Vision-language-model (VLM)-guided reinforcement learning (RL) has recently attracted significant attention for it, replacing brittle hand-crafted rewards with semantically grounded signals; however, deploying such simulation-trained policies on real vehicles remains a fundamental challenge, because they rely on simulator-native observations and simulator-coupled action semantics with no counterpart on physical hardware. We identify a general principle: the simulation-to-reality gap decomposes into two largely orthogonal axes, a sensing-and-dynamics domain gap and a task-and-geometry gap, the former closable without real-world policy training by re-projecting real perception and control onto the policy's training manifold. We formalize this as a transfer guarantee that bounds the deployment gap by three independently controllable error terms, and instantiate it as Sim2Real-AD, which combines a Geometric Observation Bridge, a Physics-Aware Action Mapping, a Two-Phase Progressive Training curriculum, and a Real-time Deployment Pipeline. As a proof of concept, a CARLA-trained VLM-guided RL policy is transferred zero-shot to a full-scale battery-electric Ford E-Transit van in Madison, WI, USA, and drives across car-following, obstacle-avoidance, and stop-sign scenarios using no real-world training data. To our knowledge, this is among the first zero-shot closed-loop deployments of a CARLA-trained VLM-guided RL policy on a full-scale real vehicle, and the decomposition offers a principled, broadly applicable route for moving simulation-trained, foundation-model-guided policies into the physical world, supporting energy-efficient intelligent driving on electrified transportation platforms. The demo video, code, and model checkpoint are available at: https://zilin-huang.github.io/Sim2Real-AD-website/.
The emergence of decentralized finance has transformed asset trading on the blockchain, making traditional financial instruments more accessible while also introducing a series of exploitative economic practices known as Maximal Extractable Value (MEV). Concurrently, decentralized finance has embraced rollup-based Layer-2 solutions to facilitate asset trading at reduced transaction costs compared to Layer-1 solutions such as Ethereum. However, rollups lack a public mempool like Ethereum, making the extraction of MEV more challenging. In this paper, we investigate the prevalence and impact of MEV on Ethereum and prominent rollups such as Arbitrum, Optimism, and zkSync over a nearly three-year period. Our analysis encompasses various metrics including volume, profits, costs, competition, and response time to MEV opportunities. We discover that MEV is widespread on rollups, with trading volume comparable to Ethereum. We also find that, although MEV costs are lower on rollups, profits are also significantly lower compared to Ethereum. Additionally, we examine the prevalence of sandwich attacks on rollups. While our findings did not detect any sandwiching activity on popular rollups, we did identify the potential for cross-layer sandwich attacks facilitated by transactions that are sent across rollups and Ethereum. Consequently, we propose and evaluate the feasibility of three novel attacks that exploit cross-layer transactions, revealing that attackers could have already earned approximately 2 million USD through cross-layer sandwich attacks.
In May 2022, an apparent speculative attack, followed by market panic, led to the precipitous downfall of UST, one of the most popular stablecoins at that time. However, UST is not the only stablecoin to have been depegged in the past. Designing resilient and long-term stable coins, therefore, appears to present a hard challenge. To further scrutinize existing stablecoin designs and ultimately lead to more robust systems, we need to understand where volatility emerges. Our work provides a game-theoretical model aiming to help identify why stablecoins suffer from a depeg. This game-theoretical model reveals that stablecoins have different price equilibria depending on the coin's architecture and mechanism to minimize volatility. Moreover, our theory is supported by extensive empirical data, spanning $1$ year. To that end, we collect daily prices for 22 stablecoins and on-chain data from five blockchains including the Ethereum and the Terra blockchain.
This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and asymptotically steers the tracking error to zero. The brief also presents a closed-loop stability proof of the method, ensuring perfect asymptotic estimation and tracking by the controlled vehicle. The proposed solution advantageously needs no a-priori information about the total disturbance boundedness, additional variables to model uncertainty, or observer parameters to be tuned. Its effectiveness and superiority to existing methods are studied in theory and shown in simulations where a full racecar model, based on the vehicle dynamics blockset, is required to track aggressive maneuvers. Through a faster and more accurate disturbance estimation, the solution robustly ensures better dynamic responses even with measurement noise.