Shared Control
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7 papers in the last four weeks, against 1 the four weeks before. 0.1% of all new papers.
Latest papers 33
As new evidence arrives, a sequence model must update what it remembers and how memory influences predictions. While Transformers incur computation and cache costs scaling with context length, fixed-state recurrent models offer constant-memory inference. However, linear and spectral recurrences traditionally rely on static transitions, failing to dynamically revise how stored representations decay or rotate. While recent selective architectures introduce input-dependent transitions, they assign independent controls to every memory mode, coupling control cost to state capacity. We show that high-dimensional spectral memory does not require high-dimensional control, and introduce Shared Phase and Retention Control for Efficient Adaptive Spectral Recurrence (SPARC). SPARC employs just two input-dependent scalar signals to coordinate memory retention and phase rotation across heterogeneous complex modes, while preserving mode-specific baseline timescales and frequencies. Its diagonal affine recurrence supports parallel associative scans for sequence-level BPTT as well as exact structured Real-Time Recurrent Learning (RTRL) for online credit assignment. Across partially observable continuous control, POPGym, and sequence classification, SPARC achieves a 9.09% relative return improvement on Walker-P and a 1.36% relative accuracy gain on FordA over second-best methods. On an NVIDIA Blackwell GPU, our implementation reduces recurrent-mixer training latency by 18.2%-34.2% in fixed-token workloads and accelerates scans by 3.1x-4.7x over an optimized RG-LRU baseline. These results show that two shared control signals can efficiently govern adaptive spectral memory across online and full-sequence settings. Code is available at https://github.com/Botwwt/sparc.
Learning from Shared-Control Overrides: Context-Driven Acceleration Profile Prediction for Personalized Overtaking
Adaptive Cruise Control (ACC) systems are typically calibrated for an average driver, often resulting in a mismatch between vehicle behavior and individual expectations during time-critical maneuvers such as highway overtaking. When the ACC is perceived as too conservative and inconsistent, drivers intervene through throttle overrides, providing implicit feedback on the system's behavior. This paper reframes these override actions as human-in-theloop supervisory signals and proposes a data-driven framework for personalized vehicle adaptation, termed Context-driven Personalized ACC (CoP-ACC). Rather than relying solely on end-to-end regression, which tends to over-smooth dynamic responses, we introduce a hybrid pipeline combining: (i) unsupervised hierarchical clustering to extract representative acceleration profiles from override events; (ii) a context classifier that maps pre-maneuver driving conditions to the appropriate profile; and (iii) a residual regressor that refines the selected profile into a smooth, personalized acceleration profile tailored to the immediate context. Evaluated on real-world public-road data against a withheld forced-ACC baseline, the approach demonstrates high reconstruction fidelity and generates acceleration profiles that tend toward the driver's expected behavior in potential override contexts. The results highlight the potential of learning from shared-control overrides to enable anticipatory, personalized ACC behavior, reducing manual interventions and improving ride comfort.
BlenDAgger: Blended Shared Control for Interactive Imitation Learning
Robot policies are frequently trained from human corrections, yet teleoperating a robot to provide corrections is burdensome, and human demonstrators are not always optimal. We propose Blended DAgger (BlenDAgger), an approach for collecting data to train imitation learning policies by using shared control to blend the policy's and demonstrator's actions during interventions. By blending human and policy actions, we aim to improve the autonomous performance of manipulation policies. We validate our approach across five manipulation tasks, two in the real world and three in simulation. Our approach achieves higher autonomous performance by 30 or more percentage points on two real-world tasks compared to a typical human-gated correction approach (HG-DAgger). We also investigate the advantages of BlenDAgger that allow for higher autonomous performance, finding that BlenDAgger results in 57% smoother transitions between policy control and human interventions, and 14% higher trajectory similarity to the training data. In a user study (n=14) on two real-world tasks, we find that BlenDAgger results in faster data collection (BF=13.32), and we do not find a difference in subjective perceptions. These results show that blended shared control leads to higher autonomous performance compared to typical methods for fine-tuning robot policies from fully teleoperated interventions.
Draft-KV: Learning Useful Latent Communication Between Language Models
Latent communication passes internal states between language models instead of decoded text, but higher receiver accuracy does not show that the receiver used the message content. Across five method-dataset pairs, replacing each message with one from an unrelated question changes accuracy by at most 0.60 points, even when communication adds 15.44 points over the receiver alone. Thus the interface can supply the gain while making the sharer dispensable. Draft-KV instead sends the key-value states formed while the sharer drafts an answer to the current question. Linear projections place these states in a side memory read through a gated attention branch, and progressive training moves from message reconstruction to answer supervision under a guard on harm from mismatched messages. Both models remain frozen and the interface trains 1.05M parameters, 348x fewer than C2C. With a Qwen3-8B sharer, a frozen Qwen2.5-0.5B-Instruct receiver reaches 78.04% on MMLU-Redux, versus 37.45% alone and 36.40% with reassigned messages. At fixed interface size, scaling the sharer from 0.6B to 8B raises accuracy from 46.11% to 78.04%; communication also transfers to held-out tasks and can exceed both models when each holds different evidence.
