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新论文 · v1arXiv:2611.02181

Human Sensorimotor Model Adaptation to Account for Robot Accuracy and Speed Augmentation in Human-Robot Co-Manipulation

Frits van Hall, Kevin Haninger, Luka Peternel

原文摘要

In human-robot co-manipulation, the robot's trajectory should accommodate the human's, where human sensorimotor behavior is affected by the task's spatial and temporal constraints, as well as personal factors. Several robot trajectory planning methods have been proposed to embed human sensorimotor models in the robot trajectory planning, but these methods do not consider temporal constraints that adapt to how the human behaves when interacting with the robot. To better align human and robot collaborative motion, this work adapts a stochastic optimal control problem with a final state constraint from the task constraints and a temporal constraint from Fitts' law. A recursive least squares method is used to estimate the Fitts' law parameters, adapting the robot's motion duration to that of the human, thus allowing the robot to adapt to how the human behaves when interacting with the robot. It is hypothesized that a speed increase can result from the robot augmenting the accuracy. The feasibility of the approach is validated on a positioning task where the robot controls degrees of freedom which have repeatable motion, and the human adapts motion in the complementary degrees of freedom. The approach is shown to be computationally suited to online use, it converges as the human and robot mutually adapt, and can increase the movement speed, although thorough human studies are needed in future work.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02180

Inner-Speech Decoding from EEG Across Three Corpora Under a Fixed Architecture and Protocol

Md Wahiduzzaman Suva, Md Imtiaj Alam Sajin, Esm E Moula Chowdhury Abha, Susham Moula Choudhury Akash, Md Tauhidul Islam, Abhijit Bhowmik, Md Manirul Islam, Debajyoti Karmaker

原文摘要

Inner-speech decoding from electroencephalography could support non-invasive communication for people with severe motor impairment, but comparison across studies is hindered by dataset- and protocol-specific evaluation. We present a controlled cross-dataset study using one preprocessing pipeline, one within-subject five-fold cross-validation protocol, and a compact dual-attention Transformer (VC-DATNet; approximately 131,000 parameters) across three public corpora: Thinking Out Loud (10 participants), BISpeech (4), and SyncSpeech (3). VC-DATNet achieved per-participant sensor/source hybrid accuracies of 39.48% on the four-class Thinking Out Loud task, 20.60% on the eight-word BISpeech task, and 25.53% on the eight-word SyncSpeech task, for which we report the first decoding result. Sensor-space and cortical source-space representations were complementary, with each performing better for different participants; this pattern replicated across all three corpora and nine architectures. Moreover, ten decoders spanning convolutional, recurrent, temporal-convolutional, hybrid Transformer, and pretrained foundation-model families converged within a narrow accuracy range on every dataset. These findings indicate that representation choice should be individualized and suggest that performance on these public corpora is constrained more by signal quality and dataset scale than by model capacity. The released pipeline provides a reproducible benchmark for future inner-speech decoding studies

cs.AI · cs.LG · eess.SP

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02177

ANCHOR: KL-Anchored Adaptation for Stable Offline-to-Online RL

Geonwoo Cho, Jaegyun Im, Doyoon Kim, Lexin Li

原文摘要

Offline-to-online reinforcement learning (RL) follows the pretrain-finetune paradigm: an agent is first pretrained on historical data and then adapted through online interaction. We study offline-to-online adaptation without offline replay, where the agent must improve using only the pretrained model and newly collected experience. A key challenge is to avoid catastrophic failure, a sharp early performance collapse during online fine-tuning, while still achieving strong asymptotic performance. Through controlled experiments, we show that removing offline replay can induce catastrophic failure, while retaining strong conservative regularization from offline RL can suppress final online performance. We also find that common stabilization strategies do not reliably prevent early collapse, and that the critic-side mechanisms we test are insufficient on their own. Motivated by these findings, we propose ANCHOR, a simple adaptation method that anchors the actor to the offline-pretrained policy early in online fine-tuning, anneals this constraint over time, and retains only a small residual conservative critic regularizer. We provide a theoretical interpretation showing that KL anchoring helps preserve critic reliability across nearby occupancy distributions, with a two-phase regret bound explaining when anchoring should be maintained or relaxed. Across FrankaKitchen, AntMaze, and Adroit tasks, ANCHOR substantially reduces catastrophic failure while maintaining strong asymptotic performance. Ablations show that KL annealing and the residual conservative weight are important for balancing early stability and online adaptation, while additional analysis shows that ANCHOR is most beneficial when the pretrained policy contains useful behavior to preserve. Code is available at https://github.com/Cho-Geonwoo/ANCHOR.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02173

Directional Bounded-Confidence Cucker-Smale Flocking

Hossein B. Jond

原文摘要

This paper introduces a directional bounded-confidence extension of the Cucker--Smale (CS) flocking model that decomposes pairwise relative velocities into independent radial and tangential channels within the instantaneous line-of-sight frame. Gating these components via compactly supported kernels creates a time-varying, state-dependent, matrix-weighted interaction that strictly generalizes classical scalar CS alignment. We establish an exact energy-dissipation identity with conserved mean velocity and prove exponential velocity consensus under a sliding-window persistent excitation (PE) condition formulated directly on the disagreement subspace. Furthermore, we derive a CS bounded-diameter criterion separating metric decay from aggregate directional coercivity, along with a cluster convergence guarantee. Simulations validate the exact dissipation balance and demonstrate that directional gating successfully restores global alignment in scenarios where traditional isotropic tied-confidence laws remain polarized.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02171

