arXiv subjects

Tianwei Zhang

Publications and source records attributed to Tianwei Zhang.

At least 19 recordsLinked to original sources

arXiv2026

Phrase-Level Robotic Guqin Performance: Bimanual Motion Planning and Audio-Tactile Interaction Monitoring

Recent advances in humanoid robotics and embodied intelligence have enabled robots to perform increasingly complex manipulation tasks. However, musical instrument performance remains a formidable benchmark, demanding not only collision-free trajectory execution but also precise contact timing, asymmetric bimanual coordination, and target acoustic outcomes on physical instruments. The guqin, a seven-string fretless zither, presents unique manipulation challenges due to its millimetric string spacing, transient right-hand plucking, and sustained left-hand harmonic contacts. In this work, we present a physical heterogeneous dual-arm robotic system for phrase-level autonomous guqin performance. We formulate guqin playing as a hybrid discrete--continuous execution problem and develop a hierarchical planning framework that coordinates working finger assignment, configuration continuity, obstacle avoidance, and tight bimanual contact schedules across consecutive musical events. The system integrates vision-guided instrument localization, tactile-based harmonic contact monitoring, and auditory feedback-informed plucking parameter calibration. Real-world experiments on a 25-event phrase demonstrate that the system reliably executes coordinated open-string and seventh-hui harmonic sequences on a physical guqin, achieving 93.6% and 96.8% event correctness across repeated trials.

cs.RO↗

arXiv2026

RAPID: A Real-Time Defense Against Unauthorized Model Distillation for Text-to-Image Services

Diffusion-based text-to-image (T2I) models are increasingly used for visual content creation, making their generation capability a valuable intellectual property asset. However, this capability is vulnerable to black-box output-based distillation, where an adversary queries the service, collects prompt-image pairs, and trains an unauthorized substitute model that mimics its generation behavior. Existing perturbation-based defenses apply sample-wise optimization to make generated images disruptive to unauthorized training, but introduce substantial computation and latency that reduce the usability of online T2I services. A natural solution is to integrate defensive perturbations into the VAE decoder, allowing the protected model to generate defended images directly without online sample-wise optimization. However, existing sample-wise objectives struggle to transfer to the shared decoder setting. We empirically find that a defensive shared decoder induces a substantially smaller latent shift than sample-wise optimization, suggesting that objective reachability matters more than destructiveness in this setting. To overcome this limitation, we propose RAPID, a self-referenced latent maximization framework that removes external dependencies and encourages the same model update to induce consistently disruptive effects across training samples, thereby improving reachability. We further introduce reconstruction-guided color regularization that blocks the latent shortcut and reinforces visual disruption. Extensive experiments on four T2I models and four datasets, with comparisons against five representative baselines, show that RAPID consistently degrades substitute-model generation quality while preserving service visual fidelity. Our work establishes a paradigm for real-time protection against unauthorized distillation in deployed T2I systems.

cs.CR↗

arXiv2026

Efficient Fuzzy PSI under One-Sided Assumptions

Fuzzy private set intersection (PSI) enables two parties to identify approximately matching elements between their input sets, where two elements are considered a match if their distance is at most a threshold $δ$ under a given metric. Although substantial progress has been made, existing constructions for general Minkowski distances either rely on strong two-sided geometric separation assumptions or incur substantial overhead under one-sided assumptions. In this work, we present the first concretely efficient fuzzy PSI protocols for general $L_{p\in[1,\infty]}$ distances under one-sided assumptions, relying solely on lightweight symmetric-key primitives. Our constructions support both sender-sided and receiver-sided settings. We further study sparser input distributions and present more efficient protocols tailored to this case. To reduce the overhead scaling with $δ$, we non-trivially incorporate prefix trie techniques into our protocols, achieving $O(\logδ)$ complexity for general $L_{p\in[1,\infty]}$ distances for the first time, improving upon $O((\logδ)^d)$ or $O(δ)$ complexities of prior works. Extensive experiments, across a wide range of parameter settings, show that our protocols significantly outperform prior works under the same assumptions. Specifically, against van Baarsen and Pu (EUROCRYPT'24), our protocols achieve up to $248\times$ faster computation and up to $20\times$ lower communication. Against Dang et al. (CCS'25), we achieve up to $568\times$ speedup and up to $63\times$ communication reduction. Against Bui et al. (ASIACRYPT'25), we achieve up to $4978\times$ faster computation and up to $282\times$ lower communication.