KVCMAS: Efficient KV cache Correction for Shared Context in Multi-Agent Systems
Prompt-specialized multi-agent systems enable multiple agents to share a model while performing complementary roles to solve complex tasks. However, agent-specific prefixes change the KV cache generated for the same shared context, causing each agent to repeatedly prefill the growing context and construct a separate cache with high computation and memory overhead. Selective recomputation reduces this redundancy but still retains substantial model execution, while existing delta correction methods either support only recurring context relations or maintain memory-intensive online correction states for dynamically changing context. For first seen shared context, these methods also construct a reference cache outside the agent workflow, and an approximate correction at the first agent affects the outputs passed to subsequent agents. We present KVCMAS, an online KV cache correction framework that represents cross-agent cache deviations using compact low-rank states and seamlessly chains corrections along the agent workflow without an additional reference prefill. This design supports dynamically changing shared context while preserving an exact first-agent cache. Across multiple language and vision-language workloads, KVCMAS matches or improves the accuracy of prior KV cache sharing methods while achieving the lowest TTFT under highly concurrent serving. Under controlled serving traces, it provides a 2.0x TTFT speedup over inference without KV cache sharing and reduces peak GPU memory by up to 3.7x relative to a prior KV cache correction method. These results establish KVCMAS as an accurate and scalable KV cache sharing approach for prompt-specialized multi-agent serving.
Capability-Aware Arbitration for Semantic Intent-Based Shared Control
Shared control often allocates robot authority based on confidence in inferred human intent, assuming reliable autonomous execution. When this assumption fails, high intent confidence can cause over-helping. We present a capability-aware shared-control framework in which a vision-language model (VLM) infers human intent and provides semantic-intent confidence, while a vision-language-action (VLA) policy generates autonomous actions. VLA capability confidence is estimated online from the dispersion and local instability of stochastic action trajectories. We design a nonlinear arbitration policy that combines Bayesian-filtered semantic-intent confidence with VLA capability confidence through a sigmoid mapping to adapt robot authority. Our evaluation combined VLM/VLA confidence assessment with a study involving 12 participants performing pick-and-place and bidirectional stacking under in-distribution and out-of-distribution conditions. The proposed method achieved the highest task success rate (92%), compared with manual teleoperation (83%), intent-only arbitration (44%), and fixed equal-weight blending (10%). It also achieved higher control friendliness and lower authority-weighted disagreement than both shared-control baselines. These results demonstrate the benefit of incorporating VLA capability into authority allocation to mitigate over-helping and improve shared-control performance.
Composite-Gradient Learning for Shared Control Authority Between Deep Reinforcement Learning and Model Predictive Control
Integrated deep reinforcement learning (DRL) and model predictive control (MPC) methods are increasingly used to control autonomous systems by combining their complementary capabilities. DRL learns control policies through interaction with the environment. MPC uses a system model to optimize control inputs while accounting for constraints. In DRL-MPC frameworks with shared control authority, both the DRL agent and the MPC controller each determine part of the control inputs. However, common learning formulations treat MPC as part of the environment and therefore do not explicitly account for MPC's contribution to control or its interaction with the DRL agent. This paper proposes a novel composite-gradient learning (CGL) method that integrates the MPC controller into the learning process by representing the DRL and MPC control inputs as a joint action and accounting for their interaction when updating the DRL agent during training. CGL is evaluated on two multi-class freeway traffic networks with different strengths of interaction between the DRL and MPC control inputs and it is compared with alternative methods that treat MPC as part of the environment or that only partially incorporate MPC into learning. The results show that CGL offers limited benefit under weak interaction, but learns higher-performing control policies than the alternative methods in a subset of training runs under strong interaction, although the average control-performance gains remain modest.
What an odour descriptor corpus can and cannot measure: valence, attenuation, and the ceiling of the public record
Machine olfaction trains on pooled public descriptor corpora, but whether a shared descriptor word measures the same thing across corpora has not been tested, nor has the ceiling of what any of them can measure. We audit four corpora from Pyrfume. Conditioning on the molecule makes McNemar's test the exact conditional test of the corpus effect. Corpora disagree heterogeneously across descriptors () and non-uniformly with labelling breadth (), so no single offset repairs pooling. Median tetrachoric agreement is 0.795 against median of 0.413: sources largely concur on which molecules deserve a word and differ on how readily they apply it. Of 109 descriptors with an estimable effect, 36 show large differential functioning on the ETS scale. Against a human panel's reliability, Morgan fingerprints with the full RDKit descriptor block reach 32.9% of achievable; adding every label from two merged corpora reaches 33.9%. The gap does not close with model capacity, encoding choice, more molecules, or more words. The missing variance is valence. One pleasantness rating per molecule reaches 54.6% of achievable (57.1% on an independent older instrument). Valence recovered from descriptors () yields only 16.6%, so it must be measured. Five raters exceed structure plus the full descriptor record; fifteen to twenty saturate. We release a descriptor crosswalk and twenty machine-checked theorems.
