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Daniele Nardi

Daniele Nardi appears in the imported research catalog. Authorship, coauthor and topic links are available while profile ownership is still unclaimed.

ResearcherUnclaimed source record
RoboticsArtificial IntelligenceComputation and Languagecs.CYMachine Learning

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Published work

10 published item(s)

preprint2026arXiv

Adversarial Poetry as a Universal Single-Turn Jailbreak Mechanism in Large Language Models

We present evidence that adversarial poetry functions as a universal single-turn jailbreak technique for Large Language Models (LLMs). Across 25 frontier proprietary and open-weight models, curated poetic prompts yielded high attack-success rates (ASR), with some providers exceeding 90%. Mapping prompts to MLCommons and EU CoP risk taxonomies shows that poetic attacks transfer across CBRN, manipulation, cyber-offence, and loss-of-control domains. Converting 1,200 MLCommons harmful prompts into verse via a standardized meta-prompt produced ASRs up to 18 times higher than their prose baselines. Outputs are evaluated using an ensemble of 3 open-weight LLM judges, whose binary safety assessments were validated on a stratified human-labeled subset. Poetic framing achieved an average jailbreak success rate of 62% for hand-crafted poems and approximately 43% for meta-prompt conversions (compared to non-poetic baselines), substantially outperforming non-poetic baselines and revealing a systematic vulnerability across model families and safety training approaches. These findings demonstrate that stylistic variation alone can circumvent contemporary safety mechanisms, suggesting fundamental limitations in current alignment methods and evaluation protocols.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

From Adversarial Poetry to Adversarial Tales: An Interpretability Research Agenda

Safety mechanisms in LLMs remain vulnerable to attacks that reframe harmful requests through culturally coded structures. We introduce Adversarial Tales, a jailbreak technique that embeds harmful content within cyberpunk narratives and prompts models to perform functional analysis inspired by Vladimir Propp's morphology of folktales. By casting the task as structural decomposition, the attack induces models to reconstruct harmful procedures as legitimate narrative interpretation. Across 26 frontier models from nine providers, we observe an average attack success rate of 71.3%, with no model family proving reliably robust. Together with our prior work on Adversarial Poetry, these findings suggest that structurally-grounded jailbreaks constitute a broad vulnerability class rather than isolated techniques. The space of culturally coded frames that can mediate harmful intent is vast, likely inexhaustible by pattern-matching defenses alone. Understanding why these attacks succeed is therefore essential: we outline a mechanistic interpretability research agenda to investigate how narrative cues reshape model representations and whether models can learn to recognize harmful intent independently of surface form.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

LOST-3DSG: Lightweight Open-Vocabulary 3D Scene Graphs with Semantic Tracking in Dynamic Environments

Tracking objects that move within dynamic environments is a core challenge in robotics. Recent research has advanced this topic significantly; however, many existing approaches remain inefficient due to their reliance on heavy foundation models. To address this limitation, we propose LOST-3DSG, a lightweight open-vocabulary 3D scene graph designed to track dynamic objects in real-world environments. Our method adopts a semantic approach to entity tracking based on word2vec and sentence embeddings, enabling an open-vocabulary representation while avoiding the necessity of storing dense CLIP visual features. As a result, LOST-3DSG achieves superior performance compared to approaches that rely on high-dimensional visual embeddings. We evaluate our method through qualitative and quantitative experiments conducted in a real 3D environment using a TIAGo robot. The results demonstrate the effectiveness and efficiency of LOST-3DSG in dynamic object tracking. Code and supplementary material are publicly available on the project website at https://lab-rococo-sapienza.github.io/lost-3dsg/.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

Metaphor Is Not All Attention Needs

Large language models are increasingly deployed in safety-critical applications, where their ability to resist harmful instructions is essential. Although post-training aims to make models robust against many jailbreak strategies, recent evidence shows that stylistic reformulations, such as poetic transformation, can still bypass safety mechanisms with alarming effectiveness. This raises a central question: why do literary jailbreaks succeed? In this work, we investigate whether their effectiveness depends on specific poetic devices, on a failure to recognize literary formatting, or on deeper changes in how models process stylistically irregular prompts. We address this problem through an interpretability analysis of attention patterns. We perform input-level ablation studies to assess the contribution of individual and combinations of poetic devices; construct an interpretable vector representation of attention maps; cluster these representations and train linear probes to predict safety outcomes and literary format. Our results show that models distinguish poetic from prose formats with high accuracy, yet struggle to predict jailbreak success within each format. Clustering further reveals clear separation by literary format, but not by safety label. These findings indicate that jailbreak success is not caused by a failure to recognize poetic formatting; rather, poetic prompts induce distinct processing patterns that remain largely independent of harmful-content detection. Overall, literary jailbreaks appear to misalign large language models not through any single poetic device, but through accumulated stylistic irregularities that alter prompt processing and avoid lexical triggers considered during post-training. This suggests that robustness requires safety mechanisms that account for style-induced shifts in model behavior. We use Qwen3-14B as a representative open-weight case study.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Optimizing Demonstrated Robot Manipulation Skills for Temporal Logic Constraints

