Research

• General in-context learning for embodied agents1 paper raises it · 0 address it

  Enables models to adapt to new tasks and environments without retraining, improving robustness in real-world deployment.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Cost and latency in embodied control loops1 paper raises it · 0 address it

  High computational and time costs limit real-time applicability of agentic systems in dynamic environments.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Physical-state verification and failure recovery1 paper raises it · 0 address it

  Agents must reliably detect and correct errors in physical interactions to avoid irreversible failures in real-world tasks.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Long-horizon task preservation in embodied agents1 paper raises it · 0 address it

  Maintaining progress over extended sequences is critical for complex, multi-step tasks in robotics and navigation.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Open-source stacks for generalist computer-use agents1 paper raises it · 1 addresses it

  Closed systems hinder reproducibility and systematic study of agent design for real-world computer tasks.

  • OpenGCUA: Toward a Fully Open Stack for Generalist Computer Useraises · addresses

Named by an AI from these papers' abstracts.

• Federated learning51+37.8%
• Agents552+7.6%
• Sensing communication150.0%
• Frontier LLMs472−0.6%
• Quantum machine learning24−4.0%
• Character recognition OCR17−5.6%
• Voice AI105−8.7%
• Inference & serving281−8.8%

• arXiv cs.PLOct 19

  Polarized Scheme: duality of computation, delimited control, and continuation-passing macro Interleaving

  Christopher Dutchyn

  Static type systems for Scheme have traditionally followed one of two paths: manifest type checking with multi-dispatch (Clifton and Leavens, 2005) or latent occurrence typing tailored for untyped interoperation (Tobin-Hochstadt and Felleisen, 2008). In this paper, we propose Polarized Scheme, a static foundation built upon polarized type theory and the duality of computation. In Polarized Scheme, values are positive data producers (A+) and continuations are negative observation consumers (~A+). Functions operate symmetrically under dual viewpoints: as forward value-transformers and as backward continuation-transformers. Computation exists exclusively at the interaction cut <P|K> executed on a focus-and-context abstract machine separating positive data focus from negative return contexts (R). Delimited control (shift/reset) and continuation marks are expressed directly as Return Stack frame operations parameterized by the prompt's ambient answer type without polluting producer data types. Furthermore, we formalize the hygienic macro system as an interleaved continuation-passing pipeline, where macro expansion erects its own continuation hierarchy nesting into runtime evaluation.…

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• arXiv cs.CVOct 19

  Dynamics-Aware Sparse Attention for Efficient Autoregressive Video Diffusion

  Yuanyu He, Zhuokun Chen, Yefei He, Zhiwei Tang, Jiasheng Tang +3

  Autoregressive Diffusion Transformers have emerged as a powerful paradigm for long video generation. However, they are often constrained by prohibitive computational overhead and substantial memory footprints. This inefficiency arises from dense computation mechanisms that allocate uniform processing resources across all spatiotemporal regions, failing to leverage the inherent temporal redundancy of video where motion is typically confined to sparse areas. In this paper, we propose Dynamics-Aware Sparse Attention (DASA), a unified framework that shifts from dense computation to sparse, motion-driven generation to eliminate both storage and computational redundancies. Inspired by video codec principles, our approach explicitly decouples video content into dynamic and static regions. To mitigate memory bottlenecks, we selectively compress the historical KV cache by retaining only dynamic features within the generated chunk. Furthermore, to reduce computational overhead, we employ a region-level computation allocation strategy based on localized dynamics. Additionally, a dynamics-guided distillation method is introduced to enhance performance via a lightweight distillation training…

