Robotics & Automation
Robotics & Automation news — Wednesday 07 October 2026
150 stories from 4 sources, every one in English. Each links to its publisher.
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PTC acquisition positions Schneider Electric to challenge Siemens
Robotics Business Review
PTC’s Creo CAD supports complex 3D product design and is available through Creo+, its SaaS offering. Source: PTC Global energy company Schneider Electric this week said it will acquire industrial design, engineering, and data management…
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PTC acquisition positions Schneider Electric to challenge Siemens
The Robot Report
PTC’s Creo CAD supports complex 3D product design and is available through Creo+, its SaaS offering. Source: PTC Global energy company Schneider Electric this week said it will acquire industrial design, engineering, and data management…
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Teradyne Robotics, Elite Robots settle cobot dispute
Robotics Business Review
Teradyne claimed that Elite Robots’ cobots (above) and software were similar to its own. Credit: Elite Robots Teradyne Robotics and Elite Robots have reached a mutual agreement resolving a legal dispute over robots and software, bringing…
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Teradyne Robotics, Elite Robots settle cobot dispute
The Robot Report
Teradyne claimed that Elite Robots’ cobots (above) and software were similar to its own. Credit: Elite Robots Teradyne Robotics and Elite Robots have reached a mutual agreement resolving a legal dispute over robots and software, bringing…
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HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object Interaction
IEEE Spectrum Robotics
This White Paper gives robotics researchers and engineers an overview of a new large-scale motion capture dataset built to close the data gap limiting humanoid robot learning. It also shows how policies trained on the dataset transfer to a…
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Harmonic Drive to share how integrated actuators can reduce engineering at RoboBusiness
Robotics Business Review
The RSF-5B IDT Sumpermini actuator with an integrated servo drive. | Source: Harmonic Drive Selecting the right motion architecture is one of the most important design decisions in robotics. At RoboBusiness 2026, Marcel Almonte, a…
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Harmonic Drive to share how integrated actuators can reduce engineering at RoboBusiness
The Robot Report
The RSF-5B IDT Sumpermini actuator with an integrated servo drive. | Source: Harmonic Drive Selecting the right motion architecture is one of the most important design decisions in robotics. At RoboBusiness 2026, Marcel Almonte, a…
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Humanoid Horizon: Extending Task Horizon in Whole-Body Loco-Manipulation via Parallel Training, Dynamic Starting, and Reward Gating
arXiv cs.RO (Robotics)
arXiv:2610.08320v1 Announce Type: new Abstract: Cluttered indoor environments, where large and heavy objects are scattered across diverse surfaces, require humanoid robots to sequentially navigate, grasp, transport, and accurately place…
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WareFly-VLA: A Vision-Language-Action Framework for UAV Navigation and Human Tracking in Smart Warehouses
arXiv cs.RO (Robotics)
arXiv:2610.08526v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have achieved impressive results in robotic manipulation and ground-mobile navigation, yet language-conditioned control of unmanned aerial vehicles (UAVs)…
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Towards an Extensible Benchmark for Spoken Dialogue with Social Robots
arXiv cs.RO (Robotics)
arXiv:2610.08733v1 Announce Type: new Abstract: Language models provide a plug-and-play interface between humans and robots, but important challenges remain when speech, dialogue, fast interaction, and collaboration are required. We…
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PEARS: Physical-Prior-Guided Efficient Adaptation via Failure Reasoning and Diffusion Steering for Tactile Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.08784v1 Announce Type: new Abstract: Pretrained robotic policies can suffer substantial performance degradation under out-of-distribution (OOD) conditions encountered during deployment, motivating post-training through…
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Contact Modes Are Strata: What Geometric Structure Buys in Discrete-Continuous Planning
arXiv cs.RO (Robotics)
arXiv:2608.15541v2 Announce Type: replace Abstract: Contact-rich manipulation poses a discrete question and a continuous one at once, namely which contacts are active and how to move while they hold. The two are coupled by a change of…
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Beyond Data Scaling: Representation-Centric Continued Pre-training for Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2608.27550v2 Announce Type: replace Abstract: Scaling robot data is crucial for building generalist Vision-Language-Action (VLA) models, yet robot trajectories are harder to scale than web-scale image-text data because embodied…
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FedGuide: Diffusion Prior Alignment and Value Baseline Guidance for Heterogeneous Federated Reinforcement Learning
arXiv cs.RO (Robotics)
arXiv:2609.18964v2 Announce Type: replace-cross Abstract: Federated Reinforcement Learning (FRL) enables collaborative policy learning across distributed agents with heterogeneous environments. While recent methods based on variance…
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PointZero: 3D Point Track Completion for Learning Transferable 3D Dynamics
arXiv cs.RO (Robotics)
arXiv:2609.19142v2 Announce Type: replace-cross Abstract: World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse volumes of data, to instill a…
