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新论文 · v1arXiv:2611.12732

$Σ$-LeWM: Learning World Models via S-Information for Robot Control

Xinrui Zu, Michael Przystupa, Zhao Yang, Shujian Yu, Kevin Sebastian Luck

原文摘要

World models have increasingly been applied as a model-based control method for robotics tasks such as manipulation and locomotion. While early world model architectures relied on decoders to prevent mode collapse and learn a predictable latent space, recent works on world models, such as Joint Embedding Predictive Architecture or LeWorldModel, increasingly aim to learn embeddings without a grounding decoder, utilising only a latent forward dynamics predictor and a stabilising entropy term. In this paper, we set out to demonstrate that the further introduction of two additional latent losses to LeWorldModel, a backward dynamics predictor and an inverse dynamics action predictor, enforces further structure on the latent embedding, leading to further gains in both performance and planning efficiency. These are critical properties for improving the applicability of such methods to real-time model-based control of real-world robots. We demonstrate these gains on standard world model benchmarks and two simulated robot manipulation tasks.

cs.LG · cs.AI · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11947

The Relative Value of Demonstration Data: Execution Time Limits and Operator Mixtures in Behavior Cloning

Jiaxuan Guo, Xingyu Ren, Youran Sun, Jingxin Yang, Kejia Zhang, Haizhao Yang

原文摘要

Robot demonstration datasets combine demonstrations from teleoperators of uneven experience, so collection teams need to know how many demonstrations from one group match those from another. We measure this with a data multiple: the ratio of the numbers of demonstrations two groups need for their policies to reach the same success rate. On robomimic's simulated Square and Can tasks, we train behavior-cloning policies on demonstrations from the two teleoperators robomimic labels Better and the two it labels Worse, varying dataset size and the share of Worse demonstrations. On Square, within robomimic's 25-second time limit, an all-Worse training set needs 1.55 times as many demonstrations as an all-Better set. Most of this difference is late completion: policies trained on Worse demonstrations finish later, as the Worse teleoperators do, and with a 100-second limit the multiple falls to 1.11. On Can, most of the difference remains at 100 seconds. If each Worse demonstration were worth 1/1.55 of a Better one, as in an all-Worse set, a half-Better, half-Worse set on Square would need 1.22 times as many demonstrations as an all-Better set. In fact, it needs 13% more than that, and this excess persists at every time limit from 20 to 200 seconds. The excess remains when training draws demonstrations uniformly instead of in proportion to their length. On Square, within the 25-second limit, switching to these Worse teleoperators is cheaper at equal success only if they earn less than a third of the Better teleoperators' hourly pay, because Worse demonstrations also take longer to record.

cs.RO · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11899

How Far Must a Test Explore? Certifying Composable Read-Write Interfaces from Their Own Random Edits

Jiaxuan Guo, Xingyu Ren, Jingxin Yang, Youran Sun, Haizhao Yang

原文摘要

Random tests of stateful code check laws, like reading back a written value, at states that random writes reach. The laws hold at every state exactly when the code behaves like a record with hidden data, so a pass is taken as evidence. This can fail: the laws can hold at every sample while the code is far from any record. The laws are local, but behaving like a record is global. Self-testing and stability theorems bridge this gap when the query distribution is controlled by the tester or preserved by the tested maps, but here it is generated by the tested writes, which need not be invertible. We ask how far a test must explore. An interface has $m$ binary variables, each with a read and two writes; in a record, reads return their bits and writes set only their bits. Samples are the ends of geometric runs of mean $\ell$ of uniformly random writes from a start distribution; a tester adds its own write chains of depth $d$. The distance is the least, over records with hidden data, of the largest probability that a read or write differs from it at a sample. From one start state, law checks at $O(m^2\log m/ε)$ samples certify, at fixed confidence, any threshold $ε$ after geometric runs of every positive mean, while runs of fixed positive length can pass at distance $1/2$. For the worst start distribution, take $ε=m^{-β}$ with fixed $0<β\le1$. For $d\le cm$ with fixed $c<1/2$, a polynomial budget of samples and writes exists exactly when $\ell=Ω(m)$, where law checks suffice. With no runs, the least depth for this budget is $(1/2+o(1))m$. Counting samples alone, in the worst case at $ε=1/(32m)$ and $d\le m/16$, the critical mean for a polynomial budget is $Θ(m\log(m/d)/\log m)$, by exhaustive search. So one start state needs only law checks, and the worst case at these thresholds needs exploration linear in $m$ if writes are counted.

cs.DS · cs.LG · cs.PL · cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.10050

