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cs.AI2025
Safety Alignment of LMs via Non-cooperative Games
Anselm Paulus, Ilia Kulikov, Brandon Amos +4
Ensuring the safety of language models (LMs) while maintaining their usefulness remains a critical challenge in AI alignment. Current approaches rely on sequential adversarial trai…
cs.RO2025
Differentiable Simulation of Hard Contacts with Soft Gradients for Learning and Control
Anselm Paulus, A. René Geist, Pierre Schumacher +3
Contact forces introduce discontinuities into robot dynamics that severely limit the use of simulators for gradient-based optimization. Penalty-based simulators such as MuJoCo, sof…