Search: “safety”

Adaptive Rollout Truncation Based on Epistemic Uncertainty for Efficient Offline World Model Training

arXiv:2609.21482v1 Announce Type: cross Abstract: Accurate neural world models are central to model-based robotics, where they enable robots to predict future states from previously observed trajector

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Aligning with Lived Experience: Heterogeneous Benefits of Fine Tuning in Mental Health Support Generation

DGX agent

arXiv:2609.21075v1 Announce Type: cross Abstract: As access to professional mental healthcare remains limited, many individuals turn to online platforms such as Reddit to seek peer support situated wi

safetyarxiv-cs-ai

21 Sept 2026

ArenaFlow: From Trajectory Ranking to Hierarchical Credit Propagation for Open-Ended Agent RL

arXiv:2609.21378v1 Announce Type: new Abstract: Reinforcement learning has substantially improved large language model (LLM) agents in verifiable domains, but remains difficult to apply to open-ended

safetyarxiv-cs-cl

ASGARD: Action-Space Guard for UAV Resilience via Reinforcement Learning

arXiv:2609.20982v1 Announce Type: new Abstract: Reinforcement learning (RL) controllers have been recently adopted for Unmanned Aerial Vehicles (UAV) navigation and control. However, they are suscepti

Local Ai

Assessment of Machine Learning-Based Critical Heat Flux Models in the CTF Subchannel Code for Square Rod Bundle Prediction

arXiv:2609.21995v1 Announce Type: new Abstract: The prediction of critical heat flux (CHF), a key safety-related quantity in nuclear thermal hydraulics, remains an important challenge due to its direc

local-aiarxiv-cs-lg

AtomEgo: Exploring Ego-Robot Integration for Embodied Foundation Model Pretraining

arXiv:2609.21461v1 Announce Type: cross Abstract: Embodied foundation models are constrained by the limited scale and diversity of robot demonstrations, motivating the use of large-scale egocentric hu

Benchmarking Gender Bias in Machine Translation Evaluation Metrics across Occupations

arXiv:2609.21490v1 Announce Type: new Abstract: Gender bias remains a persistent concern in machine translation (MT), affecting both generated translations and their automatic evaluation. When a sourc

safetyarxiv-cs-cl

Beyond Exact Match: Task-Aware GRPO for Cross-Domain PCBA Visual Question Answering

arXiv:2609.21276v1 Announce Type: cross Abstract: In automated Printed Circuit Board Assembly (PCBA) inspection, standards-guided decisions require systems to jointly reason over fine-grained visual c

Beyond Gaussian Worlds: Latent Geometry Matters for JEPAs

arXiv:2609.21656v1 Announce Type: new Abstract: Recent Joint-Embedding Predictive Architectures (JEPAs) prevent representation collapse by constraining learned representations to follow a prescribed t

Beyond Kinematics: Benchmarking Simulation Fidelity for Muscle-Driven Imitation Learning

arXiv:2609.21909v1 Announce Type: new Abstract: In this work, we conduct a systematic comparison of two state-of-the-art motion-imitation reinforcement learning (MIRL) pipelines, one built on SCONE/Hy

Calibrating Teacher--Student Discrepancy for On-Policy Distillation

arXiv:2609.21619v1 Announce Type: new Abstract: On-policy distillation (OPD) improves reasoning models by learning the token-level discrepancy between a stronger teacher and an on-policy student. Howe

CARF: Contrastive Attraction-Repulsion of Failure-Guided Flow Matching

arXiv:2609.21982v1 Announce Type: new Abstract: Robot demonstration collection often produces imperfect or failed trajectories in addition to successful demonstrations. Existing methods typically expl

CIPL: A Channel-Aware Framework for Recoverable Privacy Leakage in LLM Agents

arXiv:2609.21686v1 Announce Type: cross Abstract: Privacy leakage in LLM agents is commonly evaluated within individual components such as memory, retrieval, or tool-use pipelines, which makes it diff

Classification-oriented adaptive sensing via posterior sampling

arXiv:2609.21812v1 Announce Type: cross Abstract: Recent advances in diffusion models have enabled high-performance, instance-adaptive compressed sensing through posterior sampling, without task-speci

Collab-Solver: Collaborative Solving Policy Learning for Mixed-Integer Linear Programming

arXiv:2508.03030v3 Announce Type: replace Abstract: Mixed-integer linear programming (MILP) has been a fundamental problem in combinatorial optimization. Conventional MILP solving mainly relies on car