Selected-Risk Calibration for Feasibility at Returned Decisions

Raghav Thind, Youran Sun, Ling Liang, Haizhao Yang

原文摘要

When an optimization problem uses a surrogate constraint, a decision that is feasible for the surrogate need not be feasible for the true constraint. We propose Selected-Risk Calibration (SRC), a framework that calibrates a learned constraint against the optimizer's returned decisions for objectives drawn from a given distribution. SRC guarantees that, with probability at least $1-δ$, every margin it certifies on held-out objectives has selected risk, the probability that the returned decision is infeasible, of at most $γ$. We also show that the random-input coverage guarantee of split conformal prediction does not bound the selected risk, and that likelihood-ratio reweighting for feedback covariate shift does not apply when the learned constraint is active at the returned decision. Our experiments show that a conformal margin covering about $90\%$ of random inputs covered as few as $17\%$ of the returned decisions, and every certified margin had a violation rate below its target on unseen objectives. Moreover, at equal cost, SRC's correction had fewer or equal infeasible solutions to the baselines in 57 of 62 comparisons. The SRC framework applies to any setting in which a surrogate model chooses a decision whose feasibility can be verified for a sample of instances.

cs.LG · stat.ML

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.35541

The Agent in the Middle: How AI-Mediated Access Reshapes Web Vulnerability Exploitation

Ruozhao Yang, Jiongchi Yu, Ming Hu, Xiaofei Xie

原文摘要

Web services increasingly expose backend interfaces that let users delegate tasks to AI agents, which invoke service operations directly without navigating websites. This shift changes how existing Web vulnerabilities can be exploited. We investigate these changes through VELA, an executable benchmark covering 44 vulnerabilities across twelve Web application families. The benchmark preserves vulnerable backends and derives agent-facing interfaces from legitimate workflows. We evaluate three commercial agents across multiple interface configurations, using controlled comparisons to separate interface effects from agent behavior and independent oracles to verify attack outcomes. Our results show that the agent realizes every attack that direct interface invocation realizes in the reference configuration, so exploitability is set mainly by the interface: 91% of vulnerabilities remain exploitable under the reference design. Interface restrictions prevent some attacks by removing required operations or limiting input control, while retention remains high across vulnerability classes. No case-level loss in the reference configuration is attributed to agent refusal or input normalization, and in one case the agent completed an attack by supplying calls the attacker omitted. Across the tested configurations, interface design affects exploitability more than agent choice, moving retention from 39% to 95% against at most 4.5 points across agents, but some restrictive interfaces also limit legitimate workflows. Our study provides a systematic empirical account of how agent-mediated access reshapes existing Web vulnerabilities, grounding future Web architecture design in measured security outcomes and trade-offs between reducing attack exposure and preserving legitimate functionality in agent-facing services.

cs.CR · cs.AI · cs.SE

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.35532

JANUS: Synthesizing Cross-Layer Defenses Against Web Deserialization Attacks

Ruozhao Yang, Minglang Li, Jiongchi Yu, Xinfeng Li, Xiaofei Xie

原文摘要

Unsafe deserialization turns untrusted data into attacker-controlled execution, and a single vulnerability can admit diverse exploit variants that evade defenses tailored to a known exploit. Existing defenses typically operate at a single enforcement point with limited visibility into the full attack. Combining controls across layers offers complementary protection, but coordinating them to preserve legitimate functionality and adapting them to new variants requires substantial expert effort. We propose JANUS, a red-blue adversarial framework for automated cross-layer defense synthesis. Starting from a known exploit, \sys iteratively refines deployment-specific policies in an isolated offline environment. A black-box attacker probes the current policy for exploit variants using only externally observable feedback. The defender summarizes each verified variant into its security-relevant effects, uses counterfactual replay to separate complementary coverage from redundant enforcement, and jointly selects and scopes controls across layers. Each candidate policy is validated against accumulated exploits and benign workflows. We evaluate JANUS on sixteen vulnerability deployments across six Java and PHP applications against gateway, application, system, and cross-layer defenses. JANUS reduces held-out attack success to 6.2%, compared with 18.8-55.0% for the baselines, fully mitigates 13 of 16 deployments, and preserves 98.4% of benign functionality tests at a 6.9% targeted P95 latency increase.

cs.CR · cs.AI · cs.SE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2512.14233

PentestEval: Benchmarking LLM-based Penetration Testing with Modular and Stage-Level Design

