Humanoid robots operating in cluttered environments must react to unexpected contacts before the first impact peak, which arrives within tens of milliseconds. Learned whole-body policies running at 50 Hz introduce a policy-cycle delay and may suppress a protective withdrawal as a tracking error. To address these challenges, we propose ARC (Ascending Reflex Control), a bottom-up framework that integrates instantaneous tactile reflexes with learned whole-body control. ARC consists of two components: an instantaneous reflex pathway and bottom-up reflex integration. The reflex pathway detects hazardous contacts from full-body tactile sensing, solves a whole-body withdrawal pose, and delivers it directly to the motors within 10 ms. Bottom-up reflex integration combines reflex-in-the-loop policy learning, reflex-transparent policy alignment, and reflex-informed policy adaptation to sustain the withdrawal, maintain balance, and complete longer-horizon recovery. We deploy ARC on a Unitree G1 and evaluate three categories of hazardous contact. Compared with an otherwise identical reflex delayed by 20 ms, ARC reduces the first force peak by 34.1% and reduces the contact impulse from 0.2632 N s to 0.1225 N s (a 2.15x ratio). We further demonstrate protected motion tracking, teleoperation, and vision-free obstacle traversal guided by foot tactile sensing. Project page: https://minusmodulo.github.io/reflexarc-website/
Mingyu Wang, Bin Yu, Wenjian Lu, Zhi Wang, Gao Kefeng, Cheng Wen Xi'an University of Electronic Science and Technology, Xu Lu Xidian University, Cong Tian
Linux kernel device drivers are tightly coupled with hardware, making them difficult to execute and test without physical devices. This heavily limits automated code analysis and vulnerability discovery. While manual modeling is unscalable, Large Language Models (LLMs) offer a new approach to scale virtual device construction across the Linux driver ecosystem. In this paper, we present DevGen, an LLM-powered tool that generates QEMU-based virtual devices directly from Linux driver source code. DevGen combines static analysis to gather necessary context, guides the LLM through step-by-step prompting, and uses an automated self-correction loop driven by compilation and execution feedback. To further reduce errors, similar fixes are retrieved from a library of common modeling failures and incorporated into the repair prompt, which supports more targeted corrections in later iterations. The generated devices finally integrate with QEMU and Syzkaller, enabling driver fuzzing without physical hardware. DevGen is evaluated on 50 PCI/PCIe drivers from Linux 6.18 using three mainstream LLMs, and successfully generates usable models for 44 drivers. In these drivers, 24% of them achieve significant improvements in fuzzing coverage, and 7 previously unknown crashes are triggered with 1 CVE assigned. These results demonstrate the practical capability of LLMs to automate complex, system-level code generation tasks.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 3: System Demonstrations) · 2026 · 正式发表