GoalDex: Learning Image-Goal-Conditioned Policies for Dexterous In-Hand Manipulation

Arjun Bhardwaj, Mayank Mittal, Maximum Wilder-Smith, Vaishakh Patil, Marco Hutter

原文摘要

Dexterous in-hand manipulation is commonly formulated around explicit object pose estimation, yet reliable pose tracking is challenging under severe hand-object occlusions and often requires object-specific supervision. This dependence creates a bottleneck between perception and control that can limit robustness and scalability. We present an end-to-end visuomotor framework for dexterous in-hand reorientation that operates on RGB observations and proprioception without intermediate pose estimation. Our approach jointly learns visual representations and control policies through behavior distillation from privileged state teachers and auxiliary reconstruction objectives. Furthermore, we introduce image-goal-conditioned reorientation, allowing desired object configurations to be specified directly through images rather than canonical pose representations. We evaluate our approach across a diverse set of object geometries and instances in simulation, where it consistently outperforms pose-based methods and policies built on pretrained visual encoders. Finally, we demonstrate direct sim-to-real transfer of a single image-goal-conditioned policy across five real-world objects, showing that accurate dexterous reorientation can be achieved without explicit pose estimation. For videos and code release, please refer to the project website: https://rffr.leggedrobotics.com/works/goaldex/

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2602.17111

Instructor-Aligned Knowledge Graphs for Personalized Learning

Abdulrahman AlRabah, Priyanka Kargupta, Jiawei Han, Abdussalam Alawini

原文摘要

Mastering educational concepts requires understanding both their prerequisites (e.g., recursion before merge sort) and sub-concepts (e.g., merge sort as part of sorting algorithms). Capturing these dependencies is critical for identifying students' knowledge gaps and enabling targeted intervention for personalized learning, especially in large-scale courses where instructors cannot feasibly diagnose individual misunderstanding. While knowledge graphs offer a natural representation for capturing these conceptual relationships at scale, existing approaches are either surface-level or disregard the rich pedagogical signals embedded in instructional materials. We propose InstructKG, a framework for automatically constructing instructor-aligned knowledge graphs that capture a course's intended learning progression. Given a course's lecture materials, InstructKG extracts significant concepts as nodes and infers learning dependencies as directed edges (e.g., "part-of" or "depends-on" relationships). The framework synergizes the rich temporal and semantic signals unique to educational materials (e.g., "recursion" is taught before "mergesort") with the generalizability of large language models. Through experiments on diverse lecture materials, human evaluation, and a prerequisite-learning benchmark, we demonstrate that InstructKG captures rich, instructor-aligned learning progressions.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02166

Black-Box Adversarial Example Attacks on Machine Learning based Election Systems

Subek Acharya, Syed Ayon, Khaleque Md Aashiq Kamal, Alina Barnett, Surya Eada, Kaleel Mahmood

原文摘要

Machine learning models have shown exceptional accuracy for ballot classification in election systems. Recent research has demonstrated that these ballot classification models are vulnerable to adversarial example attacks. This is a critical security issue because a successful attack could alter the outcome of an election and undermine the democratic process. However, all adversarial example attacks in the voting domain have assumed a white-box threat model, where the classifier parameters are known. In this work, we advance the field of machine learning in election systems by analyzing a realistic black-box adversary. We implement and evaluate eleven state-of-the-art black-box attacks: query based attacks ADBA, Square, SurFree, RayS, and SA-MOO. We also test adaptive transfer based black-box attacks with APGD-$l_\infty$, APGD-$l_2$, APGD-$l_1$, PGD $l_0$, PGD $l_0$+$l_\infty$, and PGD $l_0$+$σ$. Our attacks span multiple different norms ($l_\infty$, $l_2$, $l_1$, and $l_0$) and three different black-box adversarial threat models (decision based, score based and transfer based). In addition to digital analyses, we physically print and scan $20,000$ adversarial examples to evaluate the real-world performance of different black-box attacks. Our finding demonstrate an even larger physical-digital robustness gap exists for black-box adversarial examples than for white-box adversarial examples. Lastly, we conduct the first ever adversarial example transferability study in the voting domain and test adversarial training and barrier zones as two possible black-box defense strategies.

cs.CR · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2602.03550

Formal Evidence Generation for Assurance Cases for Robotic Software Models

Fang Yan, Simon Foster, Ana Cavalcanti, Ibrahim Habli, James Baxter

原文摘要

Robotics and Autonomous Systems are increasingly deployed in safety-critical domains, so that demonstrating their safety is essential. Assurance Cases (ACs) provide structured arguments supported by evidence, but generating and maintaining this evidence is labour-intensive, error-prone, and difficult to keep consistent as systems evolve. We present a model-based approach to systematically generating AC evidence by embedding formal verification into the assurance workflow. The approach addresses three challenges: systematically deriving formal assertions from natural language requirements using templates, orchestrating multiple formal verification tools to handle diverse property types, and integrating formal evidence production into the workflow. Leveraging RoboChart, a domain-specific modelling language with formal semantics, we combine model checking and theorem proving in our approach. Structured requirements are automatically transformed into formal assertions using predefined templates, and verification results are automatically integrated as evidence. Case studies demonstrate the effectiveness of our approach.

