Search: “safety”

Rethinking Legibility in Social Robot Hallway Navigation: Impact of Intent Representation and Human Distraction

arXiv:2609.40158v1 Announce Type: new Abstract: We focus on legible robot motion generation in social navigation settings. Legibility in human-robot interaction (HRI) is often described as the propert

1 Oct 2026

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Safety

Scale and Selection: What Makes Automatic Harness Evolution Work for Visual-Interface Robot Agents

DGX agent

arXiv:2609.39304v1 Announce Type: cross Abstract: When an off-the-shelf coding agent is used directly as a robot policy, observing a browser-based 3D interface through screenshots and acting by posing

safetyarxiv-cs-ai

1 Oct 2026

SimEX: Simulation-Integrated Robotics AutoResearch

arXiv:2609.38982v1 Announce Type: cross Abstract: Coding agents powered by large language models (LLMs) have shown remarkable abilities to autonomously reason about and achieve goals in the digital wo

1 Oct 2026

Trust Is Not a Score: Runtime Assurance Contracts for High-Risk AI Agents

arXiv:2609.39717v1 Announce Type: new Abstract: Benchmarks, audits, and agent protocols describe performance, permissions, and repair, but not how observed evidence should change an agent's authority

1 Oct 2026

A Proposed Rubric for Evaluating Expressed Clinical Reasoning in Large Language Model Responses

arXiv:2609.37788v1 Announce Type: cross Abstract: Rubrics support the structured evaluation of language models. We propose a rubric for assessing expressed clinical reasoning in model responses, drawi

AdvMT: Adversarial Motion Transformer for Long-term Human Motion Prediction

arXiv:2401.05018v3 Announce Type: replace Abstract: Human motion prediction is a crucial capability for advanced robotic systems that interact with humans. In facilities with dynamic human-robot colla

Applying Language Models in Clinical Medicine: Recent Trends and Perspectives

arXiv:2609.34780v2 Announce Type: replace Abstract: The use and applicability of artificial intelligence (AI) in medical research and clinical practice has received increasing attention in the literat

Boundary-State Control for Tool-Using Language-Model Agents: Commit-Time Consistency under State Drift

arXiv:2609.37475v1 Announce Type: new Abstract: Tool-using language-model agents can decide that an action is permissible and execute it only after security-relevant state has changed. We study this p

Brain-SAD: A Brain-Inspired Safe Autonomous Driving Control Framework with Dynamic Fear-Oriented Constraint on Dual-Policy

arXiv:2609.38016v1 Announce Type: new Abstract: Constrained Reinforcement Learning has recently gained increasing attention in the field of Safe Autonomous Driving, where the general mechanism is to m

Contact-Adaptive Robotic Ultrasound Probe Control for Tissue Exploration and Continuous Task-Relevant Visualization Using Robot-Free Image-Motion Demonstration

arXiv:2609.37456v1 Announce Type: new Abstract: Robotic ultrasound commonly targets standardized views, predefined scanning protocols, or expert-scan reproduction. We target a different role: while a

Divide and Inject: Can Agents Reconstruct an Indirect Prompt Injection from Fragments?

arXiv:2609.36576v1 Announce Type: new Abstract: Agentic systems are now being widely used to orchestrate tools and reason over long contexts. However, the improving capabilities of the large language

Model Releases

ExceptionDrive: A Planning-Oriented Counterfactual Corner-Case Benchmark for Autonomous Driving

model-releasesarxiv-cs-ai

arXiv:2609.37871v1 Announce Type: cross Abstract: Average performance on routine driving benchmarks does not establish planner reliability under rare, safety-critical hazards. We proposed ExceptionDri

Fine-Tuning on Self-Generated and Reward-Weighted Data: Learning Dynamics, Convergence Rates, and Benefits of Off-Policyness

arXiv:2609.36945v1 Announce Type: new Abstract: We study the learning dynamics of fine-tuning a policy model on self-generated and reward-weighted data, with particular focus on a generalized version

Foundation-Model-Guided Topology-Aware Semantic Risk Fields for Manipulation

arXiv:2609.36640v1 Announce Type: new Abstract: Robot motion planning in everyday environments must satisfy hard geometric constraints while accounting for context-dependent semantic risk. We present

Making Duplicate Reimbursement Unrepresentable: A Verified Ethereum E-Invoice System for Humans and AI Agents

arXiv:2609.37819v1 Announce Type: cross Abstract: Electronic invoices are replacing paper invoices worldwide, but today's centralized architectures leave three problems unsolved on the consumption sid

