Search: “safety”

FORCE: Efficient VLA Reinforcement Fine-Tuning via Value-Calibrated Warm-up and Self-Distillation

arXiv:2606.26006v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models are often constrained by the imitation ceiling imposed by sub-optimal data. While Reinforcement Learning (RL) fine-t

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ForceBand: Learning Forceful Manipulation with sEMG

DGX agent

arXiv:2606.26093v1 Announce Type: new Abstract: Human demonstrations are a scalable data source for learning robot manipulation policies. However, common sources of human demonstration data, such as m

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25 Jun 2026

Fourier Multi-Component and Multi-Layer Neural Networks: Unlocking High-Frequency Potential

arXiv:2502.18959v4 Announce Type: replace Abstract: The architecture of a neural network and the choice of its activation function are both fundamental to its performance. Equally important is ensurin

Fox in the Henhouse: Supply-Chain Backdoor Attacks Against Reinforcement Learning

arXiv:2505.19532v2 Announce Type: replace Abstract: The current state-of-the-art backdoor attacks against Reinforcement Learning (RL) rely upon unrealistically permissive access models, that assume th

From Forecasting Leaderboards to Deployment Decisions: A Fail-Closed Certification Protocol

arXiv:2606.24996v1 Announce Type: new Abstract: Forecasting leaderboards rank models by predictive quality, but their winners are often read as deployment-ready top-1 advice. That reading can fail whe

Fully Differentiable Neural Forced Alignment via Soft Dynamic Programming

arXiv:2606.25460v1 Announce Type: cross Abstract: Recent advances in sequence modeling have significantly improved ASR systems, bringing them close to human-level recognition accuracy and enhancing ro

GCT-MARL: Graph-Based Contrastive Transfer for Sample-Efficient Cooperative Multi-Agent Reinforcement Learning

arXiv:2606.25073v1 Announce Type: new Abstract: In cooperative multi-agent reinforcement learning (MARL), from a deployment perspective, it is challenging and expensive to train agents from scratch fo

Generalised Medical Phrase Grounding

arXiv:2512.01085v3 Announce Type: replace-cross Abstract: Medical phrase grounding (MPG) maps textual descriptions of radiological findings to corresponding image regions. These grounded reports are e

Geometry-Anchored Transport Framework for Exemplar-Free Class-Incremental Learning

arXiv:2606.25347v1 Announce Type: cross Abstract: Exemplar-free class-incremental learning (EFCIL) requires stable decision boundaries within a shifting feature space. While maintaining class-conditio

Heuresis: Search Strategies for Autonomous AI Research Agents Across Quality, Diversity and Novelty

arXiv:2606.25198v1 Announce Type: new Abstract: Autonomous AI Research promises to accelerate the scientific progress of machine learning. To realise this goal, current Large Language Model (LLM)-base

Homogeneity Bias in Open-Weight LLMs Is Robust to Decoding Hyperparameters

arXiv:2501.02211v2 Announce Type: replace-cross Abstract: Large language models (LLMs) reproduce homogeneity bias -- the tendency to portray marginalized groups as more internally similar than dominan

Learning Action Priors for Cross-embodiment Robot Manipulation

arXiv:2606.26095v1 Announce Type: cross Abstract: Most Vision-Language-Action (VLA) models build on a Vision-Language Model (VLM) backbone by attaching an action module and optimizing the full policy

Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots

arXiv:2606.25706v1 Announce Type: new Abstract: High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controllers run at high frequency. This creates t

Learning Optimization Proxies for Sequential Contextual Stochastic Programs: An Order Fulfillment Application

arXiv:2606.25362v1 Announce Type: cross Abstract: Sequential contextual stochastic programs model real-time decision systems in which each time epoch commits to an action under uncertainty whose conse

Learning Robot Visual Navigation in Crowds via Intention-Aware Scene Representations

arXiv:2606.26047v1 Announce Type: new Abstract: Robot crowd navigation requires the ability to infer human intentions while accounting for the structural constraints of the environment. Currently, dee

Learning Subset-Shared Invariances for Domain Generalization with Mixture-of-Experts

arXiv:2606.25665v1 Announce Type: new Abstract: Domain generalization (DG) aims to learn a model from one or more source domains that generalizes to an unseen target domain without accessing target da