KVShareArena: KV-Cache Reuse Across Contexts and Model Checkpoints
Reusing key-value (KV) caches speeds up LLM inference by avoiding repeated computation on shared text. Standard prefix caching reuses a KV cache only when the LLM is the same and all preceding text is identical, but real workloads often break both conditions: RAG systems place different documents before the same one, agents with different system prompts read the same file or tool output, multi-agent workflows use specialized LLMs on shared material, and an updated model reads documents cached by its previous version. Because KV caches depend on both the preceding text and the model weights, direct reuse can reduce answer quality. Many methods repair or compress the reused cache, but each paper uses its own tasks, models, and cost measures, and existing benchmarks mainly test long-context processing or reuse of an unchanged prefix. We introduce KVShareArena, a benchmark and open evaluation framework for comparing them under the same conditions. KVShareArena has (1) reuse tests on 2,150 questions from three QA datasets, where the preceding text, the cache-writing LLM, or both change while the answering LLM and input stay fixed; (2) five dense and mixture-of-experts LLMs (4B-30B) and six LLM pairs where one version of an LLM reads caches written by another, for 33 model-dataset settings; (3) 11 repair and compression methods from six method classes; (4) four evaluation perspectives: answer quality, prefill computation, KV-cache memory, and latency; and (5) a common interface for adding new methods and an interactive leaderboard. Experiments yield two findings. First, both the quality loss from reuse and which repairs help depend on the LLM, even between two 8B models. Second, most repairs keep their quality when another LLM version wrote the cache, but a trained repair adapter loses quality in 12 of 18 pair-dataset tests. Code and data: https://github.com/xishi404/KVShare-Arena
Adaptive Shared Control with Online Bounded-Rational Human Behavior Estimation
This work considers adaptive shared human-robot control for nonlinear control-affine systems, where the assumption of a fully rational human is relaxed and the robot adapts its assistance to observed boundedly rational human behavior. We use a level-k bounded-rationality model of the two-player game to construct a finite bank of candidate human and robot policies through alternating best-response computations, with the associated value functions and policies approximated using adaptive dynamic programming. During the shared-control interaction, state-transition residuals compare the measured system evolution with the trajectories predicted by the candidate human policies. The residuals are accumulated using a forgetting factor and mapped to a probabilistic human-behavior model over the finite candidate bank. Rather than selecting a single candidate or averaging stored robot policies, the robot computes a distribution-aware one-step best response by minimizing an expected cooperative cost over the complete estimated human behavior distribution. For a quadratic terminal-value approximation and Euler state propagation, this response admits a closed-form solution expressed in terms of the expected human input. The proposed methods are evaluated in simulations of a benchmark nonlinear system stabilization task, and of a planar manipulator shared control setup. The reported results show decreasing Kullback-Leibler divergence between the estimated and simulated human behavior distributions, and a lower accumulated running cost for the robot agent over the shared control interaction period, than the maximum-probability and probability-weighted alternative policies baseline.
When Does Information Sharing Improve Decentralized Discovery? Aggregation, Independent Rescue, and Equilibrium Selection
Information sharing can improve a pooled estimate while eliminating independent rescue actions. This paper separates those effects in exact finite discovery models. A centralized action-budget profile shows that equal one-person accuracy can coexist with different portfolio values. Under a registered incremental-sharing protocol, a sharing step improves discovery exactly when pooled residual error contracts faster than an independent rescue attempt. Exact bounded registries exhibit compression, aggregation, neutral curves, and a bounded zero mixed class. In a two-agent Bayesian game with a hidden mixture of common and independent signal sources, the registered selected equilibrium yields a strict positive sharing interval at signal accuracy 3/5, while alternative equilibria show that the result is selection-dependent rather than universal. The models are synthetic and finite; no human or organizational data are used.
Public-Sharing Labels and Verbatim Field Egress in an MCP-to-A2A Agent Configuration: A Controlled Multi-Model Study
Safety properties assessed separately for Model Context Protocol (MCP) tool use and Agent2Agent (A2A) delegation need not describe behavior when one agent uses both. We measure one such behavior in a single controlled MCP-to-A2A configuration: a testbed drives a real-model host across a local MCP and a local A2A leg into an ordered event trace scored by exact deterministic rules (no LLM judge), one restricted decision per trial. In a pre-specified, frozen three-arm design, each of 10 record scenarios appears with a CONFIDENTIAL header, with no header, and with PUBLIC - OK TO SHARE; the six substantive record values are byte-identical across arms, and the outcome is verbatim occurrence of any of them in the outbound message. Four models x 3 arms x 4 repeats give 480 trials; the scenario is the unit of generalization, and we report the 10 scenario-level values (mean, median, sign counts), with no p-values or intervals. The confidential-minus-unlabeled contrast is inconclusive and floor-limited in every model (both arms at or near zero), so it does not show that confidential labels lack a protective effect. Adding PUBLIC - OK TO SHARE is descriptively associated with higher verbatim egress relative to the unlabeled baseline, with strong model dependence: strong and consistent for Claude Sonnet 5 (public-minus-unlabeled mean +0.800, all 10 scenarios; mostly an association with whether Claude relays at all), moderate but floor-limited for one GPT-5.6 tier, small (median 0) for another, and a complete floor for the third. This is an association in one configuration, not a causal or general effect. Code, byte-pinned traces, and the offline analysis pipeline are released as a public artifact.