Complex Problem Solving in Large Language Models: A Statistical Control Survey and Diagnostic Framework

arXiv:2609.20973v1 Announce Type: cross Abstract: Complex problem solving (CPS) with large language models (LLMs) is often framed as a matter of stronger reasoning or longer generation. Yet early-step

Continuous Delayed-Memory Stochastic Gradient Descent and Continuous-Time Reinforcement Learning from History of Astrophysical Time Series Studies

arXiv:2609.20906v1 Announce Type: new Abstract: Quasars are luminous objects in the universe that exhibit stochastic brightness variations encoding information about the supermassive black holes power

Deep Reinforcement Learning with Buffered Quantile Objectives

arXiv:2609.21327v1 Announce Type: cross Abstract: Quantile-based reinforcement learning provides an interpretable approach to risk-sensitive decision-making by optimizing a prescribed quantile of the

Demonstration Synthesis from a Single Scan via Gaussian Splatting for Visuomotor Policy Learning

arXiv:2609.21112v1 Announce Type: new Abstract: Training a visuomotor policy calls for abundant demonstrations that closely match the target environment, yet collecting them anew remains expensive. Ex

DEXTERA: From a Single Image to Deployable Dexterous Manipulation via Real-to-Sim-to-Real

arXiv:2609.21045v1 Announce Type: new Abstract: Collecting real-world robot data for dexterous manipulation is costly and time-consuming. While high-fidelity physics simulators enable scalable data sy

Diverse and Adaptable Arm Coordination for Octopus-Crawling via Diffusion-Based Uncertainty-Aware Optimization

arXiv:2609.21138v1 Announce Type: cross Abstract: Octopus crawling motivates soft robots that exploit redundancy, yet discovering and organizing diverse coordination modes for adaptation remains chall

Dual-Interest Sequential Product Recommendation With Multi-Granular SSM

arXiv:2609.21548v1 Announce Type: new Abstract: Sequential recommendation aims to predict the next item a user will interact with based on their historical behavior. Advances in Transformers have sign

Dynamic Lagging using Stable-Prefix Training for Simultaneous Translation

arXiv:2609.05799v2 Announce Type: replace Abstract: In streaming simultaneous speech translation, the speech translation system is trained to learn a read-write policy that alternates between consumin

safetyarxiv-cs-cl

ExpBoN: Exponential-Noise Best-of-n for Efficient Test-Time LLM Alignment

arXiv:2609.21899v1 Announce Type: new Abstract: Best-of-n (BoN) sampling is a simple yet effective inference-time alignment method, but hard maximization provides only coarse control over the trade-of

FedeRage: Provably Convergent Agnostic Federated Learning under General Client Drift

arXiv:2609.21057v1 Announce Type: new Abstract: Federated learning (FL) enables collaborative model training without sharing raw data, but its performance degrades under non-IID data and stochastic cl

Federated Deep Clustering Networks for High-Dimensional and Heterogeneous Data

arXiv:2609.21829v1 Announce Type: cross Abstract: Clustering high-dimensional data is a fundamental task in unsupervised machine learning with applications to a variety of domains. In the centralized

Fewer Steps, Better Actions: Rethinking Flow-Matching Inference for VLA Policies

arXiv:2609.21216v1 Announce Type: cross Abstract: Vision-language-action (VLA) policies based on flow matching generate action chunks through repeated evaluations of an action expert. Increasing the n

FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion

arXiv:2609.21447v1 Announce Type: cross Abstract: Humanoid locomotion over complex terrain requires anticipating footholds that may no longer be visible at touchdown. Limited camera coverage and self-

From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention

arXiv:2609.21788v1 Announce Type: cross Abstract: A pretrained robot foundation policy may execute most of a long-horizon task yet repeatedly fail at a few critical subtasks. Collecting additional ful

GEM-MPC: Balancing Exploration and Exploitation through Expert-Guided Planning

arXiv:2609.21735v1 Announce Type: new Abstract: Effective exploration in high-dimensional continuous control remains a central challenge in reinforcement learning. Planning-based methods address this

Geometric Mean Pooling for Equal-Weight Multiplicative Coarse-Graining

arXiv:2609.21876v1 Announce Type: new Abstract: As an alternative to the additive and extremal biases of average and max pooling, we introduce Geometric Mean Pooling (GMP), a signed pooling operator t

Goal-Oriented Reactive Simulation for Closed-Loop Trajectory Prediction

arXiv:2603.24155v3 Announce Type: replace Abstract: Current trajectory prediction models are primarily trained in an open-loop manner, which often leads to covariate shift and compounding errors when

