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版本更新 · v4arXiv:2505.21938

Practical Adversarial Attacks on Stochastic Bandits via Fake Data Injection

Qirun Zeng, Eric He, Richard Hoffmann, Xuchuang Wang, Jinhang Zuo

原文摘要

Adversarial attacks on stochastic bandits have traditionally relied on some unrealistic assumptions, such as per-round reward manipulation and unbounded perturbations, limiting their relevance to real-world systems. We propose a more practical threat model, Fake Data Injection, which reflects realistic adversarial constraints: the attacker can inject only a limited number of bounded fake feedback samples into the learner's history, simulating legitimate interactions. We design effective attack strategies under this model, explicitly addressing both magnitude constraints (on reward values) and temporal constraints (on when and how often data can be injected). Our theoretical analysis shows that these attacks can mislead a class of bandit algorithms into selecting a target arm in nearly all rounds while incurring only sublinear attack cost. Experiments on synthetic and real-world datasets validate the effectiveness of our strategies, revealing vulnerabilities in stochastic bandit algorithms under practical adversarial scenarios.

cs.LG · cs.AI · cs.CR

新论文 · v1arXiv:2611.06523

H^2MARL: Hierarchical Heterogeneous Multi-agent Reinforcement Learning for Humanoid Robot Control

Xuemin Hu, Kaixin Li, Qingqing Xia, Yuxin Wang, Wei Xie, Bo Tang, Long Chen

原文摘要

Coordinated whole-body control of humanoid robots remains challenging due to high-dimensional coupled dynamics and substantial physical heterogeneity across joint degrees of freedom (JDoFs). Existing multi-agent reinforcement learning methods either employ coarse agent partitions or directly apply generic heterogeneous-agent algorithms, while hierarchical controllers commonly optimize high-level planning and low-level execution independently, leading to uncoordinated motion. In this paper, we propose H^2MARL, a hierarchical heterogeneous multi-agent reinforcement learning framework with two key mechanisms. We first formulate humanoid whole-body control using a JDoF-level physical-heterogeneity-aware policy factorization, where each torque-actuated JDoF is conditioned on an explicit descriptor of its actuation, kinematic, and dynamic properties. Moreover, we develop a closed-loop policy-executor co-optimization mechanism that jointly adapts the high-level pose planner and the low-level joint executor using shared interaction trajectories, thereby reducing the distribution mismatch between planning and execution. Extensive experiments in MuJoCo and Isaac Gym demonstrate that H^2MARL consistently improves locomotion stability, gait coordination, and motion quality over homogeneous, coarse-grained, and independently optimized alternatives.

cs.RO

新论文 · v1arXiv:2610.36859

ActiveAlign: Aligning Egocentric Manipulation via Active Perception

Ri-Zhao Qiu, Bowen Wen, Yifeng Jiang, Chen Tessler, Eric Heiden, Xue Bin Peng, Xiaolong Wang, Stan Birchfield 等 9 位作者

原文摘要

Real-to-Sim-to-Real (Real2Sim2Real) enables structured world representations for planning, interpretability, and safe execution. Most existing approaches rely on passive perception, which creates real2sim gaps due to imperfect observation. Inspired by how humans perceive actively through actions, we propose ActiveAlign, a framework that leverages active perception to align the Real2Sim2Real gap from interactions. ActiveAlign introduces two complementary modules: (i) ActiveAlign-Waving, which performs hand-eye calibration by exploiting active hand motions and differentiable rendering, and (ii) ActiveAlign-Touching, which refines object alignment through tactile feedback to achieve millimeter-level precision. Together, these capabilities enable strong real2sim alignment. We demonstrate that ActiveAlign-Waving can be used to curate simulation environments for open-sourced uncalibrated robot manipulation datasets, and demonstrate on a real Unitree G1 robot that ActiveAlign enables fine manipulation of millimeter-scale objects such as pressing buttons and moving sliders.

cs.RO · cs.AI · cs.CV

版本更新 · v2arXiv:2610.18835Berkeley BAIR

RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Tasks

Kaiyuan Chen, Shuangyu Xie, Uksang Yoo, Xinyue Zhu, Cael Magner, Alvin Zhu, Daehwa Kim, Eric Heiden 等 12 位作者

原文摘要

It has been difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, deformations, stiffness and friction. We present RoboSimStudio (RSS), an interactive toolkit that makes choices of solver, contact model, and physical parameters explicit and editable, allowing both humans and coding agents to quickly create and iteratively refine simulations based on observed physical behavior. We implement RSS with the open Newton physics simulation system and describe experiments with human-guided real2sim using (1) visual evaluation, (2) force-feedback and (3) agentic Real2Sim2Real. Code, video and additional information can be found on the project website: https://robosimstudio.github.io

cs.RO · cs.AI · cs.GR · cs.LG