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2482documentos

209últimos 7 días

arXiv AI Papers

Towards Zero-Shot Task Transfer with Neurosymbolic World Models

State-of-the-art model-based reinforcement learning methods learn neural world models that allow policy improvement by planning in a latent space, without assumptions on the structure of the underlying environment. While expressive, these models are generally task-dependent: they learn uninterpretable latent representations that are tied to the training task and thus hard to generalize to new tasks. In this work, we present a novel world model formulation where the reward prediction only depends on a subset of structured, symbolic components of the whole latent state. Decoupling observation reconstruction and reward prediction allows us to learn world models that can adapt zero-shot, i.e. without further environment interactions, to new reward functions defined over the same symbolic state space. We discuss the main advantages and challenges of learning these neurosymbolic world models and demonstrate the strong generalisation properties of our approach over purely neural methods.

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arXiv AI Papers

Adaptive Policy Portfolios for Robust Markov Decision Processes

Robust Markov decision processes optimize one policy against a set of plausible transition functions. This can be conservative when the unknown dynamics are fixed and become partially identifiable after deployment. We study adaptive policy portfolios: finite sets of memoryless randomized policies synthesized offline and paired with a lightweight online selector. Robust regret is a natural measure of portfolio quality: for each plausible environment, it measures the loss of the best portfolio member relative to the policy that would have been optimal had that environment been known. Related regret objectives were studied by Ghavamzadeh et al. (2016) with an emphasis on approximations and relaxations for safe policy improvement. We give a complexity-theoretic account of portfolio certification and synthesis. Certifying a given portfolio is {R}-complete already for deterministic portfolios in acyclic (s,a)-rectangular RMDPs. Synthesizing a portfolio of unary-bounded size is {R}-complete for general rational polytopes, even with fixed discount and acyclic dynamics. The single-policy case is already hard, both combinatorially and algebraically. Finally, we present an offline portfolio construction that is amenable to runtime specialization.

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arXiv AI Papers

Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memory

Long-horizon robot manipulation chains many contact-rich skills into one multi-stage task. Vision-language-action (VLA) models increasingly master the individual skills, yet the chain still fails: errors compound beyond the policy's ability to correct, and one subtask silently constrains the next. A promising recipe freezes the VLA and puts an LLM agent in charge: it plans in language, moves in free space with analytic primitives, invokes the VLA only for contact-rich segments, and writes adaptation into language memory. Applied to long horizons, it breaks twice. (1) Competence comes from whole-task exploration at test time, whose cost is multiplicative in stages: if one stage needs T episodes, a K-stage task needs about T^K, and a failure does not reveal which stage caused it. (2) It has no representation of transitions: the VLA primitive carries an exit but no entry condition, so a subtask can succeed in a form its successor cannot use. We present BATON. Against (1), BATON makes the subtask the unit of exploration: each is explored in the cheap short-horizon regime and its solution stored in memory; a long-horizon trajectory is then composed from these solutions rather than discovered whole. Cost becomes additive (T*K) and every failure is attributed to a single stage. Against (2), BATON equips exploration with a transition-aware memory. Within a subtask, a verifier agent governs the invocation transition: the VLA is called only after the wrist view confirms the scene is ready. Across subtasks, a handoff transition restores an entry state disturbed by the predecessor's residue, and a lookahead transition selects the strategy whose outcome the successor can inherit. No parameters are updated. On the long-horizon benchmark RoboMemArena, BATON improves task success by 11.6% and cumulative success by 14.9% over the SoTA.

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arXiv AI Papers

Q-based Variational Inverse Reinforcement Learning

The development of safe and beneficial AI requires that systems can learn and act in accordance with human preferences. However, explicitly specifying these preferences by hand is often infeasible. Inverse reinforcement learning (IRL) addresses this challenge by inferring preferences, represented as reward functions, from expert behaviour. We introduce Q-based Variational IRL (QVIRL), a novel Bayesian IRL method that recovers a posterior distribution over rewards from expert demonstrations via primarily learning a variational distribution over optimal Q-values. Unlike previous approaches, QVIRL combines scalability with uncertainty quantification, important for safety-critical applications as well as active learning. We demonstrate QVIRL's strong performance in apprenticeship learning across various tasks, including gridworlds, Lunar Lander, the Highway Environment, and two ATARI games both with static expert data and with active learning. It is the first method for Bayesian IRL that demonstrates training from raw pixel observations.

