Search: “safety”

XPACE: Joint World and Action Modeling from Heterogeneous Experience

arXiv:2609.17372v1 Announce Type: new Abstract: A general-purpose robot needs to draw on diverse experience, choose actions, and anticipate how those actions will change the world. We introduce XPACE,

16 Sept 2026

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A Language-Guided Multimodal Foundation Model for Zero-Shot and Multi-Task Brain Signal Analysis

DGX agent

arXiv:2609.15740v1 Announce Type: cross Abstract: Brain signal analysis is essential for both neuroscience research and clinical diagnostics, yet current approaches face critical limitations. End-to-e

safetyarxiv-cs-ai

15 Sept 2026

A note on goal-based hierarchical RL

arXiv:2609.14605v1 Announce Type: new Abstract: The agent-centric general value function (ACGVF) construction of itet{tasse2026goal} lets the agent make two decisions that are normally imposed by the

A Unified Vision-Language Model for PSMA PET/CT Report Generation, Visual Question Answering, and Lesion Segmentation

arXiv:2609.15603v1 Announce Type: cross Abstract: Accurate PSMA PET/CT interpretation is central to prostate cancer management, yet existing PET/CT AI models typically address isolated tasks. We propo

Accurate and Scalable Multimodal Pathology Retrieval via Attentive Vision-Language Alignment

arXiv:2510.23224v2 Announce Type: replace Abstract: The rapid digitization of histopathology slides has opened new opportunities for computational tools in clinical and research workflows. Content-bas

AdaFlash: Adaptive Speculative Decoding via On-Policy Distilled Diffusion Drafters

arXiv:2607.19223v2 Announce Type: replace-cross Abstract: Speculative decoding, in which a lightweight draft model first generates a draft sequence that is then verified by the target model, has becom

Model Releases

Adaptive Adversaries: A Multi-Turn, Multi-LLM Benchmark for LLM Agent Security

model-releasesarxiv-cs-ai

arXiv:2607.18063v2 Announce Type: replace-cross Abstract: LLM-based agents process external content, exposing them to prompt injection and multi-turn manipulation. We present a 21-scenario benchmark f

AdaVSkip: Adaptive Visual Token Skipping Across Layers For Efficient MLLMs Inference

arXiv:2609.15131v1 Announce Type: cross Abstract: Multimodal large language models (MLLMs) require substantial computation to process numerous visual tokens across all transformer layers. Most methods

Algorithm Validation as a Policy Audit: Evidence from Race-blind Charging

arXiv:2609.13174v1 Announce Type: cross Abstract: California recently required all prosecutors in the state to conduct a 'race-blind charging' decision by reviewing case documents in which selected ra

AppliedScientist: Automated Scientific Revision Through Iterative AI Reviewing

arXiv:2609.14738v1 Announce Type: new Abstract: Automated reviewing systems are increasingly evaluated based on the quality of the reviews they produce. Yet a review is only useful if acting on it lea

ArtSociety: Multi-Agent Multimodal Collaboration for Art Emotion Understanding

arXiv:2609.13240v1 Announce Type: new Abstract: The AffectiveArt Multidimensional Art Emotion Understanding task asks to jointly predict an artwork's fine-grained emotion (12 classes, 1549:1 head-to-t

Assistance Torque Estimation via Dynamics-Aware Optimization for Lower-Limb Exoskeleton in Complex Environments

arXiv:2609.15352v1 Announce Type: new Abstract: Ground-truth human joint torque estimation relies on motion capture systems, which suffer from limited outdoor usability and significant deployment expe

Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation

arXiv:2609.15012v1 Announce Type: new Abstract: Can changing only the language instruction redirect a VLA policy's end effector, or does the visually driven motion prior dominate? We present Atomic Mo

Attention-DP3: Spatially Object-aware 3D Diffusion Policy via Geometry-aligned Attentional Conditioning

arXiv:2609.13318v1 Announce Type: cross Abstract: 3D point-cloud observations are inherently ambiguous in complex, cluttered manipulation scenes, where target objects may be partially occluded or tigh

Belief-Adaptive Online Autonomy for Quadrotor UAV Navigation under GNSS Degradation in Urban Environments

arXiv:2609.14806v1 Announce Type: new Abstract: Reliable online autonomy is critical for quadrotor operation in urban airspaces, where global navigation satellite systems (GNSS) measurements suffer fr

Bellman Policy Optimization

arXiv:2609.15987v1 Announce Type: cross Abstract: Reinforcement learning with verifiable rewards (RLVR) improves the reasoning capabilities of large language models (LLMs). We introduce Bellman Policy