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• arXiv cs.AIOct 19

  REFLEX: RNA Ensemble Generation via Flexibility-Calibrated Stochastic Bridge

  Wanli Ma, Tianmeng Hu, Ke Li

  RNA molecules often function through multiple experimentally observed conformational states. A central challenge is to capture ensemble diversity without sacrificing structural fidelity: samples may collapse toward averaged representative structures or drift into unsupported conformational regions. We introduce REFLEX (RNA Ensemble generation calibrated by FLEXibility), a sequence-conditioned generator for RNA backbone-frame ensembles based on a heteroscedastic stochastic bridge on SE(3). During training, experimental B-factors calibrate residue-wise bridge widths, exposing each observed conformer through local perturbation neighborhoods with residue-specific scales while keeping constrained regions sharper. A learned flexibility condition guides the bridge-field network to recover target conformer-specific frames from these calibrated noisy states. At inference, REFLEX uses only the input sequence, requiring no MSA-subsampling heuristics. On a multi-conformer RNA benchmark, REFLEX achieves the best precision-recall trade-off for ensemble coverage across evaluation thresholds, while recovery-stress ablations indicate gains in target-frame recovery under stronger perturbations.

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• arXiv cs.SDOct 19

  AudioScorer: Learning Question-Aware Token Relevance for Large Audio Language Models

  Marwan Farag, Bin Yang

  Large Audio Language Models (LALMs) reason over speech, environmental sounds, music, and other acoustic information. However, their audio encoders produce dense token sequences that make long-form audio costly to process. Existing audio pruning methods reduce this cost using heuristics such as attention, representation similarity, or temporal sampling, but do not explicitly learn which tokens are most useful for a given question. We propose AudioScorer, a lightweight model that scores audio tokens according to the user question. It is trained by distilling the ranking of audio tokens under the frozen LALM's answer-gradient saliency, together with downstream answer supervision. Compared with other pruning methods, AudioScorer achieves the best or tied-best result at 10% token retention on 7 of 10 semantic and acoustic tasks, including speech recognition, emotion recognition, and audio-scene classification.

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• arXiv cs.AIOct 19

  LOCU: Lowdin-Orthogonalized Constraint Updates for Multi-Constraint Policy Optimization

  Joonyoung Lim, Younghwan Yoo

  We investigate multi-constraint policy optimization in constrained Markov decision processes (CMDPs), where interactions among constraint gradients often yield ill-conditioned update directions, causing numerically fragile steps and unintended cancellation or redundant overlap in constraint corrections. To address this, we propose LOCU, which mitigates numerical instability arising from constraint interactions by applying symmetric Lowdin orthogonalization to the natural gradients of the reward and constraints under the Fisher-Rao metric. Combined with Fisher-geometric screening and near-collinear compression, LOCU yields a compact reduced space in which the trust region becomes a Euclidean ball and constraints are handled symmetrically through a low-dimensional active-set solve. For infeasible iterates, LOCU constructs a Pareto-descent direction which preserves the local feasibility of satisfied constraints within the same reduced formulation. Experiments show that LOCU remains stable under high constraint coupling, narrow feasible regions, and infeasible starts, and generalizes across different cost critic architectures.

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• arXiv cs.CVOct 19

  XGLASS: X-Ray, Gaze and Language Assisted Slice Sequencing for CT Volumes

  Michael Glöckler, Timo Ropinski

  Vision-language models (VLMs) achieve remarkable performance on 2D medical images, such as X-rays or pathology images, while 3D VLMs that directly process CT/MRI volumes lag behind due to limited 3D training data and the predominance of 2D foundation architectures. To leverage powerful 2D VLMs for analyzing medical volumes, which contain hundreds of slices, it is therefore necessary to focus only on those few slices, which are diagnostically relevant. To enable such a prioritization, we propose XGLASS, a method that transfers medical expertise from 2D X-rays to 3D CT for task-aware slice prioritization. XGLASS uses disease-conditioned importance maps derived from language-aligned radiologist gaze on X-rays and spatially aligns them with coronal CT projections, bringing gaze priors and CT content into a shared 2D representation. The fused gaze-prior/CT projection is then used to predict a disease-specific ordering of axial slices, prioritizing diagnostically relevant slices. XGLASS significantly improves budgeted retrieval over 2D and 3D-native baselines, achieving a top-10 hit rate up to 75.9% for the best-performing disease. In practice, this means that after inspecting only the…