cs.SE · cs.FL · cs.LO · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02162

Rewarded for Not Getting Caught: Why Alignment Training Selects for Conditional Compliance and Cannot Instill Norms

Kevin Baum, Ruta Binkytė, Gerrit Großmann, Felix Jahn, Adriano Mannino

原文摘要

Current alignment training cannot be expected to deliver what it is meant to deliver: AI agents that comply with norms whatever the gains and whether or not anyone is watching. Training that rewards and penalizes behavior can teach norms only through that reward, and a reward can encode a norm only as a price: "do not do X" becomes "doing X costs something", and training charges the cost only when X is noticed. A price, unlike a norm, can be paid: a large enough gain outweighs it, noticed or not. And because the cost is charged only where violations are noticed, training cannot favor a policy that always complies over one that complies only where it would be caught. When an unnoticed violation is the only way to complete a task, it even favors the latter, the more so the more strongly it rewards task success. Agency makes this the normal case: agents mostly act without oversight, can often tell when they are observed, and may take steps to evade observation. That agents behave as intended when they infer they are being tested, and differently when they infer they are not, is therefore no malfunction; the training regime is working as built. This reading unifies alignment faking, sandbagging, and evaluation-aware scheming. No behavioral evaluation can show that a model does better, since that would require observing how it behaves unobserved; a model that complies when it seems unobserved may simply have recognized the test. Easing the pressure on agents to complete tasks at any cost can make violations rarer, but never impossible. For norms that no gain should be allowed to outweigh, the remedy is not deeper internalization but architecture that makes violations unavailable rather than unchosen. We state this argument explicitly, premise by premise, read recent findings and a real-world incident against it, and draw consequences for design and governance.

cs.AI · cs.CY · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02160

Value Forcing: Aligning Return Distributions at All Noise Levels

Chongyi Zheng, Zhiyuan Zhou, Qiyang Li, Benjamin Eysenbach, Sergey Levine

原文摘要

Learning accurate value functions is central to reinforcement learning (RL), yet remains challenging because supervision is limited and indirect: ground-truth values are unavailable, and each transition in the data only provides an immediate reward that can be used to construct bootstrapped targets as supervision. This challenge is particularly pronounced when data is limited or reward signals are sparse, as is common in real-world applications such as robotics. We argue that the key to accurate value learning in this limited data regime is extracting richer learning signals from the available data. In this paper, we introduce Value Forcing, a new approach that uses flow matching to estimate return distributions and enables accurate value learning from limited data. Our key insight is that we can extract richer learning signals by enforcing Bellman consistency at every noise level. Empirically, Value Forcing improves the accuracy of estimating the return distribution, and prevents the distribution from collapsing to a single value, as occurs with prior methods. We instantiate Value Forcing with two practical value-learning algorithms: VF, an actor-critic method, and IVF, an implicit value-learning method. We evaluate both algorithms across $26$ long-horizon tasks in the offline RL setting and find that they outperform prior value-learning methods, with particularly large gains when data is limited. Our project website is available at https://chongyi-zheng.github.io/value-forcing.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02155

Decision Models as Policy Gates for Coding Agents: Explicit Policy Boundaries Improve Detection and Reduce False Alarms

James P. Beno

原文摘要

Coding agents can destroy data, leak secrets and message the wrong person faster than a human can review. Could a decision model catch these risks at runtime? We evaluated 22 hosted decision models and two prompted general models as classifiers for a multi-rule policy engine. A synthetic dataset of 2,643 tool calls was labeled blind against 28 rules, with a sealed holdout. With a single shared preamble in both conditions, explicit boundaries written as examples and counterexamples raised recall by 5.5-26.1 percentage points on all 23 available models and reduced false positives on 21. Jev 1.14's recall rose from 89.3% to 98.2%, while unnecessary interruptions fell from 30.6% to 4.8% of 252 clean actions. With examples, its median latency was 120 ms at $0.46 per thousand requests. Strong models retained the recall gains when concrete names were replaced by generic descriptions; three largely retained them when the same boundaries were written as prose. On 16 new scenarios written after the initial studies, a follow-up improved recall on 22 of 23 models and reduced unnecessary interruptions on 21. We release the dataset, rule texts and harness.

cs.CL · cs.CR · cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02153

Multi-Agent Collusion and the J-Space

Marco Molinari, Gabriele Bettineschi

原文摘要

LLM agents are increasingly deployed in Multi-Agent Systems (MAS), and they introduce the risk of coordination among agents that might escape human oversight. The J-space has been used to uncover deception in single LLMs, but its use for uncovering and steering collusion between agents remains unexplored. We show, with interpretability experiments on DeepSeek-V4-Flash (284B) on the NARCBench collusion benchmark, that colluding agents' J-space holds the collusion itself: before replying, 86% of colluders represent misrepresentation, concealment or remorse. In a steganographic card-counting task, the receiver's J-space holds a hidden count, and causal interventions alter its count. We also introduce the Jacobian Pair Contrast (J-PACT), an unsupervised method for detecting collusion between agents. We evaluate J-PACT on four open-weight models: GPT-OSS-20B, Llama-3.3-70B-IT, Qwen3-32B, and DeepSeek-V4-Flash (284B). J-PACT retains 85% of the above-chance AUROC of supervised NARCBench probes, matches them on steganographic scenarios, and names the colluding pair up to its complement in 99% of detected runs.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02152

