arXiv:2603.05638v1 Announce Type: new Abstract: Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD control) often rely on the assumption of full actuation with no actuator limits. This paper presents a general control framework for task-space regulation and tracking of underactuated soft robots under bounded inputs. The method enforces a rapidly exponentially stabilizing control Lyapunov […]

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arXiv:2510.08335v2 Announce Type: replace Abstract: Following the wide-spread adoption of machine learning models in real-world applications, the phenomenon of performativity, i.e. model-dependent shifts in the test distribution, becomes increasingly prevalent. Unfortunately, since models are usually trained solely based on samples from the original (unshifted) distribution, this performative shift may lead to decreased test-time performance. In this paper, we study the question of whether and when performative binary classification problems are learnable, via the lens of the classic PAC […]

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arXiv:2601.10905v1 Announce Type: new Abstract: Numerous offline and model-based reinforcement learning systems incorporate world models to emulate the inherent environments. A world model is particularly important in scenarios where direct interactions with the real environment is costly, dangerous, or impractical. The efficacy and interpretability of such world models are notably contingent upon the quality of the underlying training data. In this context, we introduce Action Shapley as an agnostic metric for the judicious and unbiased selection of training […]

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arXiv:2506.12842v2 Announce Type: replace-cross Abstract: The emergence of online social platforms, such as social networks and social media, has drastically affected the way people apprehend the information flows to which they are exposed. In such platforms, various information cascades spreading among users is the main force creating complex dynamics of opinion formation, each user being characterized by their own behavior adoption mechanism. Moreover, the spread of multiple pieces of information or beliefs in a networked population is rarely […]

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Large language models (LLMs) with reasoning abilities have demonstrated growing promise for tackling complex scientific problems. Yet such tasks are inherently domain-specific, unbounded and open-ended, demanding exploration across vast and flexible solution spaces. Existing approaches, whether purely learning-based or reliant on carefully designed workflows, often suffer from limited exploration efficiency and poor generalization. To overcome these challenges, we present HELIX — a Hierarchical Evolutionary reinforcement Learning framework with In-context eXperiences. HELIX introduces two key novelties: (i) a diverse […]

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Open, well-documented datasets are essential for the reproducible development of vision systems for urban utility management. This Data Descriptor presents a curated RGB object-detection benchmark of four classes associated with electrical distribution and street-level utility assets: Inspection Chamber, Overhead-to-Underground Transition, General Protection Box, and Transformer Substation. The public release contains 997 valid image-label pairs partitioned into 698 training, 150 validation, and 149 test images. Images were acquired during 2019 in multiple localities across Spain, predominantly with a mobile […]

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arXiv:2604.15368v1 Announce Type: new Abstract: LLM debugging agents that consume cloud logs and execute remediation commands are vulnerable to indirect prompt injection through log content. We present LogJack, a benchmark of 42 payloads across 5 cloud log categories, and evaluate 8 foundation models under 3 prompt conditions with 5 independent trials each (n = 160 per model per condition on 32 attack payloads). Under the active condition, verbatim command execution rates range from 0% (Claude Sonnet 4.6) to […]

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arXiv:2604.04980v1 Announce Type: new Abstract: Experimental access to real honeybee colonies requires robotic systems capable of operating within limited spatial constraints, tolerating hive-specific fouling and environmental conditions, and supporting both sensing and localized actuation without frequent hardware redesign. This paper introduces COMB, a compact, open-source, modular mechatronic platform designed for in-hive experiments within standard observation-hive frames. The platform integrates a XY positioning stage, a Movable Access Window (MAW) for sealed tool access through the hive boundary, interchangeable payload […]

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Traffic sign detection in autonomous driving faces challenges including multi-scale objects, complex backgrounds, and limited edge-computing power. To address insufficient multi-scale feature representation and high false negatives for small traffic signs in YOLOv8n, this study proposes an improved algorithm integrating the VoVGSCSP module with a Multi-scale Contextual Attention (MCA) mechanism. The original C2f module is replaced with VoVGSCSP, enhancing feature representation through parallel residual branches and cross-stage connections. A lightweight neck, SlimNeck, is designed and combined with MCA, […]

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Zero-shot reinforcement learning (RL) algorithms aim to learn a family of policies from a reward-free dataset, and recover optimal policies for any reward function directly at test time. Naturally, the quality of the pretraining dataset determines the performance of the recovered policies across tasks. However, pre-collecting a relevant, diverse dataset without prior knowledge of the downstream tasks of interest remains a challenge. In this work, we study $textit{online}$ zero-shot RL for quadrupedal control on real robotic systems, building […]

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