Learning with a Single Rollout via Monte Carlo Pass@k Critic

arXiv:2606.25451v1 Announce Type: new Abstract: Estimating token-level advantages in reinforcement learning (RL) for language models remains challenging because scaling up episodic experience collecti

Lightweight PCGAE-Net: Parallel CrossGate Attention and Bottleneck AutoEncoder for Efficient 5G Channel Prediction

arXiv:2606.25401v1 Announce Type: cross Abstract: Accurate channel state information (CSI) prediction is essential for proactive beamforming and resource management in 5G massive MIMO systems, yet the

LLM-Based Scientific Peer Review: Methods, Benchmarks, and Reliability Challenges

arXiv:2606.25057v1 Announce Type: new Abstract: The rapid growth of scientific submissions has pushed traditional peer review toward its scalability limits, motivating the exploration of large languag

Low-Complexity Policy Tessellations in Structured Markov Decision Processes

arXiv:2606.25593v1 Announce Type: new Abstract: We study optimal-policy geometry in structured Markov decision processes. While approximate dynamic programming and reinforcement learning typically app

Low Variance Trust Region Optimization with Independent Actors and Sequential Updates in Cooperative Multi-agent Reinforcement Learning

arXiv:2606.25526v1 Announce Type: new Abstract: Cooperative multi-agent reinforcement learning assumes each agent shares the same reward function and can be trained effectively using the Trust Region

MAPL: Multi-Objective Preference Learning for Robot Locomotion

arXiv:2606.25398v1 Announce Type: new Abstract: Reward design remains a major bottleneck in reinforcement learning for robot locomotion, where successful policies often depend on carefully tuned, task

Memory Retrieval in Visuomotor Policies for Long-Horizon Robot Control

arXiv:2606.25136v1 Announce Type: new Abstract: General-purpose robots operating in partially observable environments, such as homes, require memory to support autonomy. They must recall diverse infor

Minimax PAC Bounds for Learning in Exogenous Contextual MDPs

arXiv:2606.25170v1 Announce Type: cross Abstract: We study PAC learning in tabular discounted Markov decision processes with exogenous i.i.d. contexts, with discount factor gamma, finite state space m

MiniOpt: Reasoning to Model and Solve General Optimization Problems with Limited Resources

arXiv:2606.25832v1 Announce Type: new Abstract: Achieving strong optimization generalization across diverse optimization problems while requiring limited training resources remains a challenging probl

Neglected Free Lunch from Post-training: Progress Advantage for LLM Agents

arXiv:2606.26080v1 Announce Type: new Abstract: Process reward models enable fine-grained, step-level evaluation of LLMs, yet building them for agentic settings remains prohibitively difficult: long-h

Neural Machine Translation for Low-Resource Tangkhul--English

arXiv:2606.25365v1 Announce Type: new Abstract: We present a study on low-resource machine translation for the Tangkhul-English (nmf-en) language pair. Tangkhul is a severely under-resourced Tibeto-Bu

Offline Multi-agent Continual Cooperation via Skill Partition and Reuse

arXiv:2606.25389v1 Announce Type: new Abstract: Extracting skills from multi-agent offline dataset improves learning efficiency via sharing task-invariant coordination skills among tasks. In settings

On-Policy Self-Distillation with Sampled Demonstrations Reduces Output Diversity

arXiv:2606.26091v1 Announce Type: new Abstract: On-policy self-distillation achieves strong pass@1 accuracy by using a single model as both teacher and student, with the teacher conditioned on a corre

One Body, Two Minds: Variable Autonomy Approach for a Co-embodied Robotic Hand

arXiv:2606.25575v1 Announce Type: new Abstract: Assistive robotic systems face a fundamental trade-off: fully autonomous systems lack user agency, while fully user-controlled systems demand continuous

OPERA: Aligning Open-Ended Reasoning via Objective Perplexity-based Reinforcement Learning

arXiv:2606.25757v1 Announce Type: new Abstract: Reinforcement Learning (RL) has enabled LLMs to excel in objective reasoning tasks such as mathematics and code generation. However, applying RL to open

Paid Voices vs. Public Feeds: Interpretable Cross-Platform Theme-Based Analysis of Climate Discourse

arXiv:2601.13317v2 Announce Type: replace Abstract: Climate discourse online shapes public understanding of climate change and informs political and policy debate, yet it unfolds across structurally d