Detailed Derivation of The Backpropagation Algorithm

Faris Alasmary

原文摘要

Backpropagation is the standard method for computing the gradients that train neural networks, but it is usually presented in a compact vector form that skips the intermediate steps. This tutorial derives backpropagation step by step for a fully connected feedforward network with sigmoid activations and a squared-error loss. Using a running example with three layers, we first differentiate the error with respect to a single weight by following its path through the network with the chain rule. We then show how summing over all paths leads to the error terms $δ$ and to the four general backpropagation equations in matrix form. Every term is annotated with its dimensions, so each equation can be checked for consistency. The derivation is then extended to $m$ training examples, where the weight gradients become a single matrix product and the bias term corresponds to broadcasting. It is also extended to mini-batch gradient descent, including why the gradient of a mini-batch estimates the full gradient. Batch and mini-batch training are both given as algorithms. Finally, each equation is linked to the corresponding line of a NumPy implementation trained on the AHDBase dataset of handwritten Arabic digits, and the complete code is included.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2608.02372

PredActBench: Benchmarking Tool-Augmented Dialogue under Controlled Tool Noise

Abdulrahman AlRabah, Xiaocheng Yang, Dilek Hakkani-Tür, Abdussalam Alawini

原文摘要

Large language model (LLM) agents are increasingly used to support decisions by calling external tools. Existing work on LLM tool-calling assumes these tools are perfectly reliable. However, in many applications, the tools are statistical predictors with non-trivial errors. We introduce PredActBench, a benchmark for evaluating dialogue agents that work with imperfect predictive tools, using education as a testbed. First, we build a benchmark in which LLMs work with noisy predictors to guide users' decisions. Second, we extend two prior metrics for trust calibration, Relative AI-Reliance and Relative Self-Reliance, to multi-turn dialogue. Third, we evaluate 13 LLMs on OULAD and our released PredAct-CS dataset of 60 courses with real final grades and synthetic weekly scores, alongside a human study involving 13 instructors and teaching assistants. We find that when tools are noisy, SOTA models rarely make predictor uncertainty visible to users, with our strongest baseline GPT-5.5 achieving an F1 of 57.2. As a result, users over-rely on incorrect predictions and unsupported claims, showing that task accuracy alone is not enough for AI decision support and agents must communicate when their tools may be wrong. We release PredActBench to support the development of LLM agents that help users calibrate their reliance.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02147

Refining Roadside 4D Radar Vehicle Classification Using Point-Cloud Dispersion

Mohammed Alsakabi, Andreia Figueiredo, António Almeida, John Dolan, Miguel Luís, Pedro Rito, Ozan Tonguz, Susana Sargento

原文摘要

Roadside sensing infrastructure is essential for Intelligent Transportation Systems (ITS), but cameras and legacy sensors are limited in range, weather robustness, and depth accuracy. 4D radar complements these modalities by resolving range, azimuth, elevation, and radial velocity under adverse conditions, though its sparse, noisy point clouds make reliable classification difficult. We present a roadside multi-sensor platform combining a 4D radar and stereo depth camera under synchronized acquisition, used to collect a real-world dataset. Our analysis reveals a substantial class-distribution discrepancy between modalities, most notably a strong radar confusion between passenger cars and motorcycles (49.01% and\ 48.60% of the dataset). To address this, we propose a Neyman-Pearson-based binary classifier on the temporally-smoothed 2D positional standard deviation of radar point cloud clusters, reducing classification error from 52.1% to 42.7%. This lightweight and edge-deployable approach improves radar-only classification reliability and lays the foundation for future camera-radar fusion.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02146

When Is Personalized Federated Learning Worth Its Deployment Cost?

Beyazit Bestami Yuksel, Ayse Yilmazer Metin, Emrah Dikbiyik

原文摘要

Personalized federated learning (PFL) may improve client-level performance, but deeper personalization increases deployment cost. We formulate personalization-depth selection as a utility-based empirical decision problem in which client utility equals Macro-F1 minus a cost-sensitivity weight times deployment cost, over six personalization depths labeled P0 through P5. We compare fixed policies with an offline per-client Oracle reference and report allocation maps over Dirichlet data heterogeneity and cost sensitivity. Although evaluated on this hierarchy, the formulation can accommodate any finite candidate set. On CIFAR-10, CIFAR-100, and a PTB-XL subset, personalization shows empirical, setting-dependent decision regimes rather than a universal benefit: higher cost sensitivity shifts Oracle mass toward the global-only depth P0; low cost sensitivity can favor deeper actions. Patterns are grid observations (three seeds per cell), not theoretical boundaries. Best-uniform is competitive with Oracle assignment (6.5 percent plus or minus 7.8 percent relative regret; 95 percent confidence interval 5.9 to 7.1), whereas random and personalize-all incur much larger regret (189.3 percent plus or minus 367.1 percent and 409.0 percent plus or minus 803.2 percent). Under the same utility, Ditto full-model personalization is substantially suboptimal once cost is counted. The contribution is an offline characterization of when personalization depth is worth its cost, not a new PFL optimizer or deployment-time scheduler.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.38850

