Generalizable robotic manipulation through compositional skill reuse
Hao Ren, Shuohan Chen, Senyuan Mu, Ruihan Huang, Wanfeng Shang, Yajing Shen
cs.RO↗
arXiv subjects
Hao Ren
Publications and source records attributed to Hao Ren.
Coarse3D: Controllable and Faithful Sparse Structure Generation for Image-to-3D
Coarse-to-fine 3D-native generation relies heavily on the first-stage sparse structure, which determines the global orientation and overall geometry for subsequent refinement. However, existing coarse generators suffer from two key limitations: their orientation is difficult to control due to ambiguous semantic canonicalization, and their structures are often inconsistent with input images due to weak 2D-3D grounding. We propose Coarse3D, a sparse-structure generation model that produces orientation-controllable and structurally faithful voxel geometry from arbitrary unposed images. Coarse3D introduces three designs: a first-frame anchored canonical space that aligns generation with the first input view while preserving object-centric normalization; a dual-tower DiT that couples generation with auxiliary feed-forward reconstruction to learn spatially grounded features; and spatial-prior guided attention that regularizes cross-attention with pixel-to-voxel correspondence. Coarse3D can directly replace the coarse stage of existing pipelines. Experiments show that it substantially improves sparse structure quality and consistently enhances final 3D generation, achieving state-of-the-art performance.
cs.CV↗
Robust LLM-Generated Text Detection through Matched Conditional-Response Probing
Reliable detection of large language model (LLM)-generated text must remain effective under meaning-preserving text revisions, such as rewriting, polishing, and expansion. In practice, LLM outputs are often rewritten, polished, expanded, translated, or lightly edited before publication, weakening the lexical, syntactic, and local discourse cues used by many existing detectors. We introduce \textbf{M}atched \textbf{C}onditional-\textbf{R}esponse \textbf{P}robing (\textbf{MCRP}), a frozen-LLM probing framework that measures how a candidate text responds when a semantically matched condition is introduced, removed, or replaced. For each candidate, the frozen probe LLM first generates a short semantic condition and then compares token-level losses and prompt--target attention measurements under matched, null, and control conditions. It aggregates bidirectional conditioned alignment, counterfactual sensitivity, and internal attention coupling into a probe representation, on which it trains a lightweight supervised random-forest classifier while keeping the probe LLM frozen. Across standard detection, robustness to meaning-preserving text revisions, multilingual, and multidomain evaluations, MCRP achieves consistently strong performance. Under rewriting, polishing, and expansion, it reaches 93.97\% F1 and 96.24\% ROC-AUC, outperforming the strongest evaluated baseline by 19.50 and 25.77 percentage points, respectively. Component ablations show that the response feature groups make complementary contributions to predictive performance. In the condition-control study, matched conditions consistently outperform random, mismatched, and corrupted alternatives, demonstrating a measurable incremental benefit from semantic matching.
cs.CL↗
Agentic RSR: Real-to-Sim-to-Real through Scene Reconstruction and Execution-Grounded Robot Policies
A simulation of a real robot workspace must preserve task-relevant interactions, while policies developed in it must operate on observations available to the real robot. Yet scene reconstruction and policy development are often treated separately. We present Agentic Real-to-Sim-to-Real (Agentic RSR), a framework that links scene reconstruction, policy development, and real-robot execution through the same manipulation task. Given a workspace video, a task description, and a known robot model, an agent recovers metric scale, iteratively refines the scene using visual feedback, and checks task-relevant interactions in MuJoCo. A coding agent then develops an executable policy, progressing from privileged object poses to visual observations and randomized simulation. The policy can interleave multiple observations and actions within one invocation, while the agent uses execution feedback to continue, retry, or revise its approach. A shared task-level interface carries the policy and accumulated experience to the real robot, where fresh observations and safety checks guide execution. Using Claude Opus 5.5 through DeepSeek Harness (DSH), all 18 scenes across two robots pass the joint visual check; mean four-view Depth MAE against reference depth estimates is 0.0808 m, mean Lab $ΔE_{76}$ is 8.01, and mean grayscale SSIM is 0.7338. In real-robot experiments, the aggregate task success rate reaches 80% of the simulation task success rate, indicating substantial retention of simulated performance on hardware. Code and reconstructed scene data will be made publicly available.