PERRY: Policy Evaluation with Confidence Intervals using Auxiliary Data

arXiv:2507.20068v3 Announce Type: replace Abstract: Off-policy evaluation (OPE) methods estimate the value of a new reinforcement learning (RL) policy prior to deployment. Recent advances have shown t

Point Cloud Diffusion with Global and Local Reconstruction for Instance-Level 3D Anomaly Detection

arXiv:2606.25740v1 Announce Type: new Abstract: 3D anomaly detection in point clouds is critical for high-precision industrial manufacturing. Reconstruction-based methods have laid a strong foundation

Position Spaces and Graphs

arXiv:2606.25719v1 Announce Type: new Abstract: In this paper, we introduce position graphs, a graph-based reasoning framework based on the formalization of position spaces. This framework utilizes tw

Power-Budgeted Underwater Vehicle Control via Constrained Reinforcement Learning

arXiv:2606.25680v1 Announce Type: new Abstract: Underwater vehicles operate from a fixed onboard energy budget that propulsion rapidly depletes, so a controller that completes its task while drawing l

Reflective VLA: In-Context Action Consequences Make VLAs Generalize

arXiv:2606.25215v1 Announce Type: new Abstract: Most vision-language-action (VLA) models are reactive: they predict the next action from the current instruction and observation, implicitly assuming th

RGB: RL Guided Whole-Body MPPI for Humanoid Control

arXiv:2606.25123v1 Announce Type: new Abstract: Humanoid robots require whole-body controllers that are both robust and precise in contact-rich environments. While deep reinforcement learning (RL) ach

RN-D: Discretized Categorical Actors for On-Policy Reinforcement Learning

arXiv:2601.23075v2 Announce Type: replace Abstract: On-policy Reinforcement Learning (RL) remains a dominant paradigm for continuous control, yet standard implementations rely on Gaussian actors and r

ROAD-VLA: Robust Online Adaptation via Self-Distillation for Vision-Language-Action Models

arXiv:2606.25800v1 Announce Type: new Abstract: Effective online adaptation of vision-language-action (VLA) models remains challenging, as sparse rewards provide weak supervision for high-dimensional

SAC^2-Net: Semantic Anchoring and Complementary-Consensus Fusion for Multimodal Micro-Expression Recognition

arXiv:2606.25542v1 Announce Type: new Abstract: Micro-expression recognition (MER) is challenging due to subtle facial movements, limited data, and the ambiguous relationship between Action Units (AUs

SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation

arXiv:2606.25497v1 Announce Type: new Abstract: Object-Goal Navigation (ObjNav) requires embodied agents to autonomously locate specified targets using only egocentric visual observations. Existing mo

ScalingAR: Scaling Confidence for Autoregressive Image Generation

arXiv:2509.26376v3 Announce Type: replace Abstract: Test-time strategies have shown remarkable success in improving large language models, but their application to next-token prediction (NTP) autoregr

Semantic Consistency Policy Optimization for Reinforcement Learning of LLM Agents

arXiv:2606.25852v1 Announce Type: new Abstract: Group-based reinforcement learning effectively post-trains LLM agents for long-horizon, sparse-reward tasks by deriving step-level credit from trajector

Solving Markov Decision Processes with Future Information via MPC

arXiv:2606.24991v1 Announce Type: cross Abstract: Model Predictive Control (MPC) is widely used in industrial and robotic systems for enforcing constraints and embedding domain knowledge through finit

Specifying AI-SDLC Processes: A Protocol Language for Human-Agent Boundaries

arXiv:2606.20615v2 Announce Type: replace Abstract: AI agents now participate as first-class team members across the software development lifecycle, yet no specification language exists for expressing

StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots

arXiv:2606.25765v1 Announce Type: new Abstract: Climbing hollow stairs remains a challenging problem for quadruped robots due to the high risk of leg trapping, severe depth sparsity, and high-frequenc

Supervised Reinforcement Learning for the Coordination of Distributed Energy Resources

arXiv:2606.24947v1 Announce Type: new Abstract: The increasing integration of distributed energy resources (DERs) is crucial for power system decarbonization, yet unlocking DERs' flexibility is challe