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5 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

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Do Not Cut When Uncertain: Rejectable and Calibrated Decision Heads for VLA Policies in Robotic Harvesting
Sep 28, 2026Heng ZhangAgricultural Robotics Robotic Manipulation
Aerial GRIPPER: A Gradient-based Real-time Inverse-game Predictor and Planner
Sep 28, 2026Zeshuai Chen, Meng Wang, Jindou Jia +2Gripper End-Effector Pose
School of Automation Science and Electrical Engineering, Beihang University, 100191, Beijing, China · School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore
LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials
Sep 23, 2026Oswin So, Eric Yu, Chuchu FanSafety Filters Uncertain
Massachusetts Institute of Technology.
JEV-as-a-Judge: Accept When Confident, Escalate When Unsure
Sep 22, 2026Yubo Li, Yidi Miao, Ramayya Krishnan +1Large Language Model Judges Judges
Carnegie Mellon University
Fast Constraint Extraction for Corrective Control under STL Specifications via Logical Dependency Tracking
Sep 8, 2026Antoine Besset, Joris Tillet, Chuchu Fan +1Signal Temporal Logic Reachability
u2IS, ENSTA, Institut Polytechnique de Paris, France · Univ. Grenoble Alpes, CNRS, Grenoble INP, VERIMAG, France · REALM, AeroAstro, Massachusetts Institute of Technology, Cambridge, USA
Learning Under Treatment-Induced Label Indeterminacy with Expert Annotations of Counterfactual Outcomes: A Case Study in Neurological Prognostication
Aug 12, 2026Xiaobin Shen, Chloe Y. H. Huang, Jonathan Elmer +1Clinical Prediction Predictive Uncertainty
Heinz College of Information Systems and Public Policy, Carnegie Mellon University · Department of Emergency Medicine, University of Pittsburgh
Structure-Preserving Uncertainty Propagation in First-Order Proof Search
Aug 10, 2026Tanel TammetTheorem Proving Proof
Tallinn University of Technology
Unsure but Certain: Uncovering the Representation-Confidence Gap in Diffusion Language Models
Aug 9, 2026Saurabh Yadav, Badri Narayana Patro, Vijay Srinivas AgneeswaranDiffusion Language Models Uncertain
Microsoft India
Flying over The Uncertain Nature (FORTUNE): Intelligent and Humanistic 3D Path Planning for Low-Altitude Collaboration
Aug 4, 2026Minghui Liwang, Wenhan Jia, Xinlei Yi +3Multi-Uav Path Planning
Accelerating Evolutionary Strategy via Rao-Blackwellizing Realization of Uncertain Input
Aug 3, 2026So Nakashima, Tetsuya J. KobayashiRobust Optimization Input Uncertainties
Institute of Industrial Science The University of Tokyo · Institute of Industrial Science, The University of Tokyo · Universal Biology Institute, The University of Tokyo
The "I Don't Know" Filter: Enhancing Agentic Reliability in Function Calling
Jul 4, 2026Stefan Broecker, Mason del Rosario, Boris Selitser +1Uncertain
University of California, Davis, Department of Computer Science · Okareo, Inc. · University of California, Davis, Department of Mathematics
Preserve the Hard, Regenerate the Rest: Uncertainty-Guided Synthetic Training Data Augmentation with Diffusion Models
Jun 30, 2026Nikolai Röhrich, Julian Gleißner, Ahmed H. A. Ibrahim +2Data Augmentation Augmentation
1XITASO GmbH · 2Zuse School of Excellence in Reliable AI · 3Technische Hochschule Ingolstadt +1
Unbiased Canonical Set-Valued Oracles Via Lattice Theory
Jun 24, 2026Jobst HeitzigFirst Order Oracle Complexity Probability
PIK-Potsdam
Some Results about the Expressivity of Preference-Incomplete Structured Argumentation Frameworks
Jun 22, 2026Antonio Yuste-GinelArgumentation Frameworks Answer Set Programming
University of M´alaga
From Uncertain Judgments to Calibrated Rankings: Conformal Elo Estimation for LLM Evaluation
Jun 11, 2026Bora Kargi, David SalinasLarge Language Model Evaluation Judges
ELLIS Institute Tübingen · OpenEuroLLM
Notes2Skills: From Lab Notebooks to Certainty-Aware Scientific Agent Skills
Jun 10, 2026Shi Liu, Jiayao Chen, Chengwei Qin +3Scientific Agents Scientific Workflows
Southern University of Science and Technology, Shenzhen, China · Shenzhen Loop Area Institute, Shenzhen, China · The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China +1
Factions Within, Uncertain Across: Within-Document Reader Sub-Groups in Social Highlighting
Jun 10, 2026Kazuki Nakayashiki, Keisuke WatanabeSubgroups Coalition Formation
Glasp Inc.
Confidence Laundering in Agent Systems: Why Uncertainty Needs a Latent Carrier
Jun 9, 2026Kaiwen Shi, Zheyuan Zhang, Han Bao +2Uncertain Uncertainty
University of Notre Dame
Managing Uncertainty in LLM-Generated Procedural Knowledge for Virtual Laboratory Planning
May 25, 2026Polychronis Karpodinis, Dimitris KallesLaboratory Large Language Model Planning
School of Science and Technology, Hellenic Open University, Patras 26335, Greece
ASACK : Adaptive Safe Active Continual Koopman Learning for Uncertain Systems with Contractive Guarantees
May 10, 2026Chandan Kumar Sah, Rajpal Singh, Jishnu KeshavanModel Predictive Control Koopman Operator
Department of Mechanical Engineering, Indian Institute of Science, Bangalore, Karnataka 560012, India
LLMs are not (consistently) Bayesian: Quantifying internal (in)consistencies of LLMs' probabilistic beliefs
May 7, 2026Chacha Chen, Matthew Jörke, Adam Goliński +4LLM Reasoning Strategies Bayesian
1Apple · 2Stanford University · †Work done while an intern at Apple. +1
Unified Multimodal Uncertain Inference
Apr 9, 2026Dengjia Zhang, Alexander Martin, William Jurayj +3Multimodal Learning Uncertain
Johns Hopkins University · Human Language Technology Center of Excellence
TIP-Search: Time-Predictable Inference Scheduling for Market Prediction under Uncertain Load
May 30, 2025Xibai WangDeadlines Uncertain
NeuroQuant Labs Limited Hong Kong SAR, China
Verify when Uncertain: Beyond Self-Consistency in Black Box Hallucination Detection
Feb 20, 2025Yihao Xue, Kristjan Greenewald, Youssef Mroueh +1Citation Hallucination Detection Hallucination Detection
Department of Computer Science University of California, Los Angeles · MIT-IBM Watson AI Lab · IBM Research
From Uncertain to Safe: Conformal Adaptation of Diffusion Models for Safe PDE Control
Feb 4, 2025Peiyan Hu, Xiaowei Qian, Wenhao Deng +8Diffusion Models Uncertainty Quantification
Work done as an intern at Westlake University · Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China · School of Engineering, Westlake University, Hangzhou, China +2