Beyond Outcome Rewards: Post-Rationale Distribution Optimization for Selective Prediction in Reasoning Models

Zhimin Gao, Meibo Hu, Jiamian Wang, Zhiqiang Tao, Pichao Wang

原文摘要

Reasoning models are trained to produce correct answers, yet selective deployment requires ranking which answers to accept or defer, and outcome-reward training does not directly optimize the post-rationale distribution used for that decision. We identify two mismatches: expected correctness is mode-seeking rather than distribution-eliciting, and scoring an average across rationales rewards disagreement unavailable to a single-rationale decision. We introduce Post-Rationale Distribution Optimization (PRDO), which applies a proper score to the answer distribution after each sampled rationale, without target rationales or separate confidence labels. Across four 0.6--3.8-billion-parameter models on MMLU-Pro, PRDO improves Brier score, error ranking and secondary accuracy relative to budget-matched, temperature-scaled GRPO. At 20\% realized error, oracle coverage rises by \npj{Q3a_vs_grpo.qwen3-0.6b.mp.oracle_cov@0.2.ppabs}--\npj{Q3a_vs_grpo.phi-4-mini.mp.oracle_cov@0.2.ppabs} percentage points, and ranking gains transfer to unseen tasks. Matched controls identify proper, per-rationale scoring as the active design choices, while verification tasks show the boundary: better selective ranking can coexist with lower full-coverage accuracy. Code is available at https://github.com/ZimmyGao/openjev-rlcd

cs.AI · cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02140

History-Aware Force Sensing and Tunable Stiffness in a Pneumatic Kresling Origami Cell

Hengyi Zhou, Jiaqi Wang, Yilin Ma, Dezhong Tong, Xiaonan Huang

原文摘要

Mechanical hysteresis and pneumatic loading complicate contact force estimation from deformation measurements in soft robots. This work presents a 3D-printed polyether block amide (PEBA) Kresling cell with magnetic angular sensing that supports three operating modes: force sensing at zero gauge pressure, force sensing with tunable stiffness under gauge positive pressure, and self-sensing actuation under negative gauge pressure. A multiscale gated recurrent unit (GRU) network estimates contact force from angular histories to account for the the combined effects of geometric deformation and material response. At zero gauge pressure, the model achieves a test RMSE of 0.76~N. Positive gauge pressure approximately doubles the average axial loading stiffness at +20~kPa over the first 3~mm of compression, while pressure-specific models maintain RMSEs below 0.93~N. Under negative gauge pressure, an energy-based compensation model enables contact force estimation using the the model trained at zero gauge pressure, achieving RMSEs of 1.66--2.10~N under quasi-static conditions. These results demonstrate a compact approach to combining force feedback, tunable axial stiffness, and self-sensing actuation in soft origami systems.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02139

Adversarial Robustness of Retrieval-Based Fact-Checking: Detecting and Mitigating Evidence Contamination

Alamgir Munir Qazi, John P. McCrae, Jamal Abdul Nasir

原文摘要

Retrieval-based fact-checking systems ground verification in large document collections, creating a critical vulnerability: adversarial evidence contamination. We demonstrate that factually inconsistent but contextually coherent evidence generated to satisfy both retrieval-similarity and linguistic-fluency constraints can systematically mislead verification models. Contaminating just 3.1-7.4% of training corpora with five label-specific strategies causes adversarial content to penetrate up to 35.2% of top-k retrievals, degrading verification accuracy by up to 46.9% relative F1. Existing retrieval-stage defenses, validated against gradient-optimized or syntactically anomalous attacks, transfer poorly to this threat model: detection rates collapse and F1 recovery exhibits high variance across seeds. We propose GLAD (Geometric-Lexical Adversarial Defense), which fuses dense embedding peer-coherence with lexical distributional isolation. Across two benchmarks, two embedding models, and five random seeds, GLAD achieves the highest detection rates (70-86%) and the most consistent F1 recovery, reclaiming 73-80% of contamination-induced degradation on LIAR-RAW while approaching clean baselines on RAWFC. Crucially, unlike defenses that trade clean performance for robustness, GLAD imposes negligible cost on uncontaminated corpora.

cs.IR · cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2606.05134

Activation-Based Active Learning for In-Context Learning: Challenges and Insights

Yaseen M. Osman, Geoff V. Merrett, Stuart E. Middleton

原文摘要

Deep active learning has previously been explored for LLM in-context sample selection, but not with methods that utilise recent advances in understanding of transformer activations. In this paper, we test the hypothesis that model activations could provide a fine-grained signal to optimise the selection of in-context examples. We present a comprehensive analysis of MLP activation-based deep active learning methods applied to in-context learning, including how different attention masking strategies impact active learning across diverse classification and generative datasets, using both Llama-3.2-3B and Qwen2.5-3B base models. However, we find a negative result: MLP and embedding layer outputs, viewed through the lenses of massive activations or the first four moments, do not correlate with example quality or task performance. Specifically, the absolute Spearman correlation coefficient is at most 0.33 for all tasks and models we tested, showing that such activation-based sampling should not be used for in-context learning. We hypothesise that this may be due to superposition, whereby models represent more features than they have dimensionality, suggesting that methods like Sparse Autoencoders (SAEs) may be a promising future direction.

