updates. Existing local-update methods use th

De-biasing Skeleton-based Action Recognition with Convex Hull Adaptive Shift

arXiv:2609.32454v1 Announce Type: new Abstract: Skeleton sequences can represent both individual actions and multi-entity interactions, encompassing human bodies, hands, objects, and robots. Existing

Deep kernel hedging

arXiv:2609.34474v1 Announce Type: new Abstract: We introduce a deep kernel hedging framework that combines the flexibility of deep learning with the structural inductive bias of kernel methods. The he

Deep Weighted Bellman Residual Minimization for Q^* Estimation

arXiv:2609.34593v1 Announce Type: new Abstract: Off-policy evaluation is a foundational component of offline reinforcement learning, aiming to assess and optimize policy performance using pre-collecte

DeltaWAM: Change-Centric Visual Foresight via Delta Tokens for an Efficient World-Action Model

arXiv:2609.33177v1 Announce Type: cross Abstract: World-Action Models (WAMs) offer visual foresight for robotic manipulation, but pixel-space models repeatedly reconstruct entire future scenes, incurr

Demonstration-Free Success-Probability Reward Learning for Generalist Robot Policies

arXiv:2609.33653v1 Announce Type: cross Abstract: Reinforcement learning (RL) enables generalist robot policies to improve through trial-and-error interaction, yet its effectiveness is fundamentally c

Depot-Closed Multi-Component Construction for Neural Vehicle Routing

arXiv:2609.35066v1 Announce Type: new Abstract: Most neural constructive solvers for the vehicle routing problem (VRP) use route-by-route construction, extending one route until completion before star

Devol-ONE: One Autoregressive Mixture of Transformers to Unify Vision-Language-Action and Latent World Modeling

arXiv:2609.32193v1 Announce Type: new Abstract: Vision Language Action (VLA) models condition actions directly on current visual and language context, without an explicit account of how the scene evol

DexAgent: An Agentic Human2Sim2Robot Framework for Dexterous Manipulation with Self-Evolving Tool Library

arXiv:2609.35318v1 Announce Type: new Abstract: Human videos offer a scalable source of demonstrations for dexterous robot manipulation. However, existing human-to-simulation-to-robot (Human2Sim2Robot

DexRoam: Learning Mobile Bimanual Dexterous Manipulation from Egocentric Whole-Body Human Demonstrations

arXiv:2609.35761v1 Announce Type: new Abstract: Mobile bimanual dexterous manipulation requires continuous coordination of locomotion, whole-body motion, and finger-level dexterity within a single tra

DexTaG: Tactile-as-Guidance in Reinforcement Learning for Dexterous Manipulation

arXiv:2609.33882v1 Announce Type: new Abstract: Glove-based motion capture is emerging as a scalable approach to collecting dexterous-hand demonstration data. However, due to the kinematic gap between

DexWeave: Learning Dexterous Humanoid Loco-Manipulation from Human Demonstrations

arXiv:2609.34724v1 Announce Type: new Abstract: Learning dexterous humanoid loco-manipulation from human demonstrations requires transferring not only human motion, but also the coordinated interactio

Diffusion Reward Models

arXiv:2609.33803v1 Announce Type: new Abstract: Reward models underpin the alignment of large language models, yet the dominant designs reduce each prompt--response pair to a point estimate or to a di

Distributionally Robust Average-Reward Reinforcement Learning: Finite-Sample Guarantees under Weak Communication

arXiv:2609.32727v1 Announce Type: new Abstract: We study distributionally robust reinforcement learning (DR-RL) in the average-reward setting under weak communication. Our main result provides finite-

Diverse Sampling in Diffusion Models with Divergence-Free Particle Guidance

arXiv:2605.06553v2 Announce Type: replace Abstract: Modern generative models can produce high-quality samples, but independent samples under the same condition often yields highly similar outputs. Par

dKFD: Phase-Structured Evidence Allocation for Fixed-Budget Localized Event Understanding

arXiv:2609.33083v1 Announce Type: new Abstract: Sparse video understanding often requires selecting a small set of visual evidence under a fixed frame budget. Most sparse selectors allocate this budge

Do We Really Need KL Divergence for On-Policy Distillation of Large Language Models?

arXiv:2609.33791v1 Announce Type: new Abstract: Since the advent of knowledge distillation, KL divergence has been the standard loss in distillation. Recently, on-policy distillation (OPD) has emerged

Does Adversarial Training Improve Generalization in Multi-View VLAs? Revealing and Mitigating View Collapse

arXiv:2609.33707v1 Announce Type: cross Abstract: Vision-language-action (VLA) models adapt pretrained vision-language models (VLMs) for closed-loop robot control, transferring their perceptual and se