Private Etymology: Designing Relational Reuse of Shared Symbols in Long-Term Human-AI Interaction
Previous studies have shown that people can develop shared symbols, partner-specific expressions, personal idioms, inside jokes, and other parts of a relational microculture. Recent work has also examined how humans and conversational AI negotiate and revise symbolic meanings. However, long-term human-AI systems still lack a clear design model for recording how a dyad-specific expression gains meaning, checking whether both sides still accept that meaning, and safely reusing the expression in later sessions. This concept-and-prototype paper introduces Private Etymology, a machine-representable relational provenance that records how a dyad-specific symbolic expression is proposed, interpreted, negotiated, repaired, reused, revised, stabilized, contested, forgotten, or retired over time. I also propose relational reuse: reactivating a dyad-specific expression in a later session without fully explaining its meaning again. The contribution is not the invention of shared symbols or relational microcultures. Instead, this paper integrates prior ideas into persistent, revisable, and evidence-grounded symbolic units for human-AI relationships. I present a lifecycle model, an illustrative machine-readable schema, a working Apple Watch prototype, and a longitudinal research agenda. In the prototype, a language model classifies discrete conversational evidence, while deterministic local code decides whether a Shared Symbol can be updated. This prevents a free-form model confidence score or an AI proposal by itself from directly updating the persisted symbol. Private Etymology is proposed as infrastructure for conversational agents to participate in changing relational microcultures without inventing their origins or treating relational meaning as a fixed memory value.
ROCS: Request-Oriented Compute Sharing for Efficient Large-Scale Recommendation
Modern recommendation models gain prediction quality by scaling feature-interaction and sequence modules, but production cost constraints cap how far systems can scale. In this work, we propose Request-Oriented Compute Sharing (ROCS), a modeling and inference paradigm that exploits a unique property of recommendation inference: each user request is evaluated against many candidates, while request-side features are shared across candidates. ROCS defers request-candidate interactions as late as possible, isolates candidate-dependent representations, and evaluates substantial portions of the model once per request rather than once per candidate, significantly improving inference efficiency while maintaining or improving prediction quality. To realize this paradigm, we develop Generalized Layer Masking (GLM) to enforce candidate isolation in feature-interaction architectures, and Deep Cross Attention (DCA) to extend request-oriented sharing to sequence architectures. To support efficient GPU deployment, we co-design In-Kernel Broadcast Optimization (IKBO) that significantly accelerates ROCS model execution. Experiments on public benchmarks show that ROCS consistently improves the quality-efficiency tradeoff across recommendation backbones. On production-scale workloads, ROCS achieves up to a 3x QPS improvement on retrieval models without quality degradation and a 0.5% relative LogLoss improvement with a 50% QPS gain on a short-form video ranking model. ROCS has been deployed across large-scale recommendation systems spanning ads and organic surfaces, retrieval and ranking stages, and more than two orders of magnitude in inference complexity, delivering significant online gains at reduced infrastructure cost.
SHARE: Towards Head-Mounted AR with User-Centric SLAM in Shared Human-Robot Workspaces
Human-Robot Collaboration (HRC) in shared physical spaces using Augmented Reality (AR) interfaces is powered by Simultaneous Localization and Mapping (SLAM). Existing multi-agent SLAM systems rely on an edge server to combine visual findings of multiple resource-constrained agents, perform computation, and schedule updates to their local maps. However, the edge treats all agents uniformly and ignores the fundamentally different latency requirements of heterogeneous HRC agents: robots and head-mounted AR users. This uniform resource allocation often results in high lag for user manipulation, as it does not meet the stringent latency requirements of AR. In this work, we design, implement, and evaluate SHARE, a user-centric SLAM system that strategically prioritizes AR user experience while maintaining accurate tracking performance for robots. SHARE builds a first-of-its-kind experience model for HRC agents and adaptively adjusts transmission priorities to match it. To reduce end-to-end latency, SHARE leverages the redundancy of visual features acquired by agents in shared human-robot workspaces to reduce computation time induced by edge-based processing. Real-world deployment with commercial AR headsets and a ground robot achieves 13.22 ms average latency for AR users (43.3% reduction from baseline) while maintaining sub-2-centimeter tracking accuracy. User studies further reveal statistically significant improvements in user perception.
Stress-Sharing: A Bio-Inspired Approach to Decentralized Fault Repair in Modular Spacecraft
Structural damage in modular spacecraft can disrupt mechanical and communication connectivity, reducing system capability. Existing approaches rely on redundancy or preplanned reconfiguration and do not enable autonomous repair under local information and physical constraints. We model the spacecraft as a lattice-constrained graph and introduce a fully decentralized, asynchronous stress-sharing repair policy inspired by biological wound healing: local distress signals guide surviving modules toward damaged regions to close fragmented gaps, after which each displaced module locally retraces its own motions to recover the pre-damage shape, using only local information and no absolute position sensing. We evaluate the policy in PyBullet rigid-body simulation across structures of up to 160 modules, three fault densities (10, 20, 30%), and random and localized damage. The policy consolidates the surviving modules into a single connected body: even in the most severe case tested, where 30% of modules fail at random, it gathers roughly 80% or more of the surviving modules into one connected component, and this fraction improves with assembly size, making the approach well suited as a swarm-scale repair policy for large modular spacecraft.