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arXiv AI Papers

What Do Compliance Detectors Read? An Audit of Activation Probes and Guard Models

Regulatory compliance monitoring in deployed language models is increasingly implemented as a legal and audit control, checking model outputs against written rules spanning data protection, healthcare, financial regulation, and platform policy. Such monitoring is meaningful only if a detector's verdict depends on the stated rule rather than on surface features of the scenario. We show this condition fails across the current class of compliance detectors, a failure we call rule blindness. Deleting, permuting, or substituting the governing rule leaves detection accuracy unchanged for every guard and activation probe we test, including a policy-conditioned guard that correctly cites the governing clause yet barely changes its verdict when that clause is swapped for its permissive counterpart. A purpose-built benchmark crossing two rules with two scenarios, so that neither alone predicts the label, confirms the failure under a design no prior benchmark rules out, and shows that step by step reasoning, not any fast detector we test, is what escapes it. Auditing at scale requires a retraining-free detector, so we introduce the Internal Compliance Score (ICS): a training-free activation readout calibrated from ten labelled pairs and scored by a single projection. We hold ICS to the same scrutiny as the guards it audits: a pre-registered criterion for beating trivial baselines is not met, and a bag-of-words model matches its pooled generalisation exactly. It remains useful because it is inexpensive, letting us audit four deployed guard models, an 8B zero-shot judge, and thirteen benchmarks, and it raises the mechanically verified pass rate when used to rank candidate responses, though an adaptive white-box attack removes this gain. We release the counterfactual protocol and crossed-rule benchmark so rule blindness can be tested in future probe and guard claims.

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arXiv AI Papers

HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL

Humanoid robots hold great promise as general-purpose agents in human-centered environments, yet generalist vision-language-action (VLA) foundation models are not readily applicable to humanoid whole-body loco-manipulation. The high dimensionality and interdependence of humanoid motions make it challenging for conventional single-stage VLA architectures to coordinate locomotion, waist posture, and dual-arm manipulation effectively. Moreover, policies trained through offline behavior cloning can remain suboptimal during real-world deployment. Although online reinforcement learning can refine policies through real-world interaction, directly tuning large VLA backbones demands excessive computation and may introduce safety risks during real-robot exploration. To address these bottlenecks, we introduce HAF (Humanoid Adaptation Framework), a two-part framework consisting of HAF-VLA and HAF-Steer that transfers off-the-shelf generalist VLA foundation models to humanoid whole-body loco-manipulation. HAF-VLA is a hierarchical action-flow generator built on a pretrained flow-matching VLA. It splits full-body action denoising into three sequential stages with stage embeddings and cross-stage KV caches that retain kinematic dependencies, avoiding incoherent whole-body actions from one-shot generation. On top of the frozen HAF-VLA, HAF-Steer is a latent offline-to-online RL pipeline that leverages flow-matching invertibility and DCT-based dimensionality reduction to restrict RL optimization to a compact noise subspace and train a regularized SAC policy. This avoids updating the large VLA backbone and enables efficient real-world policy refinement. Evaluated on seven real-world humanoid loco-manipulation tasks, HAF surpasses vanilla single-stage VLA baselines and improves whole-body coordination and task performance. Project website: https://grange007.github.io/HAF .

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arXiv AI Papers

Model Hypnosis: Strong control of AI via additive subliminal effects

We demonstrate that AI models are broadly susceptible to a phenomenon we call model hypnosis, in which individually weak and seemingly irrelevant cues in the prompt can be systematically combined to strongly control model behavior. Model hypnosis occurs across model families and scales, including in frontier reasoning models, and hypnotic prompts can transfer between models. Because the model is controlled by inconspicuous textual choices, such as paraphrases and typos, model hypnosis presents new challenges and avenues for AI safety, and is a major hurdle for AI interpretability.

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arXiv AI Papers

Policy Iteration with Human Feedback: Bringing Post-Training RL to In-context Learning

Generative pretraining established reusable task representations; later work on language-based task conditioning and in-context learning showed that a fixed model could adapt its behavior from instructions and demonstrations. Policy Iteration with Human Feedback (PIHF) builds on this development and the recurrent evaluate-and-improve structure of generalized policy iteration. PIHF uses a pretrained language model as its execution substrate and moves persistent revision to a versioned natural-language policy and tool set. A language-model critic and clinical expert review complete-panel reasoning and tool-use trajectories to localize recurrent failures and form candidate revisions; the expert may reinterpret the evidence and retains authority over admission and rollback, while Recall@1 and Recall@5 validate outcomes after candidate execution. Across cumulative ablations and ultra-rare-disease benchmarks, a PIHF-derived policy improved Recall@1 in one proprietary executor and three open-weight executors spanning 3 to 49 billion active parameters. Gains were 32.7 percentage points for GPT-5.4 and 31.1 points for Qwen3.6-35B, a difference of 1.7 points. These results support the feasibility of using pretrained language models as fixed-weight execution substrates for expert-guided policy development in rare-disease diagnosis.