Physics-Informed Multi-Agent Coordination for Hospital Patient Flow Optimization

arXiv:2609.37022v1 Announce Type: new Abstract: Efficient patient flow coordination across autonomous hospital departments is critical for mitigating overcrowding and balancing resource utilization. W

Right Words, Wrong Moment: A Clinician-Grounded Analysis of Distress in 19,930 Conversations between Young People and ChatGPT

arXiv:2609.35953v1 Announce Type: new Abstract: Young people increasingly turn to General-Purpose Conversational Agents (GPCAs), such as ChatGPT, in moments of distress. We examine young adults' (ages

Solving Robust POMDPs with Omega-regular Objectives via Partially Observable Stochastic Games

arXiv:2608.24986v2 Announce Type: replace Abstract: Robust POMDPs (RPOMDPs) generalize classical POMDPs to the setting where exact transition probabilities are not known -- rather, they are only known

Test-Time Adaptation of Manipulation Policies Under Actuator Degradation

arXiv:2609.36182v1 Announce Type: new Abstract: Robot manipulation policies are usually trained under the assumption that a commanded action produces the same motion as it did during training even aft

V2X-WAM: A Cooperative World Action Model for End-to-End Autonomous Driving

arXiv:2609.37098v1 Announce Type: cross Abstract: Vehicle-infrastructure cooperation can complement onboard sensing with broader and more informative observations of the traffic environment, providing

VoxelSage: Tool-Augmented 3D CT Analysis and Simulator-Shielded Sequential Resection Planning for Liver Tumors

arXiv:2609.37648v1 Announce Type: new Abstract: Preoperative liver-tumor assessment requires segmentation, physical-space measurement, visual evidence, and resection planning from the same three-dimen

Waypoint-1.5: A Real-Time Video World Model for Consumer Hardware

arXiv:2609.37107v1 Announce Type: new Abstract: We present Waypoint 1.5, a real-time diffusion world model for interactive video generation on consumer-grade hardware. Unlike general video diffusion m

A Survey on Reinforcement Learning Applications in SLAM

arXiv:2408.14518v3 Announce Type: replace-cross Abstract: Simultaneous localization and mapping (SLAM) allows a mobile robot or autonomous vehicle to build a map of an unknown environment while estima

Anguinus Sculpturae: Compositional Synthesis of Peak-Enhancement Breast DCE-MRI Scans

arXiv:2609.33611v1 Announce Type: new Abstract: Dynamic contrast-enhanced breast MRI (DCE-MRI) is rich in anatomical and perfusion information, but its reliance on gadolinium-based contrast agents rai

Eyes on the Road: A Naturalistic Comparison of MTW Rider Gaze in Urban Indian Traffic

arXiv:2609.33811v1 Announce Type: new Abstract: Motorized two-wheelers (MTW) dominate Indian roads but remain underrepresented in driver behavior research. This study presents the first large-scale an

From Constitutions to Control: Interpretable Rewards for Aligning Language Models

arXiv:2609.33086v1 Announce Type: new Abstract: Current approaches to aligning language models often make it hard to know what behavior is being rewarded or to change that reward in a targeted way. In

Human Motion Prediction for Human-Robot Collaboration

arXiv:2609.32346v1 Announce Type: new Abstract: This paper compares three human motion prediction methods - GMM-based clustering, TransFusion, and Graph-Mixer - evaluating their effectiveness in human

Integrity Detection and Characterization of Malicious Injections in RAVEN II

arXiv:2609.33951v1 Announce Type: new Abstract: The increasing adoption of robotic systems in surgery, together with the expanding range of procedures they can support and the growing level of autonom

No Free Efficiency: Revisiting the Trade-off Between Training Efficiency and Model Vulnerability

arXiv:2609.33898v1 Announce Type: new Abstract: Training efficiency has become the central driver of recent progress in foundation models. To overcome the massive computational and data requirements o

ORPG: Reconciling Multiple Reward Objectives through Objective-wise Policy Gradients

arXiv:2609.34985v1 Announce Type: new Abstract: Multi-reward policy optimization requires a joint update that reflects both the learning signals and the intended relationships among objectives. We int

Physics-Guided Conditional Diffusion Model for Rare Event Synthesis and Diagnosis for the Water-Gas Shift Reaction

arXiv:2609.35499v1 Announce Type: new Abstract: As the world moves towards sustainable energy sources, hydrogen (H2) can be treated as an eco-friendly alternative to fossil fuels due to its high energ

Representation Learning for Exact Preimages

arXiv:2609.32018v1 Announce Type: new Abstract: Modern neural predictors can model highly nonlinear maps, but many scientific and engineering tasks require reasoning in the opposite direction: given a