Model Releases

BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation

model-releasesarxiv-cs-ro

arXiv:2609.14343v1 Announce Type: new Abstract: Control barrier functions (CBFs) provide a mathematically grounded framework for enforcing local collision-avoidance constraints in autonomous mobile ro

Can a Neural Encoding Model Replicate an fMRI Visualization Study?

arXiv:2609.15685v1 Announce Type: cross Abstract: Most knowledge of graphical perception comes from behavioral studies. Understanding from a neural perspective is much more limited due in part to neur

CiteGuard-RAG: A Validation-Centered AI System for Evidence-Grounded Question Answering

arXiv:2609.15830v1 Announce Type: cross Abstract: Retrieval-augmented generation (RAG) can improve access to complex information; however, retrieving evidence alone does not ensure that answers are gr

Cloud Workflow Scheduling Based on Graph Attention-Driven Hierarchical Reinforcement Learning

arXiv:2609.14952v1 Announce Type: new Abstract: Dynamic cloud workflow scheduling must balance deadline satisfaction, container utilization, and energy consumption while dealing with stochastic task-e

Comparing Trajectories from Positions Alone: Curvature-Based Time Alignment and Drift Error Metric

arXiv:2609.14936v1 Announce Type: new Abstract: In field robotics, acquiring independent large-scale reference trajectories more accurate than the evaluated estimates remains an open challenge. The do

Constraint-Grounded Reinforcement Learning for Variable Impedance Control in Contact-Rich Robotic Insertion

arXiv:2609.13516v1 Announce Type: new Abstract: In robotic insertion under uncertain contact, the axial force limit and the appropriate controller gain vary across tasks. As a result, a single fixed g

Corpus Characterization and Inverse Constitutional Fine-Tuning for Style-Aware Radiology Reports

arXiv:2609.14226v1 Announce Type: new Abstract: Automated radiology report generation has advanced rapidly in diagnostic accuracy, yet generated reports frequently diverge from the stylistic conventio

Model Releases

Corrupt Plans, Clean Traces: Evading Chain-of-Thought Monitoring with Plan Injection

model-releasesarxiv-cs-ai

arXiv:2609.15989v1 Announce Type: new Abstract: Chain-of-thought (CoT) monitoring is a safety strategy where the reasoning of a large language model 'actor' is inspected by a 'monitor' (often another

CrossDistill: Balancing Quality and Diversity via Trajectory-Level Hybrid Few-Step Distillation

arXiv:2609.14725v1 Announce Type: new Abstract: Few-step distillation accelerates diffusion models but must balance diversity and fidelity: trajectory-based distillation preserves mode coverage, while

Data Efficient Any Transformer-to-Mamba Distillation via Attention Bridge

arXiv:2510.19266v3 Announce Type: replace Abstract: State-space models (SSMs) have emerged as promising alternatives to Transformers for sequence modeling. However, training competitive SSMs from scra

Data-free On-policy Distillation

arXiv:2609.14193v1 Announce Type: cross Abstract: On-policy distillation (OPD) has become a standard component of frontier post-training pipelines, yet how much its training data actually contributes

Diagnosing Temporal Misalignment in Multichannel Time-Series Classification with Minimum Description Length

arXiv:2609.14595v1 Announce Type: cross Abstract: Multichannel time-series classification commonly assumes synchronized sensor streams, although latency, clock drift, and preprocessing can introduce r

Discovering and Preserving Category Correlation Knowledge via Adaptive Reciprocal Knowledge Distillation

arXiv:2609.13199v1 Announce Type: cross Abstract: Knowledge distillation aims to improve the performance of lightweight student models by transferring knowledge from larger and more powerful teacher m

Disparate Impact in Synthetic Data Generation

arXiv:2606.13105v2 Announce Type: replace Abstract: We revisit the fairness notion of disparate impact for synthetic data generation (SDG), that assesses whether the utility of generated records is th

DiTAR+: Dual Optimization for Robust Autoregressive Diffusion Speech Synthesis

arXiv:2609.13909v1 Announce Type: cross Abstract: Continuous-latent Autoregressive Diffusion Transformer (AR-DiT) models have demonstrated immense potential in zero-shot speech generation. However, th

Document Topic Alignment Metrics for Evaluating Topic Models of Short-Text Public Health Communications on Social Media

arXiv:2609.14256v1 Announce Type: new Abstract: Topic models are widely used to analyze public health-related social media short texts, yet their evaluation remains dominated by metrics that focus ent