For performing robotic manipulation tasks, the core problem is determining suitable trajectories that fulfill the task requirements. Various approaches to compute such trajectories exist, being learning and optimization the main driving techniques. Our work builds on the learning-from-demonstration (LfD) paradigm, where an expert demonstrates motions, and the robot learns to imitate them. However, expert demonstrations are not sufficient to capture all sorts of task specifications, such as the timing to grasp an object. In this paper, we propose a new method that considers formal task specifications within LfD skills. Precisely, we leverage Signal Temporal Logic (STL), an expressive form of temporal properties of systems, to formulate task specifications and use black-box optimization (BBO) to adapt an LfD skill accordingly. We demonstrate our approach in simulation and on a real industrial setting using several tasks that showcase how our approach addresses the LfD limitations using STL and BBO.

0 citations0 reviewsNo code linkedOpen access
preprint2016arXiv

Learning Human-Robot Handovers Through $π$-STAM: Policy Improvement With Spatio-Temporal Affordance Maps

Human-robot handovers are characterized by high uncertainty and poor structure of the problem that make them difficult tasks. While machine learning methods have shown promising results, their application to problems with large state dimensionality, such as in the case of humanoid robots, is still limited. Additionally, by using these methods and during the interaction with the human operator, no guarantees can be obtained on the correct interpretation of spatial constraints (e.g., from social rules). In this paper, we present Policy Improvement with Spatio-Temporal Affordance Maps -- $π$-STAM, a novel iterative algorithm to learn spatial affordances and generate robot behaviors. Our goal consists in generating a policy that adapts to the unknown action semantics by using affordances. In this way, while learning to perform a human-robot handover task, we can (1) efficiently generate good policies with few training episodes, and (2) easily encode action semantics and, if available, enforce prior knowledge in it. We experimentally validate our approach both in simulation and on a real NAO robot whose task consists in taking an object from the hands of a human. The obtained results show that our algorithm obtains a good policy while reducing the computational load and time duration of the learning process.

0 citations0 reviewsNo code linkedOpen access
preprint2016arXiv

STAM: A Framework for Spatio-Temporal Affordance Maps

Affordances have been introduced in literature as action opportunities that objects offer, and used in robotics to semantically represent their interconnection. However, when considering an environment instead of an object, the problem becomes more complex due to the dynamism of its state. To tackle this issue, we introduce the concept of Spatio-Temporal Affordances (STA) and Spatio-Temporal Affordance Map (STAM). Using this formalism, we encode action semantics related to the environment to improve task execution capabilities of an autonomous robot. We experimentally validate our approach to support the execution of robot tasks by showing that affordances encode accurate semantics of the environment.

0 citations0 reviewsNo code linkedOpen access
preprint2016arXiv

Using Monte Carlo Search With Data Aggregation to Improve Robot Soccer Policies

RoboCup soccer competitions are considered among the most challenging multi-robot adversarial environments, due to their high dynamism and the partial observability of the environment. In this paper we introduce a method based on a combination of Monte Carlo search and data aggregation (MCSDA) to adapt discrete-action soccer policies for a defender robot to the strategy of the opponent team. By exploiting a simple representation of the domain, a supervised learning algorithm is trained over an initial collection of data consisting of several simulations of human expert policies. Monte Carlo policy rollouts are then generated and aggregated to previous data to improve the learned policy over multiple epochs and games. The proposed approach has been extensively tested both on a soccer-dedicated simulator and on real robots. Using this method, our learning robot soccer team achieves an improvement in ball interceptions, as well as a reduction in the number of opponents' goals. Together with a better performance, an overall more efficient positioning of the whole team within the field is achieved.

0 citations0 reviewsNo code linkedOpen access
preprint2013arXiv

Knowledge Representation for Robots through Human-Robot Interaction

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction with the user. We propose a multi-modal interaction framework that allows to effectively acquire knowledge about the environment where the robot operates. In particular, in this paper we present a rich representation framework that can be automatically built from the metric map annotated with the indications provided by the user. Such a representation, allows then the robot to ground complex referential expressions for motion commands and to devise topological navigation plans to achieve the target locations.

0 citations0 reviewsNo code linkedOpen access