cs.RO↗
A Resource-Aware Behavior Reconstruction and Hierarchical Semantic Learning Framework for Host Intrusion Detection
System calls (syscalls) record key interactions between running programs and the operating system kernel, providing fine-grained and minimally intrusive data for host-based intrusion detection systems (HIDS) deployed in cloud and other modern computing environments. However, existing methods often model syscalls in their original execution order, where sequences from different processes are interleaved, making informative patterns difficult to extract and raising two questions: whether raw syscall sequences can be reorganized in a way that yields more discriminative representations, and how complex attack patterns can be effectively learned from the reorganized sequences. We propose ReSHID, a resource-aware behavior reconstruction and hierarchical semantic learning framework for host intrusion detection. It reconstructs semantically continuous sequences by leveraging syscall semantic invariants to cast subject identity and relationship resolution across PID namespaces as a bipartite matching problem and tracking file descriptor (FD) lifecycles to associate descriptors referring to the same resource. Additionally, features extracted from these sequences are organized into a lightweight subject behavior graph incorporating inter-subject relationships, where GATv2 captures key coordination patterns to model complex attacks involving multiple subjects. Experimental results show that sequence reconstruction combined with the detection method can improve HIDS performance. Even with a lightweight linear classifier, the proposed method achieves the best results among all compared methods in terms of F1-score (98.64%), ROC-AUC (99.80%), and PR-AUC (98.10%), while reducing the number of n-gram features by approximately 75.2% and 44.1% compared with the raw sequences and MGFE, respectively.
cs.CR↗
KryptoPilot: An Open-World Knowledge-Augmented LLM Agent for Automated Cryptographic Exploitation
Capture-the-Flag (CTF) competitions play a central role in modern cybersecurity as a platform for training practitioners and evaluating offensive and defensive techniques derived from real-world vulnerabilities. Despite recent advances in large language models (LLMs), existing LLM-based agents remain ineffective on high-difficulty cryptographic CTF challenges, which require precise cryptanalytic knowledge, stable long-horizon reasoning, and disciplined interaction with specialized toolchains. Through a systematic exploratory study, we show that insufficient knowledge granularity, rather than model reasoning capacity, is a primary factor limiting successful cryptographic exploitation: coarse or abstracted external knowledge often fails to support correct attack modeling and implementation. Motivated by this observation, we propose KryptoPilot, an open-world knowledge-augmented LLM agent for automated cryptographic exploitation. KryptoPilot integrates dynamic open-world knowledge acquisition via a Deep Research pipeline, a persistent workspace for structured knowledge reuse, and a governance subsystem that stabilizes reasoning through behavioral constraints and cost-aware model routing. This design enables precise knowledge alignment while maintaining efficient reasoning across heterogeneous subtasks. We evaluate KryptoPilot on two established CTF benchmarks and in six real-world CTF competitions. KryptoPilot achieves a complete solve rate on InterCode-CTF, solves between 56 and 60 percent of cryptographic challenges on the NYU-CTF benchmark, and successfully solves 26 out of 33 cryptographic challenges in live competitions, including multiple earliest-solved and uniquely-solved instances. These results demonstrate the necessity of open-world, fine-grained knowledge augmentation and governed reasoning for scaling LLM-based agents to real-world cryptographic exploitation.
cs.CR↗
Matched Excess-Outranker Regularization for Candidate-Set Interference in Continual Knowledge Graph Embedding
Continual knowledge graph embedding updates entity and relation representations as a graph grows. Existing methods primarily address catastrophic forgetting, but entity admission also changes the candidate universe of every compatible query. A historical answer can therefore lose rank even when its score and its ordering among old entities are preserved. We formalize this effect as candidate-set interference and introduce Matched Excess-Outranker Regularization (MEOR), a host-level objective that compares smooth answer-relative newcomer pressure with score-blind, structurally matched old references. Its one-sided penalty acts only when newcomer competition exceeds the matched reference, preserving the host learner's signal for legitimate new entities. Across eight paired runs on ENTITY-ComplEx, MEOR improves historical current-universe mean reciprocal rank (MRR) by 0.0057 over replay and reduces candidate-set interference by 0.0055, with one-sided 95% lower bounds of 0.0052 and 0.0051, respectively. It satisfies the preservation criteria for old-universe ranking and newcomer acquisition and improves historical current-universe MRR over persistent calibration, matched maximum regularizer (MMR), and unmatched old regularizer (UOR). Direct ablations support each component of its reference construction and aggregation. Adding MEOR also improves historical ranking in all ten reported FBInc-S and FBInc-L host and backbone settings, with every paired 95% confidence interval excluding zero. These results establish candidate admission as a distinct source of continual rank loss and show that it can be controlled without replacing the underlying embedding architecture or continual learner.
