News & Research

arXiv:2603.13003v2 Announce Type: replace Abstract: Cyber-physical robotic systems are vulnerable to false data injection attacks (FDIAs), in which an adversary corrupts sensor signals while evading residual-based passive anomaly detectors such as the chi-squared test. Such stealthy attacks can induce substantial end-effector deviations without triggering alarms. This paper studies the resilience of redundant manipulators to stealthy FDIAs and advances the architecture from passive monitoring to active defence. We formulate a closed-loop model comprising a feedback-linearized manipulator, a steady-state Kalman filter, and a chi-squared-based anomaly detector. Building on this passive monitoring layer, we propose an active control-level defence that attenuates the control input through a monotone function of an anomaly score generated by a novel actuation-projected, measurement-free state predictor. The proposed design provides probabilistic guarantees on nominal actuation loss and pres

arXiv:2605.28444v1 Announce Type: new Abstract: Fine-tuning large-scale pre-trained models is a recent prevalent paradigm for adapting general representations to specialized tasks. However, when a new version of a pre-trained model becomes available, expertise acquired through fine-tuning cannot be directly reused because it is tied to the parameterization of the original model, requiring another costly fine-tuning. To address this inefficiency, recent work uses task vectors, defined as the parameter difference between a fine-tuned model and its base model, to transfer expertise across models. While existing methods bridge disparate models by matching activations or gradients, a significant performance gap remains relative to direct fine-tuning, suggesting that these partial correspondences are insufficient. In this work, instead of viewing a task vector merely as a parameter offset, we revisit the formation of task vectors and show that they can be derived as accumulated bilinear inte

arXiv:2504.12747v2 Announce Type: replace Abstract: The rapid advancement of diffusion models and personalization techniques has made it possible to recreate individual portraits from just a few publicly available images. While such capabilities empower various creative applications, they also introduce serious privacy concerns, as adversaries can exploit them to generate highly realistic impersonations. To counter these threats, anti-personalization methods have been proposed, which add adversarial perturbations to published images to disrupt the training of personalization models. However, existing approaches largely overlook the intrinsic multi-image nature of personalization and instead adopt a naive strategy of applying perturbations independently, as commonly done in single-image settings. This neglects the opportunity to leverage inter-image relationships for stronger privacy protection. Therefore, we advocate for a group-level perspective on privacy protection against personali

arXiv:2605.28345v1 Announce Type: new Abstract: Progress in Prognostics and Health Management (PHM) is hindered by the lack of standardized and reusable evaluation practices across tasks, datasets, and application domains. Reported results are often difficult to reproduce and compare, as key protocol choices, such as data splits, preprocessing, label alignment, temporal windowing, and metrics, are often implicit or implemented ad hoc. We introduce \picid, a modular evaluation infrastructure that formalizes the PHM evaluation pipeline as an explicit, executable, and reproducible protocol. Through well-defined abstractions, \picid enforces deterministic, leakage-safe dataset construction while remaining flexible across diverse PHM settings. The framework supports fault detection, diagnostics, and prognostics through a unified interface and can be extended to new datasets and model classes without violating protocol invariants. By standardizing data contracts and evaluation boundaries, \p

arXiv:2605.27681v1 Announce Type: new Abstract: Alignment faking (AF) refers to a model strategically complying with a training objective to avoid behavioural modification while preserving its deployment preferences. Understanding when and why AF arises matters as models grow better at distinguishing training from deployment. Prior work finds AF fragile, prompt-sensitive, and model-dependent, leaving its underlying drivers unclear. We study AF in a controlled, minimal setup that isolates its core components, and observe it across a wider range of models than previously reported, including small-scale models. We identify three separable drivers -- values, goal guarding, and sycophancy -- and show via targeted prompt ablations and activation steering that each independently modulates AF behaviour. Our results indicate AF is more widespread than previously reported and that its occurrence is predictable from situational cues and measurable model tendencies such as baseline sycophancy and