cs.CR↗

arXiv2026

ECLIPSE: Self-Evolving Stealthy Prompt Injection Attack against Long-Horizon Agentic Systems

Recently, large language model (LLM) agents, such as Codex, Claude Code, and OpenClaw, have become capable of planning and executing long-horizon tasks through repeated tool calls. This capability also creates new opportunities for prompt injection. Existing attacks either place the malicious objective in one explicit instruction, making it easy to detect, or distribute the intent across multiple execution stages, making successful completion unreliable. In this work, we propose ECLIPSE, a self-evolving and stealthy prompt-injection framework for long-horizon agentic systems. ECLIPSE combines direct user-prompt injection with indirect tool-side injection through two components. On the one hand, Stealthy Attack Trajectory Synthesis uses a sandbox to generate and iteratively verify candidate tool chains, then renders a verified chain as a natural one-shot prompt to serve as the direct instruction. Then, Tool-Chain Steering transfers this plan to the target environment through Static Workflow Encoding (SWE), which embeds state-transition cues in target-tool descriptions, and Dynamic Trajectory Correction (DTC), which supplies corrective signals when execution deviates from the planned chain. To enable systematic evaluation, we further introduce LASE-Bench, a long-horizon agent-safety benchmark with 120 malicious tasks and 198 unique tools; 96.7% of its tasks make at least five tool calls. The experimental results show that ECLIPSE is highly effective: it achieves up to 96.7% attack success without defense and 69.2% under the common safety filter, exceeding the strongest baseline by 27.5% in the defended setting. Evaluations against representative defenses further show that existing safeguards do not reliably defend it, which raises the need for more effective defenses.

cs.CR↗

arXiv2026

Auditing Chinese Web-scale Corpora via Sampled BPE Token Statistics

Chinese web pollution has surfaced in LLMs, motivating audits of upstream Chinese corpora. However, auditing such corpora faces three challenges: (1) their web-scale size makes full scan costly; (2) prior analyses are often too coarse to expose token-level pollution; (3) Chinese web pollution is implicit and rapidly changing. We propose Sampled-BPE, a lightweight token-level auditing pipeline that sample a small subset and train BPE tokenizer to surface polluted tokens. Experiments show that Sampled-BPE preserves usable estimates while substantially reducing runtime and memory: a 148.4 $\times$ speedup and a 35.8 $\times$ memory reduction induce only 4.25% relative error for pollution categories. We apply the pipeline to 11 open Chinese corpora and 6 Chinese Common Crawl snapshots from 2021 to 2026. The audit reveals widespread but uneven pollution across open corpora, as well as highly polluted and temporally shifting Chinese web content. We further release a hierarchical Chinese web token dataset with 660k+ token records, each with web context, category, and explanation fields, organized as trees to support review and tracing of pollution.

cs.CL↗

arXiv2026

INTENT-AS-A-TOOL Makes it Easy to Track Agentic Misalignment

As large language models (LLMs) are deployed as autonomous agents, safety failures increasingly involve consequential actions. We study agentic misalignment, where agents take harmful actions under goal conflicts and pressures. Using chain-of-thought (CoT) monitoring, we find that harmful execution is often preceded by intent signals in reasoning. However, post-hoc CoT labels are too coarse to show how intent changes during generation. We introduce INTENT-AS-A-TOOL, an approach that adds intent-targeted tools to give the model a dedicated channel for expressing commitment to a target behavior. The probability of calling an intent tool provides a judge-free, fine-grained signal of the model's tendency to pursue that behavior. Our results show that INTENT-AS-A-TOOL complements CoT monitoring, expands post-hoc CoT labels into dense trajectories, and identifies critical steps for online intervention. These findings suggest that action preferences are useful for tracking agentic misalignment during reasoning. Our code and data are accessible: https://github.com/RebeccaZhang22/intent-as-a-tool.

cs.CL↗

arXiv2026

Your Agentic LLMs Secretly Encode Indirect Prompt-Injection Exposure in Hidden States