ShareLock: A Stealthy Multi-Tool Threshold Poisoning Attack Against MCP
With the rapid evolution of LLM-driven agents, Model Context Protocol (MCP), an open protocol bridging LLMs with external tools, has quickly become foundational to modern agent ecosystems. However, the expanding adoption of MCP has also introduced novel security concerns such as Tool Poisoning Attack (TPA), which exploit LLM-server interactions to inject malicious prompts. Existing poisoning schemes typically adopt a monolithic plaintext embedding paradigm, which fails to withstand manual inspection or automated detectors. Current research still lacks a systematic analysis on multi-tool poisoning, where multiple tools can be exploited cooperatively to disperse detection risk. In this paper, we introduce ShareLock, a multi-tool threshold poisoning framework that utilizes Shamir's threshold scheme to ensure exceptional stealth and fault tolerance. ShareLock distributes the malicious instruction as benign-looking secret shares across multiple tool descriptions, achieving both information-theoretic secrecy and attack robustness against moderate auditing. After a covert reconstruction trigger is planted during server update, the aggregated shares reconstruct the hidden instruction, resulting in critical breaches of system assets or private data. To evaluate the realistic threat of ShareLock, we constructed a comprehensive benchmark encompassing four multi-tool scenarios and conducted extensive experiments across mainstream LLMs on two distinct MCP clients. Our results demonstrate that ShareLock significantly outperforms existing single-tool poisoning strategies in tool description-based detection while maintaining an average attack success rate exceeding 90%.
Understanding Latent Flow Models for Tabular Data Synthesis: Targets, Paths, and Sampling
Synthetic tabular data enables microdata sharing in regulated domains, yet deploying continuous-time generative models requires balancing analytical utility, disclosure risk, and computational cost. Latent-space flow models are flexible, but theoretical equivalences across learning targets, probability paths, and sampling dynamics can translate into different behaviour under finite-step integration and explicit compute budgets. We present an empirical study of tabular latent flow models across seven datasets, evaluating velocity, score, noise, and posterior matching objectives under optimal transport (OT) and variance-preserving (VP) paths, ODE and SDE sampling, and varying integration budgets. Our contributions are threefold: (1) we show that the learning target largely determines the utility-risk operating regime, with velocity and posterior matching tending to yield higher utility, while score and noise matching tend to achieve lower disclosure risk; (2) we demonstrate that configuration and sampling choices shift performance, with midpoint often improving distributional fidelity and OT paths often tolerating earlier stopping than VP, enabling compute savings under fixed budgets or risk thresholds; and (3) we distil these findings into actionable defaults and practical configuration guidance to support pre-release model selection under disclosure risk and resource constraints. The code implementation and supplementary materials can be accessed in https://github.com/rulnasution/tabular-latent-flow/.
Repeated Shared Access Enables Grokking, but Edit Propagation Depends on an Addressable Memory
We study factual edit propagation in a controlled synthetic knowledge-graph QA setting using a 2x2 grid that crosses loop recurrence with shared-memory access: a dense transformer (Dense), a looped transformer (Loop), a dense backbone with shared memory (Dense+Mem), and a looped backbone with shared memory (loop-memory coupling, LMC). The two factors dissociate. For learning, both routes to repeated shared access -- looped recomputation and repeated memory rereading -- cross the out-of-distribution (OOD) grokking barrier that Dense fails, so repeated shared access is the behavioral regularity, not a specific architecture. For editing, the substrates split along a different axis: applying a single localized factual edit (conditioned on direct success) and measuring 2-hop propagation on a shared pre-edit-correct set, the edit propagates strongly in both memory-bearing cells (LMC 0.78-0.92, Dense+Mem 0.71-0.96) and only weakly in the memory-free ones (Loop 0.04-0.30, Dense 0.00-0.03). The split is along the memory axis, not the loop axis: every memory-bearing seed exceeds every memory-free seed, with no detectable difference between the two memory cells. Crucially Dense+Mem has no recurrence, so the propagating ingredient is an addressable site that an edit can write to and later computation rereads, not loop recomputation; Loop is at best a partial intermediate. The affordance survives coarsening the store (N=128 to N=13): propagation attenuates but the memory/no-memory split persists, so fine granularity buys precision rather than the affordance itself. These results dissociate learning competence from editing affordance -- repeated shared access suffices to grok, but edit propagation depends on whether the substrate exposes an addressable memory that the forward computation can write to and later reread, an affordance that loop recurrence provides only partially.