cs.AI↗
ASCon: A Direction-Aware Reciprocal Agent--Step Contextualization Model for Failure Attribution in Multi-Agent Systems
Failure attribution in LLM-based multi-agent systems (MAS) aims to answer who caused failures, when they occurred, and why by identifying responsible targets including faulty agents, erroneous steps, and failure modes. Existing methods have primarily focused on developing dedicated models for specific attribution targets, with limited attention to the evidential dependencies among them. Despite these attribution targets are different, they rely on common diagnostic evidence from MAS trajectories, including task constraints, agent roles, behavioral histories and inter-agent interactions. This commonality motivates us to develop a unified representation model that aggregates the trajectory evidence into individual agent and step representations, which can subsequently be adapted to different attribution targets. Accordingly, we propose ASCon, a direction-aware reciprocal \textbf{A}gent--\textbf{S}tep \textbf{Con}textualization model for multiple failure attribution targets. ASCon introduces direction-aware graph attention to model execution context, masked step-to-agent attention to construct behavior-aware agent representations, and agent-conditioned step contextualization to incorporate agent context back into step representations. The resulting contextualized representations enable different attribution targets through lightweight target-specific heads. Experiments show that ASCon can improve faulty-agent detection by 5.83\%+ in micro-accuracy, faulty-step detection by 10.63\%+ in micro-accuracy, and failure-mode detection by 14.73\%+ in Macro-F1. Meanwhile, it can also substantially enhance the LLM-based methods' attribution capabilities in out-of-domain scenarios.
cs.MA↗
Unordered Landmark Visual Navigation
Image-goal navigation is a fundamental capability for embodied AI, yet its practical deployment is strained by strong prior assumptions. Existing methods predominantly rely on temporally ordered video streams or auxiliary sensors (e.g., depth, LiDAR) to maintain spatial consistency. These sequential and multimodal dependencies severely restrict scalability, especially when deploying robots using crowd-sourced or pre-recorded unordered image collections. When temporal priors are removed, current methods struggle with severe perceptual aliasing, noisy associations, and catastrophic mapping failures. To address this underexplored challenge, we propose Unordered Landmark Visual Navigation (ULVN), a unified RGB-only framework free from temporal and odometric priors. ULVN systematically mitigates error accumulation by integrating mapping, localization, and planning. Specifically, it constructs a robust 2D topological map directly from unstructured images via calibrated geometric verification and maximum spanning forest refinement. For closed-loop execution, ULVN abandons sequential heuristics, utilizing a graph-based belief propagation filter with entropy-adaptive fusion for global localization and dynamic subgoal planning. Extensive experiments in simulation and real-world deployments demonstrate that ULVN significantly outperforms state-of-the-art methods.
cs.RO↗
UniSHARP: Universal Sharp Monocular View Synthesis
In this work, we focus on extending SHARP, the popular photorealistic view synthesis method, for universal monocular rendering across a continuum of camera systems, from conventional perspective cameras to wide-field-of-view, fisheye and omnidirectional panoramic settings. To overcome the pinhole-specific assumptions of SHARP, our key idea is to align various images in a unified omnidirectional latent space. Thus, we propose UniSHARP, which performs implicit alignment in both feature and Gaussian spaces. Specifically, Gaussian primitives are arranged along rays and radial distances in a ray-based universal representation, while 2D semantic and 3D spatial features extracted from UniK3D-inspired encoders are jointly decoded to generate the complete Gaussian cloud. To comprehensively evaluate our method, we construct a benchmark covering diverse imaging systems across various scenes. The benchmark is further stratified by field of view (FoV) to enable fine-grained assessment of the universal monocular rendering task. Extensive experiments on the proposed benchmark demonstrate the effectiveness of UniSHARP, outperforming alternative methods by a large margin. The project page can be found at: https://insta360-research-team.github.io/Unisharp-website/
cs.CV↗
Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when updates drift off the training manifold. We propose Fisher Preserving Guidance with Outer Product Span Projection, a training-free inference method that avoids large Fisher drift associated with off-distribution actions while optimizing a task objective. Our method computes the Fisher-preserving update via a low-rank Jacobian factorization, requiring only a single backward pass per step and enabling real-time use. We further introduce Truncated Fisher Denoising Sensitivity as an uncertainty signal and use it for robust multi-sample action blending. Experiments on toy and realistic navigation benchmarks, including Maze2D with TSDF-based guidance, PushT with official Diffusion Policy weights, and visual navigation in simulation and on real robots, demonstrate consistent improvements in performance over strong diffusion-policy baselines without additional training.
