Daily Papers

We establish a charge-regular formulation of separated Kerr--Newman perturbations and an explicit map from master solutions to physical radiative fields. We derive regular angular and radial first-order systems and their second-order reductions, with finite-charge deformations of the spin pm1 and pm2 Teukolsky equations. The field and boundary normalizations recover the standard Kerr conventions while accounting for the nonuniform zero-charge limit at infinity. For physical Einstein--Maxwell perturbations with the usual peeling behavior, we obtain explicit outgoing gravitational and electromagnetic amplitudes and energy fluxes at nonzero real frequency. The resulting finite-charge radiation-composition ratios depend only on the regular angular functions, independently of the radial excitation.

Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich, force-sensitive dynamics, but also by their "implicit" success criteria: unlike pick-and-place, task quality in these domains is continuous and subjective (e.g. how well a potato is peeled), making quantitative evaluation and reward engineering difficult. We present a learning framework for such tasks, using peeling with a knife as a representative example. Our approach follows a two-stage pipeline: first, we learn a robust initial policy via force-aware data collection and imitation learning, enabling generalization across object variations; second, we refine the policy through preference-based finetuning using a learned reward model that combines quantitative task metrics with qualitative human feedback, aligning policy behavior with human notions of task quality. Using only 50-200 peeling trajectories, our system achieves over 90% average success rates on challenging produce including cucumbers, apples, and potatoes, with performance improving by up to 40% through preference-based finetuning. Remarkably, policies trained on a single produce category exhibit strong zero-shot generalization to unseen in-category instances and to out-of-distribution produce from different categories while maintaining over 90% success rates.

Picky eating in children can undermine dietary diversity and the development of healthy eating habits, while also creating recurring tension in family feeding routines. Prior interventions have explored food-centered designs, enhanced utensils, and mealtime interactive systems, but few position children as active participants in intervention processes that extend beyond single mealtime interactions. To better understand everyday responses to picky eating and child-acceptable intervention mechanisms, we conducted a formative study with caregivers and kindergarten teachers. Based on the resulting design considerations and iterative stakeholder review, we designed StoryEcho, a generative child-as-actor storytelling system for picky eating intervention. StoryEcho engages children outside mealtimes through personalized stories in which the child appears as a persistent story character and later shapes story development through real-world food-related behavior. The system combines non-mealtime story engagement, lightweight post-meal feedback, and behavior-informed story updates to support repeated intervention across everyday family routines. We evaluated StoryEcho in a between-group field study with 11 families of preschool children. Results provide preliminary evidence that StoryEcho can significantly increase children's willingness to approach and try target low-preference foods while reducing parental pressure around feeding. These findings suggest the promise of generative child-as-actor storytelling as a design approach for home-based behavior support that unfolds through recurring family routines.

Leveraging learned strategies in unfamiliar scenarios is fundamental to human intelligence. In reinforcement learning, rationally reusing the policies acquired from other tasks or human experts is critical for tackling problems that are difficult to learn from scratch. In this work, we present a framework called Selective Myopic bEhavior Control~(SMEC), which results from the insight that the short-term behaviors of prior policies are sharable across tasks. By evaluating the behaviors of prior policies via a hybrid value function architecture, SMEC adaptively aggregates the sharable short-term behaviors of prior policies and the long-term behaviors of the task policy, leading to coordinated decisions. Empirical results on a collection of manipulation and locomotion tasks demonstrate that SMEC outperforms existing methods, and validate the ability of SMEC to leverage related prior policies.

Large language models are sometimes trained with imperfect oversight signals, leading to undesired behaviors such as reward hacking and sycophancy. Improving oversight quality can be expensive or infeasible, motivating methods that improve learned behavior despite an imperfect training signal. We introduce Inoculation Prompting (IP), a simple but counterintuitive technique that prevents learning of an undesired behavior by modifying training prompts to explicitly request it. For example, to inoculate against reward hacking, we modify the prompts used in supervised fine-tuning to request code that only works on provided test cases but fails on other inputs. Across four settings we find that IP reduces the learning of undesired behavior without substantially reducing the learning of desired capabilities. We also show that prompts which more strongly elicit the undesired behavior prior to fine-tuning more effectively inoculate against the behavior when used during training; this serves as a heuristic to identify promising inoculation prompts. Overall, IP is a simple yet effective way to control how models generalize from fine-tuning, preventing learning of undesired behaviors without substantially disrupting desired capabilities.