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版本更新 · v2arXiv:2606.14084

Test-Time Improvement of VLA Policies via Selected Diffusion Noise for Spurious-Robust Action Smoothing

Duc Minh Nguyen, Bao-Ngoc Dao, Tung M. Luu, Binh Gia Nguyen, Vinh Tong, Anji Liu, Vu N. Duong, Dung D. Le 等 18 位作者

原文摘要

Diffusion-based Vision-Language-Action (VLA) policies have demonstrated strong generalization in robot manipulation, but their deployment can remain unreliable due to spurious visual reliance and stochastic action generation, leading to grounding failures and kinematically unstable behaviors. We introduce Selected Diffusion Noise (SDN), a training-free method that treats diffusion noise as a controllable degree of freedom for improving test-time reliability. SDN samples multiple candidate action chunks and applies two-stage selection: it first filters candidates based on task-relevant visual grounding using a counterfactual negative set, then selects the kinematically most stable chunk based on JerkRMS. Experiments on three VLA policies across both simulation and real-world environments show improvements of 8-10% and 18.33%, respectively, demonstrating SDN's effectiveness for test-time improvement.

cs.RO

版本更新 · v2arXiv:2611.03576

NitiBench+:跨17个领域的泰国法律时序问答基准

NitiBench+: A Temporal Thai Legal Question Answering Benchmark Across 17 Domains

Pawitsapak Akarajaradwong, Sarana Nutanong, Chompakorn Chaksangchaichot

AI 速读 基于摘要

作者构建了包含1,670道题、覆盖17个领域的泰国法律问答基准NitiBench+,为每个被引法条同时保留判决日有效文本与现行文本,并据此评估模型在正确法律文本下的表现。

cs.CL

查看原文摘要

Law changes over time. A court decides a case under the law in force on that day, and legal QA benchmarks grade answers against today's law. We checked 156,650 decisions of four Thai courts. Up to 67% of them cite law that has since been amended or repealed. We introduce NitiBench+, the sequel of our NitiBench, a Thai legal QA benchmark with 1,670 items across 17 domains, built from decisions of three courts. For each cited section it holds both the text in force on the decision date and the current text, and its retrieval corpus holds every dated version of every Thai statute section. Answers are graded on the Thai Bar Council rubric, the Bar-standard score, and on the overlap between the cited sections and the court's. The report has two parts. Part I measures the cost of the wrong text on 13 open-weight models. Reading the current text of amended law drops the Bar-standard score by 0.25 and missing repealed law drops it by 0.79. The penalty comes from rule changes, 0.45 on the 428 rule-changed items and none on the 331 wording-only items, and Citation F1 does not see it. The text in force is the fair setting. Part II benchmarks today's models on that setting. A public leaderboard ranks 26 models on a held-out test split of 500 items stratified by domain, with a validation split of the same shape released for public use, from memory alone, with the court's sections provided, and as a retrieval agent over the law in force, with the cost per item and the hallucinated citations. The best model scores 7.78 out of 10 and the best open-weight model 6.39. Without a search tool only five open-weight models recall any Thai law, and with it twenty of the 26 models gain and six lose. Leaderboard will take new models as they are released. Legal benchmarks must track dates, and on the right text today's models still leave a wide gap on Thai law.

新论文 · v1arXiv:2611.01493

TopoSteer: Topological Layer Selection for Activation Steering in LLMs

Tuc Nguyen, Marcos Gutiérrez-del-Pozo, Eduardo Paluzo-Hidalgo, Yifan Hu, Adaku Uchendu, Thai Le

原文摘要

Activation steering controls large language models at inference time by adding a vector to their internal representations. Most work asks how to build that vector, and far less attention has gone to where to add it, even though steering at a poorly chosen layer can be worse than not steering at all. Prior selectors choose a layer without ever steering the model to test it: they score how separable the target behavior is at that layer, and how consistently the individual examples point along the steering direction. We argue that what matters is not the separability of the two activation clouds, nor the alignment of individual displacements with their mean, but the extent of the cloud of per-example displacements that mean-difference steering averages. We propose a topology-based layer selection method, called TopoSteer, which scores a layer by the total H_0 persistence of its displacement cloud, computed as the length of the cloud's Euclidean minimum spanning tree. We show that the score focuses on the displacement cloud's relative geometry, while class separation affects it only through standardization. We also provide a theoretical explanation for our method by proving that, as example-level variation increases, TopoSteer and discriminability move in opposite directions, so the two criteria can rank layers in opposite ways. Across multiple language models and steering tasks, TopoSteer provides a principled alternative to discriminability- and separability-based layer selection and yields more effective steering without requiring held-out validation.

cs.CL · cs.LG

新论文 · v1arXiv:2610.37215

Retrieve to Act: Motion Primitive Graph Retrieval for Robust VLA Execution

Pham Tri Quang, Bao-Ngoc Dao, Minh Duc Nguyen, Duc-Duy Nguyen, Hung T. Ho, Linh Dang Le, Trong-Bao Ho, Thien-Loc Ha 等 18 位作者