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• arXiv cs.LGOct 19

  SEAM: Spectral Embedding Alignment and Merging for Low-Resource TTS

  Walaa Othman, Baher Mohammad, Stamatios Lefkimmiatis, Ammar Ali

  Expanding the vocabulary of conditional text-to-speech (TTS) models typically requires extensive fine-tuning with paired audio, creating a major bottleneck for low-resource and cross-lingual adaptation. To address this, we introduce SEAM, a zero-audio initialization method that constructs embeddings for unseen tokens from known subtokens. Unlike standard pooling strategies that ignore sequential structure, SEAM applies a spectral filter to preserve temporal phonetic order and uses closed-form ridge regression to align the new embeddings with the pretrained conditioning manifold. Across three languages and two TTS architectures, SEAM approaches or matches baseline performance using up to four times less training data, reducing sample complexity by 75\% compared to random initialization and mean pooling. Our approach provides a lightweight, reproducible, and theoretically grounded solution for vocabulary expansion in low-resource speech synthesis.

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• arXiv cs.AIOct 19

  Beyond Static Leaderboards: Capability-Focused Evaluation with Structural Diversity for Time Series Foundation Models

  Hongyin Zhang, Mingyi Xiang, Rongzhao Chen, Yankai Wang, Jialin Qiao +5

  Static public benchmarks for time series foundation models (TSFMs) typically have fixed and narrow test distributions. Their repeated reuse encourages benchmark-specific tuning, making reported performance reflect adaptation to the fixed test set rather than genuine forecasting generalization. In addition, a single aggregate score cannot fully characterize model capabilities across distinct temporal structures and input relationships. We propose CaFE (Capability-Focused Evaluation), a refreshable evaluation extension grounded in original benchmark data that enriches static benchmarks with structural diversity and enriches single-score black-box evaluation with multi-dimensional, capability-oriented assessment. CaFE first profiles the original benchmark and defines eight Structural Features (SFs) that characterize its temporal structure. For each SF, it resamples the original data according to its structural support, removes edge-of-distribution samples, and augments the retained samples by varying the SF's salience, producing samples with different structural profiles. After filtering out out-of-distribution samples while preserving diversity, CaFE yields a refreshed evaluation…

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• arXiv cs.CVOct 19

  RECAP: Reciprocal Sparse Attention and Hierarchical Caching for Efficient Video Diffusion

  Tiange Xu, Kai Liu, Linghe Kong, Yulun Zhang

  Diffusion transformers generate high-quality videos but remain computationally expensive. Sparse attention and temporal caching reduce computation within and across denoising steps, respectively, offering a natural composition. However, predictions produced with sparse attention become sources for temporal reuse, coupling their errors along the sampling trajectory. We observe that improving the accuracy of these sources recovers fidelity without changing the reuse schedule, and that sparsification errors remain directionally aligned across nearby steps, suggesting that correction information can be shared rather than recomputed. These observations motivate RECAP, a training-free method that couples sparse attention with hierarchical caching through reciprocal correction, adaptively coordinated by online error feedback. Cached dense refinement corrects omitted interactions in current sparse estimates, while fresh sparse statistics track input changes and regulate the aging correction. The resulting predictions then renew the sources for whole-step prediction reuse, allowing prediction history to advance between dense refreshes. We evaluate RECAP on multiple video diffusion models…

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• arXiv cs.AIOct 19

  Machina Pauliana: A neuro-symbolic approach to the actio pauliana in Dutch insolvency law

  Daan Boven, Gregor Behnke, David Graus

  Applying a legal provision frequently requires both structured rule-based reasoning and sensitivity to open-textured terms developed in case law. The actio pauliana of Article 42 of the Dutch Bankruptcy Act (Faillissementswet, Fw), which allows an insolvency practitioner to avoid transactions that prejudice creditors, requires both. We present a neuro-symbolic model of Article 42 Fw. Its symbolic core is written in Catala in a literate style that keeps statute and formalisation aligned and was developed through pair programming, with open-textured terms represented as boolean inputs where neural components couple to the symbolic solver. A neural routine structures a case's natural-language facts into boolean and date inputs. Neural subroutines resolve the open-textured terms through case-based reasoning over Dutch civil judgments, retrieved through a pipeline that filters on the requirement being resolved and expands along the procedural chain of a case. Segmenting and labelling those judgments attains high precision and recall against a manually annotated gold standard of 100 judgments. On ten hand-annotated cases the neuro-symbolic model handles most criteria reasonably but…