cs.RO↗
Learning Reference-Guided Exposure Correction with Hybrid Illumination Characteristics
We present HICNet, a reference-guided exposure correction framework. A lightweight, content-agnostic encoder distills each image into a compact illumination embedding capturing regional brightness, edge contrast, and higher-order luminance moments. The embedding difference between a source and its reference drives a multi-scale modulation network that combines FiLM-based global adjustment with Photometric Channel Rebalancing for fine-grained, illumination-aware spectral gating, producing exposure-matched outputs while faithfully preserving scene details. A cross-batch contrastive loss orders the illumination manifold, bolstering robustness to diverse lighting conditions. Trained without ground truth or intrinsic decomposition, HICNet attains better accuracy on public benchmarks and generalizes well to entirely unseen scenes.
cs.CV↗
DACP: A Scientific Data Access and Collaboration Protocol
Scientific computing is rapidly entering a data-intensive era. However, existing general-purpose network protocol stacks face limitations in eliminating data silos and improving data accessibility and interoperability, making it difficult to effectively meet the demands of emerging paradigms such as AI4Science. To address these challenges, we propose the Data Access and Collaboration Protocol (DACP). DACP defines the Streaming Data Frame (SDF) as its core data model. Through Unified Resource Identification, columnar stream framing, and a reverse supply mechanism, DACP enables data discovery, in-situ computation, and the streaming return of results across scientific data centers, thereby facilitating efficient cross-domain collaboration. Furthermore, this paper introduces faird, a reference server implementation of DACP. This work provides a viable path for building scalable and collaborative scientific data infrastructures.
cs.NI↗
EvoJail: Evolutionary Diverse Jailbreak Prompt Generation for Large Language Models
As LLMs continue to shape real-world applications, automated jailbreak generation becomes essential to reveal safety weaknesses and guide model improvement. Existing automatic jailbreak generation methods have not yet fully considered two important aspects: adaptability to evolving safety-finetuned models, which affects their effectiveness on newer model versions, and diversity in generated prompts, which can cause narrow or repetitive attack patterns. To address these issues, we propose EvoJail, an instruction-fusion-driven evolutionary jailbreak generation framework that formalizes jailbreak prompt generation as a multi-objective black-box optimization problem and leverages the principles of evolutionary algorithms to search for jailbreak prompts that can adapt across different model versions and exhibit diverse attack patterns. Specifically, EvoJail integrates jailbreak prompt generation into an iterative evolutionary loop, where at each iteration candidate prompts are evaluated directly against the target model and then selected and varied based on the target model's responses, enabling the generation process to continuously adapt to model updates. To enhance diversity, EvoJail introduces field-aware instruction fusion to construct diverse starting points and incorporates diversity-aware objectives into the evolutionary fitness function, guiding the search toward prompts with richer semantic variation, while further designing multi-level LLM-based mutation operators that modify prompt structures at different granularities to promote structural diversity throughout the evolutionary process. Results demonstrate that EvoJail has stronger adaptability and can achieve over $93\%$ attack success rate and more than $5.6\%$ improvement in diversity metrics over state-of-the-art methods.
cs.NE↗
One Jailbreak, Many Tongues: Learning Language-Insensitive Intention Representations for Multilingual Jailbreak Detection
Large language models (LLMs) are increasingly deployed in applications for global multilingual users, yet safety training remains concentrated in dominant languages and has not progressed in parallel with multilingual capability, creating exploitable gaps for jailbreak attacks. Current jailbreak defenses are largely developed and evaluated in dominant languages, and their effectiveness is limited by the scarcity of aligned multilingual supervision and representations dispersion caused by language variation. To address this issue, we propose MLJailDe, a multilingual jailbreak detection framework designed to improve both multilingual robustness and cross-lingual generalization. MLJailDe first introduces a multilingual back-translation data augmentation algorithm to construct a semantically consistent and functionally effective dataset spanning 11 languages, consisting of 2,232 benign and 1,239 jailbreak samples. On this basis, MLJailDe employs relative-distance constraints to reduce cross-lingual representation dispersion and encourage jailbreak prompts with similar intent to form consistent clusters across languages, while an imbalance-aware classification objective is further used to alleviate class imbalance and learn more reliable multilingual decision boundaries. Experimental results show that MLJailDe outperforms state-of-the-art baselines across multiple languages, achieving an F1 score of 98.5\%, and obtains an average F1 score of 97.1\% on unseen languages, demonstrating strong effectiveness and cross-lingual generalization.