Does Online Gravity Estimation Matter? Revisiting a Silent Design Split in LiDAR-Inertial Odometry

arXiv:2609.13675v1 Announce Type: new Abstract: LiDAR-inertial odometry (LIO) systems differ in whether they continue estimating gravity after initialization. We compare four gravity-bias state config

Dream-RSI: Recursive Self-Improvement through Evolving Worlds

arXiv:2609.14858v1 Announce Type: new Abstract: Recursive self-improvement is becoming increasingly vital for autonomous AI agents, where progress hinges on discovering high-value solutions across com

DuoTok: Source-Aware Dual-Track Music Tokenization for Vocal-Accompaniment Generation

arXiv:2511.20224v3 Announce Type: replace-cross Abstract: Multi-track music generation requires tokens that preserve acoustic fidelity, support sequence modeling, and maintain cross-track structure. R

Dynamics-Informed Reinforcement Learning for Agile and Energy-Efficient Locomotion of a Monopedal Hopping Quadcopter

arXiv:2609.15399v1 Announce Type: new Abstract: Although aerial-legged robots offer combined agility and efficiency, controlling high-speed hopping under complex hybrid dynamics is challenging. Reinfo

ECAS: An Edge-Controlled Agentic System for Validation-Gated Scientific Application Execution

arXiv:2609.14211v1 Announce Type: cross Abstract: Scientific applications increasingly rely on high-performance computing (HPC), yet translating a scientist's high-level goal into a correct target-sca

EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion

arXiv:2609.14432v1 Announce Type: new Abstract: Existing humanoid locomotion systems primarily focus on stability and task execution, while integrating expressiveness with explicit locomotion control

Equilibrium bias and convergence in augmented primal--dual dynamics with sampled constraints

arXiv:2609.13925v1 Announce Type: cross Abstract: This work studies the stability and convergence of augmented primal-dual dynamics when constraint values are estimated from samples. Unbiased constrai

Evaluating covariate balance for long time horizon Markov decision processes

arXiv:2607.15080v2 Announce Type: replace Abstract: This article explores the application of covariate balance diagnostics for detecting the presence of hidden confounding/model miss-specification in

EventVL: Understand Event Streams via Multimodal Large Language Model

arXiv:2501.13707v3 Announce Type: replace-cross Abstract: The event-based Vision-Language Model (VLM) recently has made good progress for practical vision tasks. However, most of these works just util

Extending the Speed Limit of Quadrupedal Locomotion via Refined Actuator Modeling and Adaptive Command Scheduling

arXiv:2609.13289v1 Announce Type: new Abstract: Achieving high-speed locomotion in quadrupedal robots remains highly challenging, as actuators operate near their physical limits and exhibit pronounced

Flow-Matched Motion Priors: Online Optimal-Transport Rewards for Imitation Learning

arXiv:2609.15631v1 Announce Type: new Abstract: Learning a motion prior requires a reward that guides a policy from its current behavior toward demonstrated motion. Adversarial Motion Priors (AMP) pro

Force-Aware Reinforcement Learning with Hybrid Sensorless Force Estimation for Wheeled-Legged Loco-Manipulation

arXiv:2609.13779v1 Announce Type: new Abstract: Force-controlled loco-manipulation requires a whole-body policy to coordinate locomotion and arm motion while regulating end-effector interaction forces

Forty Shades of Blue: Quality-Diversity Alignment via Mode-Conditioned Reinforcement Learning

arXiv:2609.14896v1 Announce Type: cross Abstract: A notable byproduct of LLM alignment training is mode collapse: the progressive loss of output diversity that narrows a model's expressivity at infere

From Legal Text to AI-specific Risk Sources: A Systematic Analysis of the EU AI Act's High-Risk Requirements

arXiv:2609.13535v1 Announce Type: new Abstract: The EU AI Act introduces mandatory requirements for high-risk AI systems with the explicit goal of ensuring the development and operation of trustworthy

From Network Inequality to Network Fairness: A Perspective on Responsible Decision-Making

arXiv:2609.13867v1 Announce Type: cross Abstract: Social networks shape how individuals make decisions and how opportunities are distributed. However, the mechanisms that generate these networks often

From Prediction to Decision: World-Model-Guided Action Selection for Continuous Pile Excavation

arXiv:2609.15382v1 Announce Type: new Abstract: Wheel-loader excavation is a sequential decision problem in which every scoop changes the terrain available to subsequent actions. A practical world mod