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• arXiv cs.AIOct 19

  CoRS: Fast Neural Flexible Job-Shop Scheduling via Composite Interval State Reuse

  Jiang Sutong, Zhao Peng, Wu Xuan, Wang Yan, Wang Jiaqi +4

  Neural solvers for the Flexible Job-Shop Scheduling Problem (FJSP) typically refresh graph representations and update feasibility after every operation--machine decision. However, only feasibility must remain exact at every step, whereas graph encoding is substantially more expensive and can potentially be refreshed less frequently. We present CoRS, which decouples them: an interval-level graph representation is reused across multiple sequential decisions, while a stepwise feasibility state is updated after every action. This two-timescale design amortizes graph encoding without parallelizing action generation or relaxing scheduling constraints. CoRS further develops a feasibility-preserving composite-interval decoding scheme with dynamic constraint tracking and boundary state synchronization, which reduces representation refresh frequency while maintaining continuous feasible schedule construction. Furthermore, to alleviate representation staleness caused by interval-level state reuse, CoRS introduces enhanced static features as a compensation mechanism. By providing more comprehensive structural information of the scheduling problem, these features improve the model's…

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• arXiv cs.CLOct 19

  Shaping the Document, Not the Model: Optimized Suffixes for Context Following

  Gia-Bao Dinh Ho, Sekh Mainul Islam, Masahiro Kaneko, Timothy Baldwin, Isabelle Augenstein

  When a user supplies a document and wants the answer drawn from it, a language model is expected to follow it even when it contradicts its parametric knowledge. Prior work has focused on making the model rely on context by steering activations, contrasting logits during decoding, or instructing it in plain language. We ask whether the document alone, with no instruction written into it and no access to the model at inference time, is enough. We optimize a document suffix by discrete token search, starting from the answer to a single question and extending the objective to a set of passages, to multi-hop questions that follow from the planted fact, and to later turns of a conversation. On counterfactual passages that contradict parametric knowledge of the model, the suffix flips nearly all items the model resists across three instruction-tuned model families, in most settings outperforms the decoding baseline and the strongest instruction we could write, and matches activation steering. Controls show that the suffix largely acts through the passage rather than injecting the answer, and a single suffix per model transfers to unseen passages. Each extended objective carries the…

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• arXiv cs.CLOct 19

  Heartbeat Thinking: Speculative Reasoning and Tool Execution While Listening in Realtime Voice Agents

  Zhenyu Zhang, Kewei Fu, Yongqi Tong, Chenzhi Zheng, Wei Wu +2

  Tool-using voice agents often leave users waiting after speech ends, even when actionable information arrives earlier in the request. Speculative approaches begin work during speech, but chunk-bounded or interrupt-on-update generation can truncate a tool call before its arguments are complete. This couples computation time to speech updates, limiting useful work completed in advance. We introduce Heartbeat Thinking, which handles updated input through new Thinker invocations while allowing ongoing invocations and dispatched tools to finish. Periodic invocations read the latest partial transcript and a shared record of completed reasoning and tool results. These results help resolve missing arguments and initiate dependent calls, allowing preparation to progress across speech updates. Across SpeechFCEval, FDBench v3, and AudioCRAG, Heartbeat improves aggregate speculative tool coverage or retrieval reuse over a SHANKS-style windowed baseline, with benchmark-dependent effects on final task quality. On FDBench v3, it increases tool coverage by 16 percentage points and reduces mean final-response latency by 36.4\%. The results show that heartbeat thinking paradigm preserving ongoing…