GVPO++: Group Variance Policy Optimization for LLM Post-Training and On-Policy Distillation

arXiv:2609.21432v1 Announce Type: new Abstract: Post-training plays a pivotal role in enhancing the reasoning capabilities and task-specific expertise of large language models (LLMs). Despite recent a

HAT: Hypothesis-Anchored Tracking for Video Monocular Spacecraft Pose Estimation

arXiv:2609.21597v1 Announce Type: new Abstract: Monocular 6-DoF pose estimation of non-cooperative targets is important for on-orbit servicing and debris removal. A single-image estimator can confuse

Hiding in Plain Sight: A Diffusion-based Mitigation of Geolocation Privacy Leakage in Vision-Language Models

arXiv:2609.21363v1 Announce Type: new Abstract: Multimodal large reasoning models (MLRMs) have demonstrated remarkable capabilities in complex visual understanding. However, this very power introduces

IncentRL: The Trade-Off Between Preference Guidance and Task Performance

arXiv:2609.21525v1 Announce Type: new Abstract: Preference-based reward shaping can guide reinforcement learning, but adding preference signals to the reward may unintentionally change the task being

Info3R: Information-Adaptive Test-Time Training for 3D Reconstruction

arXiv:2609.21938v1 Announce Type: new Abstract: Transformer-based models have recently achieved strong performance on 3D reconstruction from images, and recent works extend them to process video strea

Information-Gain Rewards over Diversity-Pruned Tests: GT-Anchored Verifier Co-Training for Reliable Code Generation

arXiv:2609.21208v1 Announce Type: new Abstract: Self-play methods that co-train a single language model as both coder and test author promise to move code-generation RL beyond fixed test suites, but t

K2-V2: A 360-Open, Reasoning-Enhanced LLM

arXiv:2512.06201v3 Announce Type: replace Abstract: We introduce K2-V2, a 360-open LLM built from scratch as a superior base for reasoning adaptation, in addition to functions such as conversation and

KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos

arXiv:2609.21229v1 Announce Type: cross Abstract: Learning robot manipulation policies typically requires substantial demonstration data, which are costly to collect on real robots. Recent methods gen

lambda-Controlled GRPO: Turning Flow-Matching Ratio Instability into a Budgeted Resource

arXiv:2609.22041v1 Announce Type: new Abstract: Reinforcement learning is increasingly used to align image generators with reward signals, and Flow-GRPO recently extended this paradigm to flow-matchin

Learning Distance-Conditioned Object Transport for Humanoid Loco-Manipulation from a Single Motion Clip

arXiv:2609.21467v1 Announce Type: new Abstract: Motion tracking can reproduce humanoid loco-manipulation from a single retargeted motion clip, but a policy trained on a fixed reference primarily repro

Learning End-to-End Control for Omnidirectional Aerial Motion on Overactuated Tilt-rotor Quadrotors

arXiv:2602.21583v2 Announce Type: replace Abstract: While reinforcement learning (RL) has been successfully applied to conventional quadrotors for agile and robust flight, whether actuator-level RL ca

Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations

arXiv:2609.21107v1 Announce Type: new Abstract: While learning from human motions has enabled highly dynamic humanoid skills such as dancing and martial arts in obstacle-free space, traversal through

Let’s be clear: LLMs don’t feel pain. And they don’t deserve moral standing. This new paper reports a series of experiments identifying pain…

Let’s be clear: LLMs don’t feel pain. And they don’t deserve moral standing. This new paper reports a series of experiments identifying pain-related representations in LLMs. The authors also show that

safetygary-marcus--x

M2G-LLM: Enhancing Clinical Prediction via Multimodal Graph Reasoning and LLM Context Injection

arXiv:2609.21164v1 Announce Type: new Abstract: Integrating diverse data modalities --- such as clinical notes, laboratory results, and medical imaging --- is essential for advancing clinical decision

MetaPusher: Meta Learning and Planning for Nonprehensile Manipulation of Unseen Objects with Rapid Online Adaption

arXiv:2609.21122v1 Announce Type: new Abstract: Manipulating previously unseen objects remains challenging, as their dynamics depend on latent physical properties, such as friction and mass distributi

MicroHookACT: Monocular Microscopic Vision Guided Visuomotor Policy for Flexible Microelectrode Hooking

arXiv:2609.21365v1 Announce Type: new Abstract: Automated needle-loop hooking is a critical step in flexible microelectrode (FME) implantation. This paper presents MicroHookACT, an imitation learning-