Ruozhao Yang, Mingfei Cheng, Gelei Deng, Tianwei Zhang, Junjie Wang, Xiaofei Xie

原文摘要

Penetration testing is essential for assessing and strengthening system security against real-world threats, yet traditional workflows remain highly manual, expertise-intensive, and difficult to scale. Although recent advances in Large Language Models (LLMs) offer promising opportunities for automation, existing applications rely on simplistic prompting without task decomposition or domain adaptation, resulting in unreliable black-box behavior and limited insight into model capabilities across penetration testing stages. To address this gap, we introduce PentestEval, the first comprehensive benchmark for evaluating LLMs across six decomposed penetration testing stages: Information Collection, Weakness Gathering and Filtering, Attack Decision-Making, Exploit Generation and Revision. PentestEval integrates expert-annotated ground truth with a fully automated evaluation pipeline across 346 tasks covering all stages in 12 realistic vulnerable scenarios. Our stage-level evaluation of 9 widely used LLMs reveals generally weak performance and distinct limitations across the stages of penetration-testing workflow. End-to-end pipelines reach only 31% success rate, and existing LLM-powered systems such as PentestGPT, PentestAgent, and VulnBot exhibit similar limitations, with the evaluated autonomous agents showing particularly low success rates under our benchmark settings. These findings highlight that reliable autonomous penetration testing requires stronger structured reasoning and fine-grained stage-level diagnosis. PentestEval provides the foundational benchmark needed for future research on fine-grained, stage-level evaluation, paving the way toward more reliable LLM-based automation.

cs.SE · cs.AI · cs.CR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.40641

从极端天气到农业后果：基于智能体的AI

From extreme weather to agricultural consequences with agentic AI

Minghan Yu, Mengyu Dai, Yixin Wen, Haizhao Yang

AI 速读 基于摘要

提出WxCrop智能体，将可物理解释的天气指数与因果分析结合，预测历史与预报日期下作物损失。

physics.ao-ph · cs.AI

arXiv ↗PDF ↗
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Extreme weather is forecast days ahead, yet its consequences for agriculture remain hard to predict: a forecast says where a storm will strike, not which crops will suffer or how much is at risk, and the records that could tell span many sources. We present WxCrop, the first agent that judges agricultural hazards from physically interpretable weather indices examined by causal analysis, and the first that combines weather and agricultural information to predict crop loss reliably for past and forecast dates. We demonstrate it in Florida on hurricanes, freezes and dry heat, with a loss model calibrated on insurance records for each, and the same procedure extends to other hazards and areas. Three checks show reliability: the hurricane index detects recorded cyclone days with an AUC of 0.98, recorded losses in held-out years are reproduced to within 2%, and independent production records confirm the county rankings (rank correlation 0.63). Users ask the agent for each crop group's loss as a fraction of expected season value, every number sourced, so that governments, growers and scientists respond to agricultural disasters quickly.

新论文 · v1arXiv:2610.40560

FARMS：面向自动化计算科学的可验证基础

FARMS: A Verifiable Foundation for Automated Computational Science

Di Wu, Ling Liang, Haizhao Yang

AI 速读 基于摘要

作者提出 FARMS，将计算数学知识转化为可供 AI 解释与复用、并带有显式保证的“计算知识”基础。

cs.AI · cs.LO

arXiv ↗PDF ↗
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Automated computational science could accelerate discovery by selecting, adapting and developing numerical methods. This prospect requires mathematical knowledge that AI systems can interpret and reuse with explicit guarantees. Here we present FARMS, a faithful and efficient foundation that transforms computational mathematics into AI-ready computing knowledge. FARMS connects formal statements to source context, algorithmic meaning and quantitative guarantees through source preparation, reusable representations and semantic review. Across 171 targets in randomized numerical linear algebra and numerical partial differential equations, 157 were accepted by the pipeline, with mean estimated costs of US \$0.85-2.29 per target across sources. Lean-checked implications from explicit source premises connect selected statements to computational skills, illustrated by a heat-flow solve and wave-response compression. FARMS therefore supports an affordable, reusable knowledge foundation for trustworthy automated computational science.

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1013ACL Anthology · ACL 2026

Efficient Prior-Guided Reasoning for Robust Retrieval-Augmented Generation under Conflicts

Xiaowei Yuan, Ziyang Huang, Zhao Yang Meituan, Yequan Wang Peking University and Beijing Academy of Artificial Intelligence, Jun Zhao Institute of automation, Chinese academy of science, Kang Liu Institute of automation, Chinese academy of science, Chinese Academy of Sciences

原文摘要

Retrieval-Augmented Generation (RAG) has become a standard paradigm for grounding Large Language Models (LLMs) with external knowledge. However, RAG performance often degrades substantially when faced with noisy, outdated, or conflicting retrieved information. In this work, we empirically demonstrate that Prior-Guided Reasoning—a strategy that explicitly elicits the model’s parametric knowledge as prior information to guide reasoning on retrieved documents—effectively mitigates the impact of external conflicts. Building on this, we propose BrPr (Bernoulli-gated reinforcement learning for Prior-Guided reasoning), a framework that achieves robust performance across varying degrees of external inconsistency. Furthermore, by employing a Bernoulli-gated dropout mechanism during training, BrPr distills the prior-driven reasoning capability into the model parameters, enabling efficient latent reasoning without explicit prior generation. The experimental results demonstrate that BrPr consistently exhibits superior robustness to external conflicts and noise.

cs.CL

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