Sep 28, 2026, cs.ROJ/K move · Enter open · S save

Do Not Cut When Uncertain: Rejectable and Calibrated Decision Heads for VLA Policies in Robotic Harvesting

Heng Zhang

Agricultural Robotics Robotic Manipulation Diverse Occlusion-And-Revelation Scenarios Behavior Cloning Decisions Uncertain

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Vision-Language-Action (VLA) policies trained with behavior cloning or flow matching are optimized to output an action trajectory, but they cannot express "I don't know" or "I should not act." In robotic harvesting, occlusion makes single-frame decisions fundamentally ambiguous: identical pixels can correspond either to a cuttable stem or to no stem at all. Existing VLAs are forced to commit, leading to high-confidence errors with irreversible consequences. We argue that the failure mode of a VLA is determined not by backbone scale but by its output interface. We propose Rejectable and Calibrated Decision Heads (RCDH), a typed, rejectable, and calibrated output interface that can be attached to a frozen VLA backbone without retraining or new features. RCDH introduces (i) a decision schema with explicit rejection and ordered, conditional decomposition, and (ii) a calibration procedure for risk-aware abstention. We evaluate RCDH on a robotic harvesting platform with controllable leaf occlusion, comparing generative, enumerated, calibrated, and rejectable interfaces. We show that replacing only the output head restores out-of-distribution usability under occlusion while preserving in-distribution performance. We further test whether the ordering of the rejection space is critical. Our results suggest that the right to refuse, rather than a larger model, is the missing interface for reliable manipulation under uncertainty.

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