Domain-Adapted Diffusion Models for Conditional Independence Testing

arXiv:2609.33490v1 Announce Type: cross Abstract: Conditional independence (CI) is a fundamental concept in statistics and machine learning. Recent advances in conditional generative modeling provide

Don't Forget! Decomposing the Training Dynamics of Memorization in Language Models

arXiv:2609.34933v1 Announce Type: new Abstract: Memorization has been proposed as a mechanism to explain how language models fit the tail of their training distributions, but its training dynamics are

Don't Throw Away the Tail: Action Upcycling for Policy Acceleration

arXiv:2609.34911v1 Announce Type: cross Abstract: Modern robot policies predict a chunk of future actions from a single observation, execute only a prefix, and discard the rest before replanning. Choo

DORA: Dynamic Online Reinforcement Agent for Token Pruning in Vision Transformers

arXiv:2609.34325v1 Announce Type: new Abstract: Vision Transformers (ViTs) incur quadratic self-attention cost in the number of tokens. Most token-reduction methods adapt token identities within a pre

DRAM: Delta-rule Recurrent Associative Memory for Robot Manipulation Policies

arXiv:2609.32453v1 Announce Type: new Abstract: Robotic manipulation is inherently history-dependent, yet most pretrained robotic policies condition on only the current observation or a short temporal

DRIFT: Data Selection for LLM Instruction Tuning via On-Policy Attribution

arXiv:2606.18307v2 Announce Type: replace Abstract: Data selection for instruction tuning is usually studied for efficiency, reaching strong performance with a fraction of the training data. We ask wh

Dynamic Manipulation with World-Action Models via Counterfactual Planning

arXiv:2609.33172v1 Announce Type: cross Abstract: World-Action models (WAMs) trained on static demonstrations often fail to manipulate moving targets even when they possess the required manipulation s

Easier Said Than Done: Unpacking Intent-Behavior Gap in Jailbreaking LLM-based Robots

arXiv:2412.16633v4 Announce Type: replace Abstract: LLM-based robots use Large Language Models (LLMs) as planners to translate natural language instructions into policies such as grasp(), move_to(), a

ECHO: Event-Augmented Context with Hindsight and Outlook for Wrist-Only Manipulation

arXiv:2609.34893v1 Announce Type: new Abstract: Learning-based manipulation policies relying on RGB cameras often suffer from degraded observations under extreme exposure. Event cameras mitigate this

EEG-Fusion: Failure-Informed Source-Free Expert Routing for Robust Motor Imagery EEG Decoding

arXiv:2609.33962v1 Announce Type: cross Abstract: Subject-independent motor-imagery (MI) EEG decoding can exhibit subject-level failures even when average performance appears acceptable: under subject

EFC++: Elastic Feature Consolidation with Prototype Re-balancing for Cold Start Exemplar-free Incremental Learning

arXiv:2503.10439v4 Announce Type: replace Abstract: Exemplar-free Class Incremental Learning (EFCIL) aims to learn from a sequence of tasks without having access to previous task data. In this paper,

EfficientAgent: What Makes KV Cache Offloading Work for Concurrent Agents?

arXiv:2609.33762v1 Announce Type: cross Abstract: LLM agents resend their whole conversation on every turn, and most of it was already processed on the previous turn. Serving systems avoid recomputing

Ego-Forge: Text and Geometric-Attention Free Exo-to-Egocentric Video Generation

arXiv:2609.35368v1 Announce Type: new Abstract: Exo-to-egocentric video generation aims to synthesize what a person sees from their own viewpoint given third-person footage and a target head trajector

EgoTSR++: Egocentric Spatiotemporal Reasoning for Task Progress Understanding

arXiv:2609.31751v1 Announce Type: new Abstract: Vision-Language Models (VLMs) have advanced rapidly in static visual understanding, yet remain unreliable when judging how an egocentric task is progres

Elucidating the Design Space of Regression-based Diffusion Reinforcement Learning

arXiv:2609.33444v1 Announce Type: cross Abstract: A nascent family of methods that forgoes the policy gradient and reweights a supervised regression instead has garnered momentum in reinforcement lear

Emergence, Not Bandwidth: Physical Coupling and the Limits of Learned Multi-Agent Communication

arXiv:2609.34373v1 Announce Type: new Abstract: Rate-limited multi-agent teams raise three questions the emergent-communication literature has answered only empirically: what an optimal message should

End-to-end QP-based policies: A unified perspective on robust control and robot learning

arXiv:2609.31905v1 Announce Type: new Abstract: We present an end-to-end QP-based policy framework that enables systematic policy construction with minimal domain-specific design, while preserving the