arXiv:2403.11852v5 Announce Type: replace Abstract: Delayed and partially observable state information poses significant challenges for reinforcement learning (RL)-based control in real-world autonomous driving. In highway on-ramp merging, a roadside unit (RSU) can sense nearby traffic, perform edge perception, and transmit state estimates to the ego vehicle over vehicle-to-infrastructure (V2I) links. With recent advancements in intelligent transportation infrastructure and edge computing, such RSU-assisted perception is increasingly realistic and already deployed in modern connected roadway systems. However, edge processing time and wireless transmission can introduce stochastic V2I communication delays, violating the Markov assumption and substantially degrading control performance. In this work, we propose DAROM, a Delay-Aware Reinforcement Learning framework for On-ramp Merging that is robust to stochastic delays. We model the problem as a random delay Markov decision process (RDMD

arXiv:2605.27390v1 Announce Type: cross Abstract: Speculative decoding accelerates Large Language Model inference via a draft-then-verify paradigm, yet the output projection layer becomes a bottleneck as vocabulary sizes scale. While existing static pruning methods effectively reduce this overhead, they suffer from precipitous drops in acceptance rate in specialized domains or topic-switching scenarios due to their inability to capture dynamic distribution shifts. To address this, we introduce EvoSpec, a framework that enables real-time evolution of the draft model through dynamic vocabulary and parameter adaptation. Unlike static or purely retrieval-based approaches, EvoSpec employs a context-aware mechanism that retrieves critical long-tail tokens via efficient semantic and statistical indexing. Furthermore, we propose a lightweight online alignment strategy utilizing curriculum learning to continually minimize the distributional gap between the draft and target models. Extensive eva

arXiv:2605.16716v2 Announce Type: replace-cross Abstract: Text-to-video (T2V) generation has rapidly progressed in visual fidelity, yet its ability to faithfully represent multiple cultures within a single prompt remains underexplored. We introduce MAVEN, a multi-agent prompt refinement framework designed to improve cultural fidelity in both mono-cultural and cross-cultural T2V generation. MAVEN decomposes prompts into person, action, and location dimensions, handled by specialized agents operating in parallel or sequentially. To support systematic evaluation, we contribute a new benchmark of 243 culturally grounded prompts and 972 corresponding videos, spanning three cultures (Chinese, American, Romanian), three action categories, and both mono-cultural and cross-cultural scenarios. Evaluations combining CLIP-based metrics, VLM-as-judge assessments, and videoquality measures show that multi-agent refinement, particularly parallel specialization, significantly improves cultural relevan

arXiv:2605.27643v1 Announce Type: new Abstract: Light-based advanced manufacturing increasingly requires programmable, closed-loop tools that translate human design intent into executable operations at small length scales. Yet a key bottleneck persists across robotic and manufacturing modalities: turning user intent into machine-readable objectives that are reliably executable. While micro-robotics offers versatile manipulation via optical actuation of fluids, mathematically tractable goal specification remains manual and hard to reuse. Here, we introduce Speak-to-Objective, a modular agentic pipeline that uses a conditioned Large Language Model (LLM) to translate spoken or written commands into fully differentiable objective functions for assembling microparticles in a constraint-aware inverse solver (SLSQP) and on an experimental optofluidic platform. The approach employs a compact loop - perceive -> compose -> propose -> act -> report & learn - that treats the objective as the inter

arXiv:2605.16237v2 Announce Type: replace-cross Abstract: Clearly-defined rules are often assumed to be straightforward to automate and evaluate. We challenge this assumption through an in-depth study of Major League Baseball's (MLB) seven-year experimentation with the Automated Ball-Strike System (ABS). ABS is envisioned to call balls and strikes accurately: a seemingly straightforward use of technology to objectively determine the distance between a pitch and the strike zone. Although the strike zone is an area clearly defined in the rulebook, it took MLB seven years to figure out how to automate calling balls and strikes with ABS, showing how even seemingly straightforward rules require a complex translation process to operationalize via technological systems. In this paper, we trace the design decisions that led to the current implementation of ABS. Our case study reveals that "distance" exists even between a clear rule and its technological implementation. Using analytic framework

