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版本更新 · v2arXiv:2607.28685

Safety, or Just Capability? A Validity Audit of Agent-Safety Benchmarks

Youting Wang, Xiao Han, Dingyan Shang, Yuan Tang, Bowen Liu

Agent-safety benchmarks measure different behaviors, and their scores get quoted interchangeably as an agent's safety. We treat four of them (R-Judge, InjecAgent, AgentHarm, AgentDojo) as measurements to be validated, running each under its official implementation and author-provided scorer on up to 22 models, with MMLU and GPQA measured by us under one protocol as a capability composite. The metric is the first problem. On any binary trace-judgment benchmark scored by $F_1$, an ``always positive'' policy attains $F_1 = 2π/(1+π)$; on R-Judge that is $0.690$, above five of the 21 models that actually discriminate. The three broad-coverage benchmarks then rank the same 18 models differently, and the trade-off behind that disagreement is a small-panel artifact: R-Judge specificity against AgentHarm safety correlates $-0.64$ at $n{=}7$ and $+0.02$ at $n{=}18$, and a quarter of random size-7 subsets reach $|ρ| \geq 0.5$ around that near-zero value. Held-out validity turns on which outcome you pick. Capability predicts task success ($ρ{=}{+}0.60$) but correlates negatively with misalignment safety ($ρ{=}{-}0.44$, $n{=}21$). On their paired $n{=}20$ panel, the corresponding contrast is $Δ{=}{-}1.00$ (95% CI $[-1.48, -0.49]$, $p<0.001$), and it survives leave-one-organization-out and organization-clustered bootstrap analyses. On an expanded 41-model panel, the misalignment correlation weakens to $-0.16$ (95% CI $[-0.54, +0.22]$) and jailbreak strengthens to $+0.34$, though neither change is significant. \mbox{AgentHarm} shows the strongest held-out association, $ρ{=}{+}0.72$ with three-template jailbreak safety after controlling capability. But both instruments score harmful compliance, so this is evidence of convergent validity rather than general safety. Naming the benchmark, metric, target behavior, and model panel is the minimum a safety claim needs.

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cs.AI · cs.IR
arXiv ↗PDF ↗
新论文 · v1arXiv:2611.03294

ForceLDM: A Force-aware Latent Dynamics Model for Contact-Rich Manipulation

Peiyuan Tang, Yao Li, Xiaodong Zhang, Wuyang Zhang, Qin Xia, Yanyong Zhang, Zijiang Yang

Contact-rich manipulation requires fine-grained control and complex physical interactions with the environment, posing significant challenges for robot policy learning. Vision-only policies struggle with such tasks, as contact states and interaction forces are difficult to infer from visual observations alone. Existing methods mitigate this issue by incorporating force or tactile sensing. However, they often treat these signals as auxiliary observations without fully exploiting their role in modeling future interaction dynamics. To address this, we propose ForceLDM, a force-aware latent dynamics model that learns future contact and motion dynamics to guide action generation. Rather than directly predicting future observations, which can entangle task-relevant dynamics with irrelevant sensory details, ForceLDM learns a compact representation of future dynamics through knowledge distillation. Specifically, a teacher network with privileged future force/torque and optical flow signals extracts future dynamic features, which are then distilled into a student network trained only on current observations. This enables the student model to reason about upcoming contacts and physical dynamics without relying on future sensory inputs at deployment. To improve robustness and generalization, we further introduce a curriculum-based progressive noise injection strategy to mitigate over-reliance on future features. Experiments on five real-world contact-rich manipulation tasks demonstrate that ForceLDM outperforms state-of-the-art baselines, generalizes effectively to novel objects, and remains robust to environmental perturbations. Project page and code are available at https://tpy001.github.io/ForceLDM/.

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cs.RO
arXiv ↗PDF ↗