Robot-Assisted Deployment and Maintenance of Inflatable Modules for Lunar Habitation: A Field Demonstration

arXiv:2609.34498v1 Announce Type: new Abstract: Long-term human habitation and in-situ development on the Moon open a new era of space utilization. In this context, robots are a key technology for fac

Trajectory-Safe Orienteering for Human-Robot Shared Environments

arXiv:2609.34485v1 Announce Type: new Abstract: Orienteering problem (OP) has wide real-world applications and also great potential in human-robot collaboration. However, existing approaches struggle

When Do Models Admit They Are Wrong? Failure Disclosure Is Unstable Under Reinforcement Learning

arXiv:2609.33220v1 Announce Type: new Abstract: Outcome-based reinforcement learning can produce models with similar task performance but very different ways of communicating about their mistakes. We

WSM-Aware HRI: An IoT-Enhanced Framework for Early Detection and Norm-Guided Repair of Failures with LLM Guidance

arXiv:2609.32336v1 Announce Type: new Abstract: Human-robot interaction (HRI) failures remain a major barrier to deploying robots in real-world environments. Prior work often treats failures as isolat

ZonoGPT: Towards An Abstract Domain for Verifying Large GPT Models

arXiv:2609.34457v1 Announce Type: new Abstract: Transformer-based models are widely used for reasoning, coding, and multimodal agentic tasks. To provide formal assurance of desirable behaviors, such a

Evaluation Is All You Need for Multi-Modal Autonomous Driving

arXiv:2609.30818v1 Announce Type: cross Abstract: Multi-modal planning is promising for autonomous driving by representing multiple plausible behaviors in ambiguous and long-tail scenarios. Existing m

Exploring the Benefits of Vision Foundation Models for Unsupervised Domain Adaptation

arXiv:2406.09896v3 Announce Type: replace Abstract: Achieving robust generalization across diverse data domains remains a significant challenge in computer vision. This challenge is important in safet

FARE: Forensic Acceptance Region Estimation for Catching Bait-and-Switch Image Generators

arXiv:2609.30982v1 Announce Type: cross Abstract: Modern AI image generators are increasingly deployed as opaque APIs, where customers can query the deployed service, but cannot inspect model weights

Frame the adversary: a structure-aware attack methodology

arXiv:2609.31128v1 Announce Type: new Abstract: Frequency-based adversarial attacks have recently grown popular by exploiting spectral sensitivities shared across neural architectures. Unlike spatial

Model Releases

Learning Chance-Constrained MDPs with Bellman Distributional Certificates

model-releasesarxiv-cs-lg

arXiv:2609.30856v1 Announce Type: new Abstract: Safe reinforcement learning (RL) commonly enforces expected-cost constraints, but such expectation safety may fail to control the probability of rare hi

Learning What to Skip: Counterfactual Credit Assignment for Efficient Multi-Agent LLM Workflows

arXiv:2609.30734v1 Announce Type: new Abstract: Multi-agent LLM workflows use planning, execution, verification, and summarization to improve task performance, yet the value of each component depends

Memory-Aware Multi-Sensor Perception for Efficient and Safe Navigation in Dynamic Environments

arXiv:2609.30495v1 Announce Type: new Abstract: Autonomous navigation in previously unseen environments requires effective perception, persistent environmental representation, and collision avoidance

Towards Mitigating Fabricated Consensus: The Active Provenance Gate for Multi-Agent Debate Synthesis

arXiv:2609.31422v1 Announce Type: cross Abstract: Large language model-based multi-agent debate (MAD) systems are being increasingly used as complex decision pipelines in distributed processes. Howeve

VLaRL: Augmenting Vision-Language-Action Models with Simulation-Trained Latent-Conditioned Residual RL

arXiv:2609.30868v1 Announce Type: new Abstract: Vision-language-action (VLA) models provide broad, instruction-conditioned manipulation behaviors, but their physical execution can remain imprecise dur

ArGuard Shared Task: Harmful Content Detection in Arabic Memes and LLM Prompts

arXiv:2609.29349v1 Announce Type: cross Abstract: ArGuard is a shared task on harmful content detection in Arabic memes and LLM prompts. It includes two tracks: Track A focuses on multimodal hate dete

25 Sept 2026

Assessing the Impact of Fleet Size on Crowdsourced Mapping Using a Dissimilarity Measure

arXiv:2609.29198v1 Announce Type: new Abstract: Accurate digital maps are essential for Advanced Driver Assistance Systems (ADAS) or Autonomous Driving (AD), providing critical information such as roa