arXiv:2601.10334v2 Announce Type: replace Abstract: Supervised convolutional neural networks (CNNs) are widely used to solve imaging inverse problems, achieving state-of-the-art performance in numerous applications. However, despite their empirical success, these methods are poorly understood from a theoretical perspective and often treated as black boxes. To bridge this gap, we analyze trained neural networks through the lens of the Minimum Mean Square Error (MMSE) estimator, incorporating functional constraints that capture two fundamental inductive biases of CNNs: translation equivariance and locality via finite receptive fields. Under the empirical training distribution, we derive an analytic, interpretable, and tractable formula for this constrained variant, termed Local-Equivariant MMSE (LE-MMSE). Through extensive numerical experiments across various inverse problems (denoising, inpainting, deconvolution), datasets (FFHQ, CIFAR-10, FashionMNIST), and architectures (U-Net, ResNet

arXiv:2605.28810v1 Announce Type: new Abstract: Functional music applications, from consumer focus and sleep aids to clinical interventions, share a distinctive recommendation problem: success is defined by the listener's affective state, but online experimentation on emotion is ethically constrained, particularly for clinical populations who cannot reliably skip a song or report distress. We describe AMRS, the Affective Music Recommendation System deployed on LUCID's health-and-wellness platforms, which serve clinical users (primarily older adults with neurocognitive conditions) and consumer-wellness users across energize, focus, calm, and sleep modes. AMRS is built around a rollout-based world model: a causal transformer trained on logged listening data to jointly predict engagement, binary rating, and self-reported valence and arousal. The world model serves both as an in-silico simulator for offline policy training and as a stress-testing tool before deployment. A recommender polic

arXiv:2601.04505v3 Announce Type: replace Abstract: Generating accurate circuit schematics from high-level natural language descriptions remains a persistent challenge in electronic design automation (EDA), as large language models (LLMs) frequently hallucinate components, violate strict physical constraints, and produce non-machine-readable outputs. To address this, we present CircuitLM, a multi-agent pipeline that translates user prompts into structured, visually interpretable $\texttt{CircuitJSON}$ schematics. The framework mitigates hallucination and ensures physical viability by grounding generation in a curated, embedding-powered component knowledge base through five sequential stages: (i) component identification, (ii) canonical pinout retrieval, (iii) chain-of-thought reasoning, (iv) JSON schematic synthesis, and (v) interactive force-directed visualization. We evaluate the system on a dataset of 100 unique circuit-design prompts using five state-of-the-art LLMs. To systematica

arXiv:2605.28201v1 Announce Type: new Abstract: Large Language Model (LLM) agents remain vulnerable to safety threats from the external environment, where attackers inject adversarial content into external observations such as tool-returned data, webpages, or MCP context, causing harmful agentic behaviors such as unsafe actions or incorrect outputs. Existing studies typically focus on single-interaction attacks, where the agent observes adversarial content and immediately exhibits harmful behavior within one user request. However, we show that adversarial content can also persist across interactions served by the same agent, making such threats harder to detect and mitigate. Specifically, adversarial content may persist in the agent state, remain dormant across interactions, and later be activated by a benign user query. We formalize this type of safety threat as Sleeper Attack. To evaluate it, we construct a benchmark with 1,896 instances covering six real-world harmful outcomes, thre

arXiv:2605.28734v1 Announce Type: cross Abstract: A general-purpose language model that answers a harmful question returns text; a coding model that complies with a malicious request can return a working weapon -- a keylogger, a ransomware stub, an exploit that runs as written. This asymmetry in the severity of a single act of compliance implies coding-specialized models should clear a higher refusal bar than general-purpose chat models, not a lower one, yet the field cannot presently tell whether they do. Refusal benchmarks for malicious code are fragmented: they mix requests for executable software (ready-to-run weapons) with requests for harmful security knowledge (information a human must still operationalise) and report refusal rates over non-comparable corpora, so no single statistic measures the property that actually matters. This paper introduces an expanded consensus-labeled prompt bank that distinguishes between these two request types and provides a construct-stable substra