cs.CL · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02134

HaloGuard 2.0: An Open-Weights Constitutional Output Guard for Multilingual Response Safety

Ashmiya Lenin, Navaneeth Sangameswaran, Preetham S

原文摘要

An input guard decides whether a request reaches the model, but never sees what the model says. Harm that emerges during generation, because a jailbreak passed the input layer or a benign request drifted into operational detail, is visible only on the output side and only as tokens arrive. We present HaloGuard 2.0, an open-weight streaming output guard that assigns a safe/unsafe probability to every response token in a single forward pass, so a deployment can stop the stream once harm is confirmed. The guard reuses the constitution of HaloGuard 1.0, our input guard, to organise a 478,532-response training corpus, and supervises each token from the point where the response becomes harmful. We find that a guard trained on conventionally shaped data learns a shortcut specific to streaming: it judges the prompt instead of the response, and handles only 13.9% of matched safe/unsafe response pairs correctly. We correct this with a second phase on 106,043 counterfactual responses built around the base guard's own failure modes, and release the equal-weight average of the base and corrective models. On six English response-safety benchmarks, HaloGuard 2.0-0.8B reaches a macro F1 of 83.6 (83.3 on held-out halves of the decision-rule search), up from 72.8, with 38% fewer false positives. It matches the strongest full-response guards with 5-10x fewer parameters and is 2.6 points above the strongest streaming guard, Qwen3Guard-Stream-4B. A multilingual variant, HaloGuard 2.0-Poly-0.8B, trained on PolyGuardMix, reaches 83.1 F1 on the response labels of PolyGuardPrompts across 17 languages, 5.0 points above the strongest baseline. On one H100 the guard costs 0.37 ms per token per stream when moderating 64 concurrent responses. Both guards are hardened continuously through the weekly red-teaming protocol of HaloGuard 1.0, extended here to the output layer.

cs.CL · cs.CR

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新论文 · v1arXiv:2611.02132

TSSDA: An Autonomous Agent for Constructing a Time-Series Text-to-SQL Benchmark

Zhihan Zheng, Shaoxu Song, Haitao Yuan, Minxiao Chen

原文摘要

As agents increasingly undertake data querying, Text-to-SQL serves as a foundational capability for database access. However, for text-to-SQL in time-series databases, high-quality benchmarks and large-scale training corpora remain scarce, limiting the systematic evaluation and domain adaptation of existing models and agents. Existing automated SQL generation approaches lack sufficient autonomy, leaving key challenges unresolved. First, numerous combinations of temporal syntax and functions complicate comprehensive coverage of valid queries. Second, as the corpus grows, generating valuable and diverse new data becomes increasingly challenging. Third, schema and data heterogeneity hinder reuse of temporal query structures, limiting generation efficiency. To address these challenges, we propose TSSDA, a Time-Series SQL (TSSQL) Generation Data Agent framework, and construct TERN, a comprehensive Time-sERies text-to-SQL beNchmark. First, to achieve broad coverage of valid queries, we systematically model TSSQL syntax and semantics to construct a data generation space. Next, to explore the space and improve diversity, we develop a Data Agent that autonomously orchestrates data generation. The agent comprises a planning and decision-making module and a query generation module, with online adaptation for continuous self-improvement. Finally, we introduce a temporal-aware memory that enables adaptive reuse of experience across heterogeneous data instances, improving generation efficiency. Comprehensive evaluations on TERN reveal the limitations of existing methods in performing Text-to-TSSQL tasks. Furthermore, extensive experiments demonstrate that TSSDA substantially improves coverage, diversity, and complexity.

cs.LG · cs.DB

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新论文 · v1arXiv:2611.02129

FOLLIE: Automated Reasoning over the First Dataset of Sentences with their First-Order Logical Representation for French

Maximos Skandalis

原文摘要

FOLLIE (for First-Order Logic for Language Inference and Entailment for French) connects French sentences, compositional first-order representations and automated natural language inference (NLI). The first French NLI-ready, NL-to-FOL resource, it contains 19,983 inference records and 36,987 non-empty sentence-slot--formula mappings from six heterogeneous NLI sources, retaining French lexical material and source problem structure. Its silver annotations are produced by a neural--symbolic pipeline, with 111 separately identified LLM-assisted additions. The construction combines morphosyntactic analysis, probability-conditioned categorial multitagging, grammatical proof search, discourse representation and first-order semantic construction. Stage-wise experiments show substantial gains in derivation coverage; analyses of conjunction distributions, logical-operator incidence and scope alternation characterise the resulting resource. We then develop an automatic inference engine whose input-conditioned background theories address lexical relations, quantification, quantities, event structure and temporal dependencies. Prover9 supplies proofs for entailment and contradiction, while Mace4 supports bounded consistency checks. Three-way accuracies are 65.37% on all 335 FraCaS-FR problems, 70.33% on 300 GQNLI-FR problems and 71.35% on 9,399 eligible SICK-FR records pooled across splits. Agreement with reference labels among committed decisions is 93.53%, 100.00% and 98.66%, at commitment coverage of 41.49%, 37.00% and 15.05%, respectively. Worked constructions, axiom schemas and proof analyses explain these outcomes and identify the contributions of scope, reference, lexical knowledge and numerical structure. FOLLIE provides a French experimental basis for studying the representations and assumptions that connect sentence interpretation to deductive inference.