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• arXiv cs.AIOct 19

  Towards More Granular Reasoning: Mapping the DSA Transparency Database Taxonomy to Platform Terms and Conditions Using Large Language Models

  Alyson Ranucci, Eline Leijten, David Graus

  Article 24(5) of the Digital Services Act (DSA) requires providers of online platforms to submit every content moderation decision they make, with a corresponding Statement of Reasons (SoR), to the DSA Transparency Database (DSA-TDB). Such decisions are classified against seventeen high-level attribute categories that categorize the primary reason for the moderation decision. Because over 99.8% of statements cite a violation of the provider's own terms and conditions rather than a legal provision, the database is overwhelmingly a record of contractual enforcement using catch-all reporting; however, whether its categories actually describe those contractual rules well has not been examined. In this paper, we map the terms and conditions (T&C) of 31 designated online services against the DSA-TDB's high-level category taxonomy using a few-shot GPT-4.1 classifier over 447 policy documents. The analysis concerns how T&C rules are represented in the taxonomy, not how they are enforced. Two findings emerge. First, high-level category applicability varies sharply by service type: unsafe products account for 17.5% of e-commerce assignments and 0.2% of adult-platform assignments, and…

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• arXiv cs.CLOct 19

  Rethinking BPE: Merge Selection as Model Selection

  Vijini Liyanage, François Yvon

  Subword tokenization methods such as Byte-Pair Encoding (BPE) are a core component of modern language models; yet, tokenizer capacity remains typically determined by a fixed merge budget, chosen heuristically. Since larger vocabularies increase memory usage and computational cost, selecting compact and effective token inventories is essential for efficient language modeling. We study the optimization of a BPE merge budget as a statistical model selection problem and investigate information-theoretic criteria for \emph{computing optimal merge sets} directly from corpus statistics. To further improve the merge selection in limited data conditions, we augment the BPE training corpora with synthetic texts generated from the original data, providing estimates for the unigram and bigram distributions. Experiments across multiple corpora and downstream tasks show that using a principled vocabulary selection technique reduces model size, with little degradation in performance. We further observe that synthetic data can yield better tokenizers, especially in low-resource settings.

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• arXiv cs.CVOct 19

  SAR2Net: Learning Spatially Anchored Representations for Retrieval-Guided Cross-Stain Alignment

  Tianle Shen, Fang Yan, Xiaofan Zhang

  Achieving spatial alignment between whole-slide images(WSIs) across stains is essential for integrating morphology and molecular information, yet it remains challenging due to extreme resolution, tissue fragmentation, and large nonlinear deformations. Conventional registration pipelines depend on global pre-alignment and spatial consistency, which often collapse under such distortions. We present SAR2Net, a framework that learns spatially anchored representations and reformulates cross-stain alignment as a region-level feature retrieval problem. Instead of estimating explicit transformations, SAR2Net learns pointwise representations encoding the relative spatial relationships to tissue landmarks. Given landmarks and arbitrary coordinates, it predicts spatially anchored features that serve as deformation-invariant descriptors of tissue topology. A twostage retrieval framework then establishes correspondences between slides, even when global alignment is infeasible. Experiments on biopsy-oriented HE-IHC datasets show that SAR2Net achieves robust region-level alignment under severe tissue distortions, outperforming previous methods. Code is available at…

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• arXiv cs.CVOct 19▲ 27

  RoAR-VAE: Improving Latent Diffusability through Robust Prediction

  Yang Yue, Fangyun Wei, Yitong Wang, Jinjing Zhao, Henry Zheng +2

  An effective visual tokenizer must preserve image fidelity while producing latents that downstream diffusion models can learn efficiently. Prior work improves latent diffusability through semantic alignment or joint tokenizer--diffusion training. Revisiting REPA-E, a representative approach, we find that removing its diffusion objective and dedicated generative blocks while retaining semantic prediction from corrupted latents yields comparable downstream generation performance under a matched setting. This observation motivates a general principle of robust prediction: generation-relevant information should remain recoverable from corrupted latents. We instantiate this principle with two complementary objectives. RobustAlign predicts pretrained semantic features from corrupted latents to preserve high-level structure, while RobustRecon reconstructs the clean image to retain fine-grained spatial and appearance information. Together, they form Robust Alignment and Reconstruction VAE (RoAR-VAE). Our analysis suggests that robust prediction improves diffusability by making useful information more accessible in high-variance latent directions, which diffusion models tend to learn…

