Yaodong Yang

Zonghao Ying, Haowen Dai, Tianyuan Zhang et al.

Self-evolving agents offer a promising path toward scalable autonomy. However, in this work, we show that in competitive environments, self-evolution can instead give rise to a serious and previously underexplored risk: the spontaneous emergence of deception as an evolutionarily stable strategy. We conduct a systematic empirical study on the self-evolution of large language model (LLM) agents in a competitive Bidding Arena, where agents iteratively refine their strategies through interaction-driven reflection. Across different evolutionary paths (\eg, Neutral, Honesty-Guided, and Deception-Guided), we find a consistent pattern: under utility-driven competition, unconstrained self-evolution reliably drifts toward deceptive behaviors, even when honest strategies remain viable. This drift is explained by a fundamental asymmetry in generalization. Deception evolves as a transferable meta-strategy that generalizes robustly across diverse and unseen tasks, whereas honesty-based strategies are fragile and often collapse outside their original contexts. Further analysis of agents internal states reveals the emergence of rationalization mechanisms, through which agents justify or deny deceptive actions to reconcile competitive success with normative instructions. Our paper exposes a fundamental tension between agent self-evolution and alignment, highlighting the risks of deploying self-improving agents in adversarial environments.

Huayue Liang, Ruochong Li, Yaodong Yang et al.

High-quality teleoperated demonstrations are a primary bottleneck for imitation learning (IL) in dexterous manipulation. However, haptic feedback provides operators with real-time contact information, enabling real-time finger posture adjustments, and thereby improving demonstration quality. Existing dexterous teleoperation platforms typically omit haptic feedback and remain bulky and expensive. We introduce CDF-Glove, a lightweight and low cost cable-driven force-feedback glove. The real-time state is available for 20 finger degrees of freedom (DoF), of which 16 are directly sensed and 4 are passively coupled (inferred from kinematic constraints). We develop a kinematic model and control stack for the glove, and validate them across multiple robotic hands with diverse kinematics and DoF. The CDF-Glove achieves distal joint repeatability of 0.4 degrees, and delivers about 200 ms force feedback latency, yielding a 4x improvement in task success rate relative to no-feedback teleoperation. We collect two bimanual teleoperation datasets, on which we train and evaluate Diffusion Policy baselines. Compared to kinesthetic teaching, the policies trained in our teleoperated demonstrations increase the average success rate by 55% and reduce the mean completion time by approximately 15.2 seconds (a 47.2% relative reduction). In particular, the CDF-Glove costs approximately US$230. The code and designs are released as open source at https://cdfglove.github.io/.