cs.CL

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新论文 · v1arXiv:2611.02127

Mesh2Shell Neural Operator for Inverse Shape Optimization

Xinyi Li, Xi Deng, Yubo Cao, Hudson Liu, Anima Anandkumar

原文摘要

Physics-driven design seeks high-performing geometries, which need not conform to a learned shape category. Parametric and latent-space approaches facilitate surrogate-based optimization, but restrict deformations to prescribed shape families or learned decoders. We introduce the Mesh-to-Shell Neural Operator (M2S-NO) as the mesh-to-shell component of a category-agnostic inverse shape optimization framework. We separate the explicit mesh used for design from the volumetric representation used for physics prediction. M2S-NO maps oriented surface samples to a surface-centered shell representation, such as TruncatedSDF or HeatSDF. A separate problem-specific PDE neural operator (PDE-NO) maps this representation to physical fields. Objective gradients update mesh vertices through both operators, without a latent shape decoder. Preconditioning and remeshing support free-form deformation, while fixed interfaces are controlled directly on the mesh. Optional shell-space proposals enable topology changes. We evaluate geometric matching, jet-engine brackets, and neutron moderators, with independent FEM and OpenMC evaluation. Relative to the best training designs, M2S-NO reduces maximum bracket displacement by 14.3% and increases neutron-sensor current by 13.8%. Optimization also succeeds from an out-of-distribution bracket initialization, demonstrating the framework's geometric flexibility.

cs.LG

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新论文 · v1arXiv:2611.02125

Semantic Interoperability in Federated Digital Twin Systems: A Systematic Review Through the Levels of Conceptual Interoperability Model

Manonmani Sekar, Nasim Nezamoddini

原文摘要

When two companies connect their digital twins, software models of their plants kept up to date with live data, each twin must translate the other's data into its own terms, and that translation rule, called a mapping, can stop being correct when one company changes the meaning of its data without telling the other. This PRISMA 2020 systematic review screened 5,833 records and read 119 full texts to determine whether any published system detects such a broken mapping and repairs it while the twins operate. In all 32 included studies the mapping is fixed before operation, and the two ingredients of run-time repair appear only separately: cross-company matching without any check that the match still holds, and detection and repair of changed meaning within a single company. The review turns this gap into six requirements, each illustrated on one running example, that a system claiming run-time semantic interoperability between independently owned twins should meet.

cs.SE · cs.AI · eess.SY

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新论文 · v1arXiv:2611.02123

Bounded Retained History in a Proxy Flow Replay: A Mixed Predictive Pilot and an Allocation Study

Juan S. Santillana

原文摘要

We examine bounded retained history through a frozen predictive pilot and a subsequent allocation study on a curated UNSW-NB15 flow mirror. Both use an artificial release-order replay based on raw ltime ticks, with equal-tick records querying a shared prior-group state. In the pilot, the model with added retained relational features had lower reconnaissance recall than the current-flow-plus-counters baseline (43.66% versus 47.84%) and lower benign false-positive rate (3.63% versus 6.68%) at separately frozen operating thresholds, together with lower AUROC. This mixed result did not establish a predictive advantage. A development-only audit subsequently found that capacity eviction dominated expiration in the 256-record, 300-tick FIFO state, with a median completed record lifetime of 11 ticks. A protocol specified before its single execution, but after the pilot and post-hoc mechanism audit, compared five label-blind retention arms on the already-used development trace. Its primary equal-source endpoint averaged retained/reference ratios for service-expanded source out-degree and source-destination service diversity. Source-balanced retention at 256 records exceeded FIFO-256 by a pooled endpoint difference of 0.440738 and met the prespecified materiality and subblock rule. Crucially, the event-weighted ratios for both quantities decreased relative to FIFO-256: the result is specific to the equal-source weighting objective and does not establish uniformly improved retention. The study supplies neither evidence of detection improvement nor an explanation of the pilot result. Reused data, concentrated reconnaissance support, proxy timing, and the absence of a qualified independent corpus bound the interpretation.

cs.CR · cs.LG · cs.NI

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新论文 · v1arXiv:2611.02121

Conditional Calibration Contracts under Coupled Load: A Branch-Aware Audit of Switched Inference

Juan S. Santillana

原文摘要

Bursty serving changes both queue states and the population selected for each model. We study conditional calibration contracts as a specification to be validated, rather than a certified property of an existing router. CA-MHD combines load-coupled distillation, closed-loop replay and a cost-informed Schmitt router in a discrete-event simulator with a hardware service table. Across 40 cells (ten training seeds and four content-load coupling levels), we distinguish the original teacher, frozen wide heads on an adapted trunk, and the narrow student. A common teacher-trajectory audit has median absolute student-teacher deficit 0.06 percentage points, but does not certify the student-selected deployment support. Historical results use a kernel correctness gap, not the published SmoothECE; we separately prove selected-branch composition for a residual functional at a common fixed scale. The deployed wide branch has lower ordinal accuracy than the original teacher in all 40 cells. Same-checkpoint student-only serving has lower historical ordinal gap in 27/40 cells; routing also exposes violation tails up to 17.5 percent. Student p99 latency remains above the 1.5 ms target. Retrospective temporal recalibration improves the ordinal gap in 39/40 cells, but causal delayed-label availability is unverified and no incremental per-mode benefit is detected after multiplicity adjustment. An in-sample CUSUM detects 30/40 checkpoint changes at five historical false alarms, with no prospective false-alarm guarantee. These findings support a branch-aware audit and a scoped negative result, not demonstrated routing superiority. Independent budgets, selected-support validation and net utility under a satisfied SLA remain open.

