R O Brown

Ryan Walker Brown, Laura K. Treers, Kathryn A. Daltorio

Recent advancements in Resistive Force Theory (RFT) enable approximation of ground reaction forces for locomotion in sand without the computational expense of modeling interactions with individual grains. However, these tools have been absent in 3D physics engines commonly used for robot simulation. We explore if resistive force approximations are sufficient, when integrated with standard dynamics calculations, to provide a stable substrate for a freely walking robot. To determine this, we implement 3D Granular Resistive Force Theory (3D RFT) in a physics simulation engine, MuJoCo. We verify simulations in multiple scenarios to demonstrate that key trends due to end effector shape, speed, and loading are preserved. Our implementation predicts walking distance and foot sinkage of a 12-Degree of Freedom hexapod robot within 20\% of experiments in sand. While RFT has inherent approximations, the open source tool described here has potential to help develop new and improved robot designs to traverse granular media substrates.

Will Hawkins, Kaivalya Rawal, Jonathan Rystrøm et al.

Fine-tuning a large language model is a ubiquitous method for enhancing its capability on a specific downstream task. However, prior work has shown that this increase in capability comes with a cost: it can increase a model's tendency to respond to unsafe adversarial prompts, even when fine-tuning with non-adversarial data. We present the first comprehensive empirical study of this phenomenon in multilingual settings by fine-tuning Llama-3.2, Qwen3, and Gemma-3 models using benign data translated across nine languages. We find that safety outcomes are highly sensitive to both the choice of fine-tuning language and the evaluation language, with adversarial compliance rates increasing four-fold in some settings. Multilingual safety drift is decoupled from general capability metrics, and occurs heterogeneously across languages and models. Fine-tuning in non-English languages often induces smaller internal representational drifts than English, but these shifts lead models to default to either exaggerated compliance or refusal. As such, assessing fine-tuning impacts solely in English provides inadequate assurance for deployment. To facilitate further research into these cross-lingual safety blind spots, we release the Multilingual-Benign-Tune dataset and the SORRY-Bench-Multilingual evaluation suite.