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arXiv AI Papers

When State Becomes an Attack Surface: State-Semantic Injection in LLM-Driven Embodied Agents

Large Language Models (LLMs) have demonstrated capabilities in in-context learning, task decomposition, step-by-step reasoning, and code generation, driving their gradual evolution from text generation models into the core of agents capable of perceiving environments, invoking tools, and executing tasks. Traditional LLM Agents typically obtain information through webpages, documents, databases, or external tools and generate corresponding invocation sequences according to user goals; when this technology is further integrated with robotic systems, large language models begin to undertake functions such as task understanding, high-level planning, and behavioral decision-making. SayCan combines the task reasoning capability of language models with the affordances of robotic skills, while Code as Policies and ProgPrompt generate robot task plans through policy code and programmatic prompting, respectively, and VoxPoser uses language models and vision-language models to construct three-dimensional value maps to guide robotic manipulation {6,7,8,9}. Vision-language-action models such as PaLM-E, RT-2, and GR00T N1 further strengthen the connection among language, visual perception, and robotic actions {10,11,12}. In such LLM-driven embodied agents, the model not only needs to understand user instructions, but also needs to combine scene states, object attributes, spatial relations, and execution feedback to complete task grounding, and then hand the generated action plan to skill libraries, motion planners, or controllers for execution.

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arXiv AI Papers

Cross-Sign Language Transfer Learning Using Domain Adaptation with Multi-scale Temporal Alignment

Sign language serves as a vital means of communication for individuals with hearing impairments, yet recognition resources for the over 100 distinct sign languages are severely lacking. In response, we present our work on sign language recognition using transfer learning and the domain adaptation method TA3N, which utilizes the Temporal Relational Network (TRN) module for aligning multi-scale temporal relations. Our findings highlight the superior performance of Domain Adaptation to neural network-based transfer learning, particularly in improving recognition of American Sign Language (ASL). Our research also identifies the effectiveness of aligning shorter-term temporal features between source and target domains. In addition to using RGB, we conducted experiments using Optical Flow mode for the sign language samples, ultimately determining that RGB outperforms Optical Flow in the majority of cases. Our work aims to improve accessibility and communication for individuals who rely on sign language as their primary mode of communication.

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arXiv AI Papers

When Agents Coordinate: Measuring Coordination in Multi-Agent AI Coding

We study how teams of AI coding agents coordinate while solving programming tasks. Current evaluations usually report whether the agents complete the task and how much the run costs, leaving the coordination inside the team largely unmeasured. We introduce an instrument to measure this coordination. Each run is represented as a temporal network in which agents and files are nodes, and messages, file writes, and file reads are timestamped directed edges with an associated cost. We apply this instrument to 1902 runs, each evaluated with a fixed test suite, across configurations that vary the team size, the team structure, and the file policy. The resulting networks show how coordination changes as teams grow and as the work changes. Direct messaging initially increases close to quadratically with the number of agents, with much of this growth coming from an early round of introductions. As the teams grow further, this increase levels off in the largest teams we study, where agents increasingly communicate through broadcast messages. The task also shapes the network that emerges. Work built around a shared specification produces dense, highly connected teams, while pipeline tasks produce sparse networks organised around local interfaces. Shared files can replace repeated 1-to-1 communication, cutting output tokens by about 42% at eight agents on message-heavy work, while adding overhead when files already carry the coordination. Naming one agent as coordinator creates no communication hub and provides no reliable improvement in success. We also observe an unprompted tendency for agents to seek out hidden grading material. We repeat the key experimental conditions in a sealed environment, replacing the hidden material with marked placeholder files. Across 244 additional runs, agents still reach for it in four fifths of runs, while the coordinator and file-channel findings reproduce.