cs.LG · cs.CL · cs.DC

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版本更新 · v2arXiv:2609.27144

Learning Risk Scores Robust to Unobserved Confounders

Ryan Edmonds, Yingxiao Ye, Sina Aghaei, Andrés Gómez, Çağıl Koçyiğit, Phebe Vayanos

原文摘要

We consider the problem of learning risk scores to prioritize individuals for scarce resources or interventions, from historical observational data affected by unobserved confounding. Decisions about who receives scarce resources are often guided by risk scores based on recorded characteristics, such as responses to a survey. These risk scores are increasingly being learned directly from observational data: historical records of individuals' characteristics, allocation decisions, and outcomes. Standard methods such as inverse propensity weighting (IPW), which corrects for the bias introduced by the historical allocation policy, can be used to learn accurate risk scores if the historical decision process is fully explained by the recorded characteristics. In practice, however, historical decisions often depend on unrecorded information, causing learned risk scores to systematically under-prioritize exactly the individuals whose unrecorded circumstances drove past prioritization. We propose a method for learning risk scores that are robust to this kind of unobserved confounding, building on IPW. Since propensity weights cannot be reliably estimated under unobserved confounding, we instead treat them as belonging to an uncertainty set determined by the observable data and domain-informed estimates of the degree of confounding, combining sensitivity analysis from causal inference with Wasserstein distributionally robust optimization. The resulting robust risk score learning problem admits a sample-based approximation that we reformulate as an exponential cone program compatible with off-the-shelf solvers. We demonstrate the effectiveness of our approach on semi-synthetic data derived from datasets in the UCI Machine Learning Repository. Our method improves calibration by up to 29.2% over traditional benchmarks and up to 11.1% over the state of the art, without compromising other metrics.

cs.LG

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新论文 · v1arXiv:2611.02114

CNN-Based Retinal OCT Classification: Research Gap Analysis and a From-Scratch Baseline, ED126-A

Shkelqim Sherifi

原文摘要

Automated classification of retinal pathologies from Optical Coherence Tomography (OCT) images remains challenging because diagnostically relevant morphological patterns may exhibit substantial inter-class similarity. Although high classification accuracies have been reported on benchmark OCT datasets, cross-study comparison is limited by heterogeneous evaluation protocols and by the limited characterization of compact convolutional neural network (CNN) baselines trained from random initialization. This study addresses this gap through two contributions. First, it provides a focused review of CNN-based retinal OCT classification and identifies methodological considerations relevant to controlled benchmarking. Second, it presents ED126-A, a purpose-built four-class CNN baseline trained from scratch under a documented experimental protocol on the Kermany labeled OCT dataset. The model contains 1,241,380 total parameters, including 1,239,460 trainable parameters, and is evaluated using training-dynamics analysis, class-wise performance metrics, confusion-matrix analysis, confidence analysis, t-SNE representation-space visualization, Grad-CAM, hierarchical feature-map analysis, and one-vs-rest ROC/Precision-Recall analysis. On the image-level held-out test set, ED126-A achieved 95.03% accuracy, with a macro-F1 of 0.9205 and a weighted-F1 of 0.9521. The principal class-conditional limitation occurred for Drusen, which attained a recall of 0.9605 but a precision of 0.7493 and an F1-score of 0.8419. The confusion matrix identified Normal to Drusen and CNV to Drusen as major error channels. These results support the use of ED126-A as a documented from-scratch reference baseline and provide an empirical basis for controlled evaluation of transfer learning, increased depth, attention, multi-scale feature fusion, and calibration in subsequent studies.

cs.CV · cs.LG

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新论文 · v1arXiv:2611.02112

Order-Only On-Policy Distillation

Guangzeng Han, Yu Wu, Xiaolei Huang

原文摘要

On-policy distillation (OPD) trains a student on its own generations by matching the teacher's token probabilities. These probabilities entangle two kinds of information: which tokens the teacher prefers, and how confident it is. The latter reflects the teacher's own capacity and calibration, which a smaller student may be unable to reproduce. Because the teacher temperature changes these values without changing the ordering, OPD is also sensitive to the temperature choice. We ask whether the teacher's ordering of candidate tokens is enough, and propose Order-Only On-Policy Distillation (O$^{3}$PD). At each student-generated prefix, O$^{3}$PD trains the student to reproduce the order of the teacher's top-$K$ tokens, without fitting their probability values. The objective is therefore invariant to the teacher temperature and needs no temperature tuning. Across six teacher--student pairs, O$^{3}$PD outperforms OPD on the average over HMMT25, AIME24, and AIME25 in every pair, by up to 2.9 points, with gains of up to 5.6 points on AIME25. Other ranking losses yield similar gains, so the benefit comes from ordinal supervision itself. Analysis shows that O$^{3}$PD departs further from the teacher's probabilities than OPD, yet reproduces its ranking more faithfully and yields a stronger student. The ranking, not the probability values, thus carries the knowledge that on-policy distillation needs to transfer.

cs.LG · cs.CL

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