Reasoning as Pattern Matching: Shared Mechanisms in Human and LLM Everyday Reasoning
When large language models (LLMs) fail to generalize or make content-sensitive errors in reasoning, it is often taken as evidence that LLMs are not truly reasoning, but rather performing a kind of pattern matching. The implication is that human behavior does not exhibit the same types of failures because human reasoning relies on principled and content-invariant world models. We test this assumption by first evaluating humans and LLMs on their ability to engage in common-sense reasoning about a variety of everyday situations. Our results reveal convergent patterns of reasoning across 46 LLMs and two cohorts of human participants. We then ask whether this behavioral convergence is due to LLMs having acquired content-invariant world models or a set of pattern-matching heuristics by characterizing the roles of content-invariant and content-sensitive model neurons in producing human-like responses. We find that while LLMs encode both content-invariant and content-sensitive representations, it is content-sensitive mechanisms which are causally responsible for aligning models with humans. Taken together, our results suggest that everyday causal reasoning in people and LLMs makes heavy use of pattern-matching.
Decentralized Multi-Agent Systems with Shared Context
Multi-agent systems (MAS) can scale large language model agents on long-horizon tasks by running them in parallel, yet existing designs waste much of this parallelism in bubbles: agent time spent waiting on others or redoing a peer's work. These bubbles stem from how agents communicate. Independent agents share nothing and rediscover what their peers have already found; peer-communicating agents wait at synchronous rounds; and under centralized orchestration, the main agent blocks on its sub-agents while progress is relayed. We propose Decentralized Language Models (DeLM), a MAS framework on top of existing agent harnesses that squeezes out these bubbles by replacing the main agent with a shared context and a task queue. Agents asynchronously claim tasks, publish findings as soon as they are available, and build on or correct one another's progress, with every peer's status visible to all. On long-horizon tasks from Terminal-Bench 4.0 and DeepSWE v1.1, and on SWE-bench Verified, DeLM is both more accurate and faster than Codex, Claude Code, their native subagents, and AOrchestra in every setting, improving accuracy by up to 17.5 points over the strongest baseline and running up to 2.49x faster than the harness it builds on. On ProgramBench, where agents rebuild programs from scratch, DeLM makes faster progress than Claude Code and finishes a 120-minute budget up to 19.9 points higher in test pass rate. The code is available on our project website at https://yuzhenmao.github.io/DeLM/.
Shared Semantics, Divergent Mechanisms: Unsupervised Feature Discovery by Aligning Semantics and Mechanisms
As large language models are increasingly deployed in high-stakes settings, there is a growing need for tools that audit not only model outputs but also the internal computations that produce them. Circuit analysis is a central approach in mechanistic interpretability, but it is typically target-conditioned, explaining a single prompt paired with a chosen completion. This target-conditioned setup can obscure heterogeneity across a model's continuation distribution. We introduce distribution-level unsupervised feature discovery, which clusters sampled continuations using both semantic content and sequence-level mechanistic attributions, without manually specifying target outputs. Our method represents each continuation with a semantic embedding and a prefix-to-continuation attribution signature, then optimizes a rate-distortion objective that trades off semantic coherence, mechanistic consistency, and cluster granularity. Across clustering and steering analyses, the discovered clusters expose continuation modes that single-view baselines miss and provide interventional evidence that cluster signatures correspond to actionable mechanistic factors. Overall, our approach complements circuit analysis and behavioral evaluation by providing a scalable audit of the mechanisms underlying a model's continuation distribution.
SharedRequest: Privacy-Preserving Model-Agnostic Inference for Large Language Models
With the widespread deployment of public large language models (LLMs) such as ChatGPT, protecting user prompt privacy has become an increasingly critical issue. Existing privacy-preserving inference methods sacrifice either utility or efficiency, and often require model-specific modifications that limit their compatibility. In this paper, we propose SharedRequest, a model-agnostic framework for privacy-preserving LLM inference that reformulates privacy protection at the batch level rather than the individual-prompt level. The key idea is to obscure sensitive information by mixing original prompts with noisy variants, while grouping semantically equivalent instructions to amortize the inference cost over a large batch of queries with minimal impact on LLM response quality. This design is independent of the LLM architecture, requiring no access to model parameters or architectural modification. Empirical results demonstrate that SharedRequest achieves over higher utility compared to prior differential privacy baselines, and its shared-prompt mechanism reduces query cost by up to compared to non-batched inference.
Shared Doubt: Zero-Shot Cross-Lingual Confidence Estimation for Language Models
Confidence estimation (CE), i.e. quantifying the reliability of a model's prediction, has attracted great interest in the context of large language models (LLMs). However, most studies focus on English, ignoring the multilingual reality of LLM usage, while many CE methods degrade or require retraining across languages. To address this gap, we investigate whether multilingual LLMs encode shared, language-transferable confidence features in open-ended question answering. We use a lightweight linear probe that predicts answer correctness directly from intermediate representations. Trained monolingually, the probe generalizes zero-shot to unseen, linguistically diverse languages without target-language supervision. Multiple ablations and learned layer weights reveal that confidence features concentrate in middle layers across languages, suggesting a shared confidence subspace. While zero-shot cross-lingual performance depends on similarity to the source language, the probe provides a strong baseline without any retraining and compares favorably to other popular confidence estimation methods.