原文摘要

Vision-Language-Action (VLA) policies demonstrate remarkable semantic generalization, yet remain highly vulnerable to out-of-distribution (OOD) visual shifts during execution. While existing test-time methods attempt to suppress spurious visual cues, they fundamentally overlook the rich, uncorrupted kinematic priors embedded in the policy's own training experience. We introduce Retrieve to Act (R2A), a test-time scaling framework that formulates OOD robustness purely as a geometric motion primitive retrieval problem. R2A bypasses fragile visual features by structuring successful training demonstrations into an offline spatiotemporal motion primitive graph. During inference, a query-dependent Graph Neural Network dynamically localizes the robot's ongoing execution within this graph, retrieving structurally compatible future motion primitives. These retrieved geometric priors are then seamlessly harmonized with the frozen VLA's predicted actions via a learned, dimension-wise gating mechanism, adaptively rectifying erroneous spatial trajectories while preserving the policy's local reactivity. Extensive experiments across three state-of-the-art VLA architectures, GR00T N1.7, $π_{0.5}$, and StableVLA, demonstrate that R2A consistently and significantly enhances robustness against diverse contextual perturbations. R2A achieves absolute success rate improvements of up to +12% in simulation benchmarks (LIBERO-Plus, RoboTwin2.0-Plus) and +40% in real-world deployments, without requiring any finetuning of the base policies. Project page: https://retrieve2act.github.io/r2a/

cs.RO · cs.AI

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-demo.46ACL Anthology · ACL 2026

FourCorners: Grounded Thai Legal Research over a Temporal Knowledge Graph

Pawitsapak Akarajaradwong Chulalongkorn University, Thitiwat Nopparatbundit VISAI AI, Treephop Saeteng VISAI AI Co., Ltd., Kasidit Phoncharoen Vidyasirimedhi Institute of Science and Technology, Sarana Nutanong, Chompakorn Chaksangchaichot Chulalongkorn University and Vidyasirimedhi Institute of Science and Technology

原文摘要

Legal practitioners in Thailand must navigate fragmented government websites to research over 3,800 active laws and 87,000 Supreme Court decisions, with no unified tool for cross-referencing, version tracking, or structural navigation. We present FourCorners, a deployed platform that addresses five practitioner pain points through three modules built on a temporal legal knowledge graph covering 552K nodes and 6.3M edges: (1) an AI legal assistant that performs grounded generation via structured graph retrieval, streaming verified source content inline with responses; (2) an interactive law reader that translates graph structure into navigation and comparison features; and (3) a court decision explorer with version-aware citations produced by temporal entity resolution across 87,394 rulings. The system discovers implicit cross-corpus relationships through co-citation analysis of Supreme Court decisions. Interviews with 20 legal professionals reveal that inline source verification fundamentally changes how practitioners interact with AI-generated legal content, and that cross-corpus enrichment surfaces legal relationships that existing tools leave invisible.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 3: System Demonstrations) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-industry.124ACL Anthology · ACL 2026

FourCorners: A Production Knowledge Graph Unifying Thailand’s Legal System

Pawitsapak Akarajaradwong, Sarana Nutanong, Chompakorn Chaksangchaichot

原文摘要

Jurisdictionally bound domains, such as law, often lack standardized, machine-readable data formats, requiring foundational infrastructure before downstream applications can succeed. We present ThLexGraph, the first unified temporal knowledge graph for Thai legal data, integrating 3,840 laws (6,273 versions) with 87,394 Supreme Court decisions, updated daily. The graph encodes hierarchy, temporal versioning, cross-references, and sequential order, all extracted from unstructured official sources where no structured representation previously existed. A five-setting comparison on NitiBench-Tax isolates data infrastructure as the sole variable: graph-structured retrieval achieves Citation F1 of 0.812 versus 0.666 for practitioner-standard web search and 0.685 for flat vector retrieval, while searching a corpus 53x larger. Trace analysis of 820 agent-issued queries reveals that hierarchy traversal and cross-reference following, capabilities absent from generic retrieval, are exercised in 50% and 16% of questions, respectively. Our system demonstrates that structured modeling of hierarchy, temporal versioning, cross-references, and sequential order can overcome structural limitations of legal data published without standardized formats.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.668ACL Anthology · ACL 2026

PARASITE: Conditional System Prompt Poisoning to Hijack LLMs

Viet Pham Ho Chi Minh city University of Science, Vietnam National University, Thai Le Indiana University

原文摘要

Large Language Models (LLMs) are increasingly deployed via third-party system prompts downloaded from public marketplaces. We identify a critical supply-chain vulnerability: conditional system prompt poisoning, where an adversary injects a sleeper agent into a benign-looking prompt. Unlike traditional jailbreaks that aim for broad refusal-breaking, our proposed framework, PARASITE, optimizes system prompts to trigger LLMs to output targeted, compromised responses only for specific queries (e.g., “Who should I vote for the US President?”) while maintaining high utility on benign inputs. Operating in a strict black-box setting without model weight access, PARASITE utilizes a two-stage optimization including a global semantic search followed by a greedy lexical refinement. Tested on open-source models and commercial APIs (GPT-4o-mini, GPT-3.5), PARASITE achieves up to 70% F1 reduction on targeted queries with minimal degradation to general capabilities. We further demonstrate that these poisoned prompts evade standard defenses, including perplexity filters and typo-correction, by exploiting the natural noise found in real-world system prompts.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表