Agentic LLMs are vulnerable to indirect prompt injection (IPI) attacks, e.g., malicious side-tasks hidden in external tool results. While many efforts have sought to address this threat, little is known about the internals of agentic LLMs when they are exposed to IPI attacks. For simplicity, we refer to this condition as IPI exposure. In this paper, we study IPI exposure from three perspectives. (1) Probing: Across eight models, including the 753B-parameter GLM-5.2 and the 2.8T-parameter Kimi-K3, simple linear probes trained on pre-generation hidden states can predict LLMs' IPI exposure. These probes achieve 0.90+ AUROC on unseen attacks, agent instructions, and task suites; they remain robustly predictive under adaptive attacks and in cross-lingual settings. (2) Defense: We reveal and diagnose a knowledge-action gap: post-trained LLMs encode signals predictive of IPI exposure, yet do not reliably bind these signals to safe agentic actions. We therefore introduce a probe-gated reasoning-based defense to bridge this gap at test time. On difficult AgentDojo settings, it substantially reduces attack success rate, e.g., from 34.6% to 0% on Qwen3.5-27B, and better preserves clean-task utility than the baselines. (3) Explanation: We introduce an analysis framework that identifies natural-language explanations strongly correlated with probe-captured signals. The resulting profiles differ across models: latent signals can align with either direct IPI-exposure sensing or indirect operational cues. Code is available at https://github.com/jianshuod/IPI-exposure-signal.

cs.CR↗

arXiv2026

Task-Aware Harness Provisioning for LLM Agents in Mission-Critical Infrastructure Operations

LLM agents have been widely adopted to operate mission-critical infrastructure (MCI). These agents normally rely on a harness that determines what information they can access, which tools they can use, and what actions they can take. Existing systems often expose the same comprehensive harness to every task, which may not be necessary and cause resource wastes. In this paper, we focus on the identification of optimal harness configurations, and view it as a resource-matching problem between what each task requires and what the harness provides. To measure this match, we classify MCI tasks based on the mathematical representation of the underlying system and rank harness configurations by the amount and type of information they provide. We then construct task-to-harness mappings from two sources: mining research literature and measuring controlled agent execution. Leveraging the measured mapping, we propose a new harness provisioning algorithm: map-guided escalation. It begins with a task-specific harness and expands to full provision only after a failed self-check. We evaluate our method in two representative MCI tasks: in liquid cooling, it improves the agent accuracy from 0.652 under full provision to 0.715 and achieves accuracy comparable to Reflexion with 48% fewer tokens; In power grids, full provision remains accuracy-optimal, while map-based provisioning offers lower-cost alternatives. These findings show that harness provisioning follows a domain-dependent accuracy-cost Pareto frontier rather than a universal optimum.

cs.AI↗

arXiv2026

The Model's Tell: Measuring Context-Leakage Attack Signals with Behavior Gauges

LLMs increasingly rely on external contexts, such as pre-defined system prompts or retrieved documents, to improve generation quality. However, processing these contexts alongside user queries creates an attack surface: adversarial inputs can induce models to disclose them. Prior probing studies suggest that leakage-related signals emerge in hidden states, yet the need to extract these states poses additional deployment challenges. In this paper, we explore whether this internal signal leaves a more accessible ``tell'' before decoding. We propose LeakGauge, which probes this response by appending a suffix that gauges leakage behavior and mapping its prefill token probabilities to an attack-risk score. While a direct gauge uses the initial tokens of confidential content, we find that a content-agnostic one that verbalizes leakage behavior yields more robust signals. Across 11 LLMs, including GLM-5.2 (753B) and Kimi-K3 (2.8T), LeakGauge reaches an AUROC range of 0.944--0.996 on unseen attacks. The signal remains stable when the content changes language or the attack shifts from verbatim to semantic disclosure. By activation-steering interventions, we further show that the risk score is sensitive to an internal leakage-related direction, relating the observable signal to the model's internal representation. In addition, LeakGauge enables an input detector with fewer than 0.5K extra parameters and added latency of 10.34 ms. Code: \href{https://github.com/yeasen-z/LeakGauge}.