cs.CL↗
STRNet: Visual Navigation with Spatio-Temporal Representation through Dynamic Graph Aggregation
Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches have made significant progress, they often focus on improving policy heads or decision strategies while relying on simplistic feature encoders and temporal pooling to represent visual input. This leads to the loss of fine-grained spatial and temporal structure, ultimately limiting accurate action prediction and progress estimation. In this paper, we propose a unified spatio-temporal representation framework that enhances visual encoding for robotic navigation. Our approach extracts features from both image sequences and goal observations, and fuses them using the designed spatio-temporal fusion module. This module performs spatial graph reasoning within each frame and models temporal dynamics using a hybrid temporal shift module combined with multi-resolution difference-aware convolution. Experimental results demonstrate that our approach consistently improves navigation performance and offers a generalizable visual backbone for goal-conditioned control. Code is available at \href{https://github.com/hren20/STRNet}{https://github.com/hren20/STRNet}.
cs.CV↗
Large language models for spreading dynamics in complex systems
Spreading dynamics is a central topic in the physics of complex systems and network science, providing a unified framework for understanding how information, behaviors, and diseases propagate through interactions among system units. In many propagation contexts, spreading processes are influenced by multiple interacting factors, such as information expression patterns, cultural contexts, living environments, cognitive preferences, and public policies, which are difficult to incorporate directly into classical modeling frameworks. Recently, large language models (LLMs) have exhibited strong capabilities in natural language understanding, reasoning, and generation, enabling explicit perception of semantic content and contextual cues in spreading processes, thereby supporting the analysis of the different influencing factors. Beyond serving as external analytical tools, LLMs can also act as interactive agents embedded in propagation systems, potentially influencing spreading pathways and feedback structures. Consequently, the roles and impacts of LLMs on spreading dynamics have become an active and rapidly growing research area across multiple research disciplines. This review provides a comprehensive overview of recent advances in applying LLMs to the study of spreading dynamics across two representative domains: digital epidemics, such as misinformation and rumors, and biological epidemics, including infectious disease outbreaks. We first examine the foundations of epidemic modeling from a complex-systems perspective and discuss how LLM-based approaches relate to traditional frameworks. We then systematically review recent studies from three key perspectives, which are epidemic modeling, epidemic detection and surveillance, and epidemic prediction and management, to clarify how LLMs enhance these areas. Finally, open challenges and potential research directions are discussed.
physics.soc-ph↗
A Liquid Density Sensor Based On AlN Piezoelectric Micromachined Ultrasonic Transmitter Insensitive to Liquid Viscosity
To overcome the limitations of conventional liquid density sensors, MEMS-based approaches have been developed. However, the viscosity-density coupling effect often compromises accuracy in high-viscosity liquids. Although various decoupling strategies have been proposed, they often suffer from complexity and inefficiency. This study presents an AlN-based PMUT liquid density sensor insensitive to viscosity interference. The sensor employs two identical PMUTs, functioning as transmitter and receiver, respectively. An ultrasonic wave generated by the transmitter is reflected by the liquid surface and detected by the receiver. Theoretical calculations demonstrate that when the excitation frequency remains constant, the amplitude of the received electrical signal exhibits a specific relationship with liquid density, while the viscosity-induced signal amplitude variation becomes negligible. Therefore, after calibrating the PMUT liquid density sensor by fitting the relationship between received signal amplitude and density across 0-100% glycerol solutions, the device can measure densities within this range regardless of liquid type and viscosity. Experimental results show that the sensor can accurately measure the density of the propylene glycol solutions using the glycerol-calibrated fitting formula, with the calculated density error rate between measured propylene glycol solutions using the glycerol-calibrated fitting formula and actual densities remains below 0.125%, demonstrating measurement insensitivity to viscosity differences between the two liquids. The proposed method achieves maximum error rates of less than 2.5% in high-viscosity environments (80%-100% glycerol solutions), which is 20% that of other density measurement methods based on resonant frequency. The developed PMUT liquid density sensor exhibits a measurable density range from 0.789 to 1.261 g/cm3.
physics.app-ph↗