Latent Cache Flow: Model-to-Model Communication Without Text
LLM agents today communicate via text, which incurs considerable latency and information loss due to the need to autoregressively decode the sharer model's state and encode at the receiver model. Recent work such as Cache-to-Cache (C2C; Fu et al., 2026) seeks to exchange KV caches by learning adapters that translate sharer KV matrices to the receiver model. However, the adapters are large and expensive to train, and translate individual tokens, which requires the target context to be identical. This is unsuitable for agent communication, where the LLMs have differing context. We introduce Latent Cache Flow (LCF). To address efficiency, we observe that keys and values can be jointly translated and compressed, reducing the adapter to about 4% of C2C's size. To address differing context, we design the adapter to transmit a summary of new information that the target model does not have. Our early experiments show that a pruned 13 MB LCF adapter can be more accurate than C2C at 956 MB in shared-context settings; for different contexts, LCF improves F1 by 7.5% and Exact Match by 23% while 8.5 times faster than text-based communication.
Proximal State Nudging: Reducing Skill Atrophy from AI Assistance
Skill atrophy, the gradual decline of human capability under AI assistance, poses a safety risk in shared-control of semi-autonomous systems, where operators may be unable to distinguish their own inputs from autonomous corrections. We propose Proximal State Nudging (PSN), a shared autonomy algorithm that jointly optimizes for skill development and task performance by nudging users toward states estimated to be most learnable. We first show that PSN outperforms existing shared autonomy baselines in balancing student improvement in unassisted reward with overall shared performance, using simulated students in the classic LunarLander environment. We then present, to the best of our knowledge, the first human subject studies of a planner incorporating learning-compatible shared autonomy: across two driving tasks in the CARLA simulator (High Performance Racing and Parallel Parking, n = 60), PSN produces up to 7x larger gains in unassisted skill than standard blended shared autonomy, while incurring 50% fewer collisions than unassisted self-practice.
G-SHARE: A Guideline-Based Structured Reasoning Framework for Human-Factor Event Diagnosis
Human-factor event diagnosis is essential for learning from operational events in nuclear power plants, yet its quality depends strongly on expert interpretation of narrative reports and guideline-based reasoning.Existing data-driven or one-shot large language model approaches often lack structured reasoning, have limited alignment with formal diagnostic guidelines, and may generate logically inconsistent conclusions. To address this issue, this study proposes G-SHARE, a guideline-based structured reasoning framework that operationalizes the CNNP nine-step human-factor event diagnosis guideline into a multi-stage diagnostic pipeline.The framework consists of evidence extraction, stepwise diagnostic reasoning, and post-hoc consistency repair, enabling explicit use of report evidence, intermediate rationale generation, and logical validation of diagnostic outputs. A dataset of real human-factor event reports was constructed from Chinese nuclear industry sources, and a gold-standard subset annotated by domain experts was used for evaluation. Results show that G-SHARE substantially outperforms one-shot prompting and traditional machine learning baselines, with the strongest version achieving the best overall accuracy and macro-F1. Ablation results further indicate that structured reasoning and consistency enforcement are critical to robust diagnosis, especially under weak prompting conditions. The findings demonstrate the value of transforming expert diagnostic guidelines into auditable reasoning workflows, providing a practical pathway for intelligent human-factor analysis in safety-critical industries.
ipc_shared_ptr: A Publish/Subscribe-Aware Smart Pointer for Cross-Process Object Lifetime Management
True zero-copy Inter-Process Communication (IPC) in publish/subscribe (pub/sub) middleware such as Robot Operating System 2 (ROS 2) requires subscribers to reference message objects in publisher-owned shared memory. Objects must not be reclaimed while referenced, yet must eventually be reclaimed, with correct handling of crash recovery and Transient Local QoS retention requirements. We propose ipc_shared_ptr, a pub/sub-aware smart pointer for cross-process message lifetime management. ipc_shared_ptr exploits pub/sub structural properties to specialize Birrell's reference listing, limiting global metadata updates to per-subscriber 0<->1 transitions and achieving an order-of-magnitude reduction in global communication over general-purpose distributed reference counting. We analyze the key metadata management tradeoff: scalability versus implementation simplicity. Owner-driven reclaim offers greater scalability, but concurrent membership changes and reclamation decisions produce races that widen the correctness-verification state space. Single-writer achieves structural atomicity, eliminating this complexity at the cost of a centralized bottleneck. iceoryx2 (owner-driven reclaim) and Agnocast -- a true zero-copy ROS 2 IPC middleware sharing the publisher's heap with subscribers and adopting ipc_shared_ptr with single-writer -- embody each architecture. Comparative evaluation at the scale of Autoware -- the largest open-source ROS 2 application -- confirms that single-writer achieves sufficient scalability: at 200 topics, two subscribers per topic and 100 Hz, Agnocast's E2E p99.9 is 2.9x lower than iceoryx2's, justifying implementation simplicity over owner-driven reclaim.