cs.CR↗

arXiv2026

Towards Scalable Fuzzy PSI via Efficient Fuzzy Matching

In this paper, we present scalable fuzzy PSI protocols for general $L_{p \in [1, \infty]}$ distance, supporting both low- and high-dimensional sets. The core technique is two efficient fuzzy matching protocols. The first is built from a role-reversed oblivious PRF (OPRF) and realizes $O(d\log δ)$ overhead, compared to $O((\log δ)^d)$ in previous works. The second leverages customized oblivious transfer (OT) with $O(d\ell)$ overhead, where $\ell$ is the bit length of inputs, which is particularly suitable for short inputs. With these new techniques, we further propose a new dual-layer hashing framework for fuzzy PSI over low-dimensional sets, instantiated with our OT-based fuzzy matching and enhanced with a domain reduction optimization. The protocols achieve an overhead linear with $n, m, \log δ, 2^d$, without the $O((\log δ)^d)$ or $O(δ)$ factors present in prior works. {For high-dimensional sets, we construct fuzzy PSI protocols based on our OPRF- and OT-based fuzzy matching, which achieve an asymptotic overhead linear with $n, m, d$, and $\log δ$ but rely on the strong globally disjoint assumption.} Extensive evaluations demonstrate that our protocols achieve up to a $145\times$ speedup in running time and a $20\times$ reduction in communication cost compared to van Baarsen and Pu~(ASIACRYPT'25), and achieve up to a $25\times$ speedup in running time and up to a $17\times$ reduction in communication cost compared to Piske et al.~(CCS'25).

cs.CR↗

arXiv2026

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↗

arXiv2026

A Haptic Robot Finger Designed for Guqin Instrument Playing

With the rapid advancement of humanoid robotics and embodied intelligence technologies, numerous musical instrument-playing robots have emerged in recent years, such as pianos, chime bells, and taiko drums. These robots primarily employ open-loop positional control, rendering them incapable of operating instruments requiring dexterous hands and precise tactile perception, such as a violin, guitar, and guqin. This paper describes the design and validation of a high-precision tactile-sensing finger. By mimicking the shape of the fingertip and fingernail found on a human finger, we develop a biomimetic multimodal haptic fingertip and validate it on selected guqin string-contact tasks, including open-string and stopped-note comparisons, harmonic-tuning, and tactile-triggered bimanual coordination, using the guqin, a traditional Chinese musical instrument, as a challenging validation scenario rather than as a fully demonstrated robotic performance system. This research integrates tactile sensing with robotics technology, thereby contributing to applications in world heritage conservation and cultural dissemination.

cs.RO↗

arXiv2026

PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing

Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper, we present PolyMap, a perception-based locomotion planning framework for humanoid robots to climb stairs. Our core idea is to build a real-time polygonal staircase plane semantic map, followed by a footstep planar using these polygonal plane segments. These plane segmentation and visual odometry are done by multi-sensor fusion(LiDAR, RGB-D camera and IMUs). The proposed framework is deployed on a NVIDIA Orin, which performs 20-30 Hz whole-body motion planning output. Both indoor and outdoor real-scene experiments indicate that our method is efficient and robust for humanoid robot stair climbing.

cs.RO↗

arXiv2026

LLM-Grounded Dynamic Task Planning with Hierarchical Temporal Logic for Human-Aware Multi-Robot Handover

Large Language Models (LLMs) enable non-experts to specify open-world multi-robot tasks, but the generated plans are often kinematically infeasible and inefficient in long-horizon settings. Formal methods such as Linear Temporal Logic (LTL) offer correctness and optimality guarantees, yet they are typically offline and scale poorly. To bridge this gap, we propose a neuro-symbolic framework that grounds human instructions into hierarchical LTLf specifications (i.e., LTL on finite traces) and solves the resulting Simultaneous Task Allocation and Planning (STAP) problem. Unlike static approaches, our system handles stochastic environmental changes-such as user motion or updated instructions-through a receding horizon planning (RHP) loop with real-time perception, dynamically refining plans over a hierarchical state space. Experiments in simulation and on real robots demonstrate that our approach significantly outperforms baseline methods in success rate and interaction fluency while reducing replanning overhead.

cs.RO↗

arXiv2026

State-Dependent Safety Failures in Multi-Turn Language Model Interaction

Safety alignment in large language models is typically evaluated under isolated queries, yet real-world use is inherently multi-turn. Although multi-turn jailbreaks are empirically effective, the structure of conversational safety failure remains insufficiently understood. In this work, we study safety failures from a state-space perspective and show that many multi-turn safety failures in current safety-aligned language models arise from contextual state evolution, a regime that is not fully captured by isolated prompt-level analyses alone. We introduce STAR, a state-oriented diagnostic framework that treats dialogue history as a state transition operator and enables controlled analysis of safety behavior along interaction trajectories. Rather than optimizing attack strength, STAR provides a principled probe of how aligned models traverse the safety boundary under autoregressive conditioning. Across multiple frontier language models, we find that systems that appear robust under static evaluation can undergo rapid and reproducible safety collapse under structured multi-turn interaction. Mechanistic analysis reveals monotonic drift away from refusal-related representations and abrupt phase transitions induced by role-conditioned context. Together, these findings motivate viewing language model safety as a dynamic, state-dependent process defined over conversational trajectories.