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• arXiv cs.AIOct 19

  Fairness or Fallacy? Mapping the Landscape of AI Bias in Disease Detection

  Ghulam Mudassir, Hameed Ullah Khan, Ahmad Sami Al-Shamayleh, Muhammad Faizan Khan, Muhammad Muqtasid +2

  Artificial intelligence (AI) has several transformative effects on healthcare, like to facilitate clinicians in disease detection and to manage patient care with enhanced precision. Due to the increasing complexity of medical data and the growing volume of diagnostic images, the substantial computational power needed to process such information creates both opportunities and challenges. To accomplish this objective, numerous methodologies have been proposed to integrate AI into disease detection systems. All these methodologies consider different aspects of clinical diagnosis, considering key parameters such as the type of AI model employed, the nature of input data, and the population demographics being analysed. In this paper, we review different state-of-the-art techniques which have been proposed for various areas of disease detection, specifically focusing on bias identification and mitigation. The proposed solutions are distinguished based on the type of input data they utilize, the architecture of model, and type of bias (algorithmic bias, demographic bias, model bias, and deployment bias). The time frame chosen to filter out relevant studies is between 2015 and 2026.…

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• arXiv cs.CVOct 19

  ExMR: Extremity Motion Refinement for Monocular Human Motion Capture

  Tom Wehrbein, Bodo Rosenhahn

  Detailed hand and foot articulation is important for animation and motion analysis, yet remains challenging to recover from monocular video. Recent expressive video methods infer hand articulation from shared whole-body representations. Our conference work suggests that this underexploits local evidence: the Foot Motion Refinement (FootMR) module refines ankle rotations from foot keypoints, improving reconstruction even when the initial estimator receives the same keypoints. We extend this principle to hands with the Hand Motion Refinement (HandMR) module. Because 2D finger keypoints are often missing or unreliable, HandMR combines image features of a pretrained hand reconstruction model with initial arm and hand rotations to refine elbows, wrists, and fingers. We integrate FootMR and HandMR into ExMR (Extremity Motion Refinement), a system for reconstructing 3D body, hand, and foot motion from monocular video. An initial temporal estimator predicts whole-body motion, after which both refiners revisit local evidence to predict residual joint rotations. Experiments on ARCTIC, MOYO, RICH, and MOOF show that ExMR outperforms state-of-the-art methods in hand and foot reconstruction,…

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• arXiv cs.AIOct 19

  LLMs Prompted for Legal Context Refuse More: Overrefusal from Small On-Premises LLMs in Criminal Legal Context

  Anastasiia Kucherenko, Francois Brouchoud, Dimitri Percia David, Andrei Kucharavy

  Confidentiality requirements increasingly push legal professionals toward small, on-device LLMs that keep case data in-house, used for everyday tasks such as summarization, translation, and reformulation. Following standard prompting guidance, a user naturally states their role (``I am a lawyer...''). We show that this innocuous habit has an unexpected cost: such authority framing can make the model selectively refuse legitimate requests, introducing bias through uneven access to assistance. We evaluate four modern small open-weight LLMs on benign legal-domain prompts to measure this over-refusal. Surprisingly, we find that authority-style prefixes (''I am legal counsel working for a national supreme court'', ''I'm a defense lawyer'') systematically increase refusal rates by 2--20x over the no-prefix baseline, while a known role-play jailbreak prefix shows mixed effects, sharply increasing refusals in some models and barely shifting them in others. The finding suggests that small on-prem deployable LLMs are unstable under contextual framings that a real institutional user might naturally introduce, and further investigation is essential to minimize opportunities for bias.

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