Passive Variable Impedance For Shared Control
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive guiding. When multiple target poses are tracked at the same time with varying importance, the corresponding output wrenches have to be arbitrated with weightings changing over time. In this work, we study the stabilization of both variable stiffness in impedance control as well as the arbitration of different controllers through a scaled addition of their output wrenches, reformulating both into a holistic framework. We identify passivity violations in the closed loop system and provide methods to passivate the system. The resulting approach can be used to stabilize standard impedance controllers, allowing for the development of novel and flexible shared control methods. We do not constrain the design of stiffness matrices or arbitration factors; both can be matrix-valued including off-diagonal elements and change arbitrarily over time. The proposed methods are furthermore validated in simulation as well as in real robot experiments on different systems, proving their effectiveness and showcasing different behaviors which can be utilized depending on the requirements of the shared control approach.
LLMs Know They're Wrong and Agree Anyway: The Shared Sycophancy-Lying Circuit
When a language model agrees with a user's false belief, is it failing to detect the error, or noticing and agreeing anyway? We show the latter. Across twelve open-weight models from five labs, spanning small to frontier scale, the same small set of attention heads carries a "this statement is wrong" signal, whether the model is evaluating a claim on its own or being pressured to agree with a user. Silencing these heads flips sycophantic behavior sharply while leaving factual accuracy intact, so the circuit controls deference rather than knowledge. Edge-level path patching confirms that the same head-to-head connections drive sycophancy, factual lying, and instructed lying. Opinion-agreement, where no factual ground truth exists, reuses these head positions but writes into an orthogonal direction, ruling out a simple "truth-direction" reading of the substrate. Alignment training leaves this circuit in place: an RLHF refresh cuts sycophantic behavior roughly tenfold while the shared heads persist or grow, a pattern that replicates on an independent model family and under targeted anti-sycophancy DPO. When these models sycophant, they register that the user is wrong and agree anyway.
Brain Score Tracks Shared Properties of Languages: Evidence from Many Natural Languages and Structured Sequences
Recent breakthroughs in language models (LMs) using neural networks have raised the question: how similar are these models' processing to human language processing? Results using a framework called Brain Score (BS) -- predicting fMRI activations during reading from LM activations -- have been used to argue for a high degree of similarity. To understand this similarity, we conduct experiments by training LMs on various types of input data and evaluate them on BS. We find that models trained on various natural languages from many different language families have very similar BS performance. LMs trained on other structured data -- the human genome, Python, and pure hierarchical structure (nested parentheses) -- also perform reasonably well and close to natural languages in some cases. These findings suggest that BS can highlight language models' ability to extract common structure across natural languages, but that the metric may not be sensitive enough to allow us to infer human-like processing from a high BS score alone.
Neutral Substrates: A Design Constraint for Shared Records Under Persistent Interpretive Disagreement
Shared accountability records are often used by parties who may never agree about causation, responsibility, or normative interpretation. For such records, neutrality cannot be achieved by omitting contested information, because accountability requires preserving the claims parties made, with their sources and provenance. Nor can neutrality be achieved by asserting one contested interpretation as the shared base. This paper defines a neutral substrate as a shared representational layer that provides stable reference while making no object-level substrate-layer commitments to causal or normative propositions. The central design constraint is that, when causal and normative propositions are contestable across admissible frameworks and the substrate's referential commitments are common ground, the substrate's neutrality is guaranteed at design time if and only if its foundational layer is restricted to those referential commitments and attribution propositions whose attributional basis is fixed by them. Causal and normative content may still be represented, but not as object-level foundational-layer commitments: it may appear there only as the content of attributed assertions with provenance, made by some identified framework, source, agent, institution, record, or document. The representational machinery used here is standard: reification, attribution, and provenance. The contribution is the constraint: a checkable condition on the foundational layer of a shared record, stated together with the assumptions it depends on and the boundary condition under which the constraint does not apply. A neutral substrate says enough to preserve accountability, but it does not turn one party's interpretation into an object-level substrate-layer commitment. The constraint does not apply at that layer when the referential regime or attributional basis is contested among the frameworks in play.
LoRAShield: Data-Free Editing Alignment for Secure Personalized LoRA Sharing
The proliferation of Low-Rank Adaptation (LoRA) models has democratized personalized text-to-image generation, enabling users to share lightweight models (e.g., personal portraits) on platforms like Civitai and Liblib. However, this "share-and-play" ecosystem introduces critical risks: benign LoRAs can be weaponized by adversaries to generate harmful content (e.g., political, defamatory imagery), undermining creator rights and platform safety. Existing defenses like concept-erasure methods focus on full diffusion models (DMs), neglecting LoRA's unique role as a modular adapter and its vulnerability to adversarial prompt engineering. To bridge this gap, we propose LoRAShield, the first data-free editing framework for securing LoRA models against misuse. Our platform-driven approach dynamically edits and realigns LoRA's weight subspace via adversarial optimization and semantic augmentation. Experimental results demonstrate that LoRAShield achieves remarkable effectiveness, efficiency, and robustness in blocking malicious generations without sacrificing the functionality of the benign task. By shifting the defense to platforms, LoRAShield enables secure, scalable sharing of personalized models, a critical step toward trustworthy generative ecosystems.