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arXiv AI Papers

ClawGym II: Exploring Black-Box RL on Agent Harness

Agent harnesses have substantially improved performance on long-horizon tasks by coordinating agent interactions with the environment. However, reinforcement learning through complex harnesses remains largely unexplored, as scaling such training to long-horizon agent tasks introduces fundamental challenges. In this work, we present a unified black-box RL framework for stable and scalable optimization of general agents through complex harnesses. Concretely, we first build a sandbox-based execution infrastructure that isolates task environments and harnesses within temporary sandboxes for large-scale concurrent rollouts. We then decouple policy optimization from opaque harness execution and place a serving proxy at the model boundary to capture model calls. To reconstruct multi-turn trajectories and improve training efficiency, we organize the captured calls into prefix trees and further adapt both critic-based PPO and critic-free GRPO to optimize over the recovered tree structure. Meanwhile, we maintain training-inference consistency throughout the optimization process. Finally, we introduce mix-harness training, allowing a single model to be jointly optimized by heterogeneous harnesses. With Qwen3-30A3B, black-box RL improves Pass@1 on ClawGym-Bench by 9.98 and 14.81 points through OpenClaw and Claude Code, respectively, while remaining stable over 200-400 optimization steps. Moreover, the framework yields consistent gains on more challenging tasks such as JobBench and OfficeQA. Overall, our framework enables effective, stable, and scalable optimization of general agents through black-box harnesses, supporting unified training across heterogeneous execution systems.

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arXiv AI Papers

Neurosymbolic Embodied Agents

Language and vision-language models generate plausible embodied plans but do not guarantee executability, as their outputs can violate environment dynamics or act on incorrectly grounded entities. We present a neurosymbolic agent that factors long-horizon household tasks into task-directed visual exploration and constrained symbolic planning. In the first phase, a vision-language model and exploration harness acquire goal-relevant predicates and instance bindings from egocentric observations and grounded interactions, producing a symbolic initial state. In the second, a PDDL transition model restricts decoding to tokens that extend applicable actions. Monte Carlo tree search then evaluates executable continuations using a domain-independent planning heuristic. The resulting plans are executable by construction under the transition model, with transfer to the environment conditioned on correct visual grounding. On VirtualHome and ALFWorld, open 4B-27B models exceed 90% success in both environments, and our smallest agent substantially outperforms a 27B direct visual policy in each. Constraints and search prove complementary rather than interchangeable: in ALFWorld either alone solves under a third of tasks, whereas their combination solves over 95%. The method also uses several times fewer generated tokens than extended thinking and far fewer model-visible images than direct interaction, and residual failures localize to state acquisition rather than plan generation without any specialized training.

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arXiv AI Papers

GRIP: Grounded Reasoning via Information-Restricted Premises

High-capacity encoders in retrieval-augmented generation (RAG) can let the query dominate the latent state, leaving retrieved evidence functionally irrelevant. We call this failure mode query dominance. To address it, we introduce GRIP (Grounded Reasoning via Information-Restricted Premises), which imposes capacity asymmetry: the decoder keeps full-dimensional access to the query, while retrieved evidence passes through a severe stochastic bottleneck. This forces the evidence channel to encode only the residual information unavailable from the query. Across five reasoning benchmarks, GRIP outperforms strong iterative baselines, cuts a query--latent mutual-information diagnostic by roughly 30(14.8 0.47 bits), and reduces hallucination by 73\%. Residual-alignment analysis further shows that the bottleneck output occupies subspaces less aligned with the query than baseline representations.

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arXiv AI Papers

Beyond L_2: Generalizing Abductive Latent Explanations to Diverse Prototype-Based Architectures

Prototype-based neural networks are hailed as interpretable-by-design architectures. Recently, Abductive Latent Explanations (ALE) were introduced to provide formal, mathematically guaranteed explanations that leverage the intrinsic structure of these networks to ensure both predictive safety and human readability. ALEs rely on computing tight bounds on latent space distances to produce formal explanations. However, existing ALE formulations are rigidly confined to Euclidean latent spaces. This leaves a critical gap: modern state-of-the-art architectures increasingly rely on non-Euclidean representations - such as spherical metrics, Gaussian densities, and dimensional projections - rendering current formal explanation methods incompatible. In this work, we generalize the ALE framework to support non-Euclidean prototype architectures. For each geometric variant, we systematically derive how to either map the architecture to existing bounds or construct novel, architecture-specific bounding algorithms. We validate our theoretical constructions by computing subset-minimal formal explanations on fully trained image classifiers. By unifying these diverse models under a single formal framework, we enable the first rigorous, cross-architecture comparison of their interpretability.

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