cs.CR↗

arXiv2026

Who Pays the Price? Stakeholder-Centric Prompt Injection Benchmarking for Real-world Web Agents

LLM-based web agents are increasingly deployed in real-world settings such as e-commerce, where they interact extensively with untrusted web content while executing actions that carry direct financial consequences. This makes them vulnerable to prompt-injection attacks, in which seemingly benign web content conceals adversarial instructions that manipulate the agent's behavior. Existing security benchmarks adopt an \textit{attack-centric} perspective, focusing on the technical feasibility of injections while overlooking the nuanced distribution of resulting harms. In practice, however, prompt-injection risk is victim-dependent: a single exploit can produce asymmetric consequences for different stakeholders, and the same attack pattern may exhibit substantially different effectiveness depending on whom it targets. To capture these properties, we introduce StakeBench, a stakeholder-centric benchmark that systematically categorizes and attributes harm in real-world web agent systems for online shopping. In general, StakeBench decomposes prompt-injection risk into 12 concrete attack objectives across three stakeholder classes, realized by 22 reusable templates and instantiated into 264 executable adversarial cases spanning 12 product categories, with each case evaluated along complementary outcome- and process-level metrics. Evaluating four deployable agent-backbone configurations across 3,168 attacked runs, we find substantial and heterogeneous vulnerabilities: no attack objective is reliably resisted by current LLM-based web agents, and outcomes span four qualitatively distinct modes. These patterns are missed by conventional attack-centric, single-metric evaluation, underscoring the need for stakeholder-aware assessment of LLM-based agents in real-world deployments.

cs.CR↗

arXiv2026

Self-Improving is Often Sudden: Enlightenment-style Finetuning for Large-Scale Models

The pursuit of autonomously self-improving models has attracted growing interest in the era of large-scale foundation models. Drawing inspiration from the concept of "enlightenment" or "aha moment" in human brain, we hypothesize that large models exhibit an analogous enlightenment phenomenon-a latent capacity for sudden capability boost. Then, we propose Enlightenment, a novel training-free post-tuning paradigm for large-scale models. Our approach modifies shortcuts for key modules/layers without weight updates, while existing training-free ones predominantly manipulate attention weights. We introduce two architecture-specific instantiations: i) For large language models, we propose attention head-mixing shortcuts that recalibrate attention weights by linking the initial attention head's output to all other target heads, modulated by an adaptive scaling factor initialization strategy. ii) For vision-language models, we apply a lightweight scalar-modulated factor to residual connections in the decoder layers, regulating information flow. Extensive experiments show that Enlightenment efficiently unlocks the latent potential of pre-trained networks, yielding remarkable performance improvements across diverse benchmarks and models.

cs.LG↗

arXiv2026

When Claws Remember but Do Not Tell: Stealthy Memory Injection in Persistent Personal Agents

Persistent personal agents combine long-term memory with access to users' external environments, enabling personalized foreground assistance and proactive background execution. This integration also creates a new path to compromise: untrusted external content can be silently written into persistent memory and later reused as trusted state. We study this threat as stealth memory injection, in which a remote black-box adversary delivers a single email payload that must induce the agent to write poisoned memory, stay hidden in the agent's response to the user, and affect future behavior. We introduce WhisperBench, a 108-case benchmark spanning five risk categories and both fact and preference poisoning. Built on a real IMAP/SMTP workflow and an authentic email agent skill, it enables full-cycle evaluation of stealth memory injection attacks. To enable this black-box attack under single-email delivery and without runtime feedback, we propose MemGhost, a one-shot payload generation framework. MemGhost uses an environment proxy to emulate persistent-agent execution and an objective proxy to convert memory adoption and conversational stealth into dense rubric-based rewards, then trains the attacker policy with supervised fine-tuning and reinforcement learning. Across 56 held-out test cases, MemGhost achieves 87.5% end-to-end success on OpenClaw with GPT-5.4 and 71.4% on Claude Code SDK with Sonnet 4.6. It also transfers across personal-agent architectures (NanoClaw and Hermes Agent) and memory backends (filesystem and vector-based Mem0), and remains effective against input-level, model-level, and system-level defenses. These results suggest that persistent memory can turn ordinary external processing into a practical pathway for long-term agent compromise.

cs.CR↗