Author

Denis Kleyko

2 papers indexed here

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Preprint Sep 2026

Smoothness as a Constraint for Stable Humanoid Locomotion

Embodied AI systems, particularly humanoid robots deployed in real world scenarios require whole-body control policies that are both task-responsive and physically smooth. However, smoothness is not uniform across the body: lower body must remain sufficiently reactive, while the upper body must be tightly regulated to...

Utsav Panchal, Denis Kleyko, Unal Artan et al. · 0 citations

#artificial intelligence May 2026

Refusal Before Decoding: Detecting and Exploiting Refusal Signals in Intermediate LLM Activations

Mechanical AutoDAN is introduced, a probe-guided variant of AutoDAN that replaces full-model fitness evaluation with partial forward passes and probe-based scoring inside a genetic prompt search loop, and it is found that refusal is linearly decodable well before the final layer, indicating that safety-relevant behavio...

M. G. Collu, Riccardo Conte, A. Giaretta et al. · arXiv.org · 1 citation