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Pareto-Optimal Entropy-Regularized Trajectory Optimization
arXiv cs.RO (Robotics)
arXiv:2610.08532v1 Announce Type: new Abstract: Trajectory optimization (TO) under nonlinear dynamics, actuation limits and collision avoidance constraints is a fundamental problem in robotics, albeit especially challenging due to its…
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Compact Robot Policies Need Fine-Grained Visual Representations
arXiv cs.RO (Robotics)
arXiv:2610.08183v1 Announce Type: new Abstract: Multi-task manipulation policies differ in architecture, scale, and pretrained priors all at once, so published comparisons cannot attribute performance to any single component. We argue that…
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RMRRT: Riemannian Barrier Metric RRT for Inequality-Aware Steering on Equality Manifolds
arXiv cs.RO (Robotics)
arXiv:2610.06863v1 Announce Type: new Abstract: This paper presents a motion planning framework that unifies equality and inequality constraints within a single geometric formulation for sampling-based planning in high-dimensional robotic…
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Learning Modular Policy for Multi-Floor Object Navigation:A Factorized Framework for Diagnostic Study
arXiv cs.RO (Robotics)
arXiv:2610.06958v1 Announce Type: new Abstract: Object-goal navigation (ObjectNav) in multi-floor scenarios presents a challenge due to sparse rewards caused by long-horizon decision-making. In this paper, we propose a diagnostic study…
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LEAP: Making Privileged Geometry Supervision Effective for Visuomotor Learning
arXiv cs.RO (Robotics)
arXiv:2610.07015v1 Announce Type: new Abstract: Privileged 3D supervision uses additional geometric information during training to guide RGB-based visuomotor policy learning, without requiring geometric inputs at deployment. However, low…
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RoboCap: A New Platform for Egocentric Robot Learning
arXiv cs.RO (Robotics)
arXiv:2610.07217v1 Announce Type: new Abstract: Despite its promise for scaling robot learning, egocentric manipulation data is still scarce today. Collection at scale requires vertically integrating ergonomic hardware with…
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Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces
arXiv cs.RO (Robotics)
arXiv:2610.07319v1 Announce Type: new Abstract: Compliant mechanisms provide compact and intrinsic structural compliance for regulating physical interactions between mechanisms and environments. However, different tasks demand distinct…
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Entropy-Gated Belief Coordination for Decentralized Multi-Agent Search Under Intermittent Communication
arXiv cs.RO (Robotics)
arXiv:2610.07432v1 Announce Type: new Abstract: We study decentralized multi-agent target search where homogeneous agents communicate intermittently at Poisson-distributed times. Standard unconditional belief fusion wastes communication…
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BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.07594v1 Announce Type: new Abstract: Humanoid household manipulation requires the arms to act while the body balances, steps and changes posture. We present BiGym 2.0, an adaptation of BiGym for the Unitree G1 across 20…
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The Robot Is Not Its Description: GaugeBench for Representation Robustness in Morphology-Aware Policies
arXiv cs.RO (Robotics)
arXiv:2610.07597v1 Announce Type: new Abstract: A robot description does more than specify a physical mechanism: it also encodes arbitrary conventions, such as joint-axis direction, joint-angle zero, and the order and names of links and…
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Vector Map Quality Metrics for Contextual Autonomous Driving Systems
arXiv cs.RO (Robotics)
arXiv:2610.08043v1 Announce Type: new Abstract: Ensuring safety in autonomous driving requires continuous map maintenance supported by reliable quality indicators. In this context, it is crucial to identify when and where map updates…
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MIM-VLA: Learning Physical Interaction Representations from Gripper Motor Feedback
arXiv cs.RO (Robotics)
arXiv:2610.08425v1 Announce Type: new Abstract: Vision-language-action (VLA) policies infer grasp actions primarily from visual observations and robot state, but do not explicitly represent the physical response observed after contact. We…
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NMPP: Nonlinear Model Predictive Planning for Agile UAV Flight in Cluttered Environments
arXiv cs.RO (Robotics)
arXiv:2610.08695v1 Announce Type: new Abstract: Flying a quadrotor through a cluttered environment requires not only planning a collision-free reference trajectory based on perceived obstacles, but the reference also needs to be…
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EgoLAP: Learning from Egocentric Human Data through Language-Action Reasoning
arXiv cs.RO (Robotics)
arXiv:2610.08726v1 Announce Type: new Abstract: Egocentric human data offer a path to scaling robot learning beyond costly robot demonstrations, yet the embodiment gap makes raw human trajectories a poor supervisory target for control. Our…
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FingerEye: Learning Dexterous Manipulation with Continuous Vision-Tactile Sensing
arXiv cs.RO (Robotics)
arXiv:2604.20689v4 Announce Type: replace Abstract: Dexterous robotic manipulation requires perception that remains informative from pre-contact approach to contact initiation and post-contact control. We introduce FingerEye, a sensing and…
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FineART: Fine-Grained Annotated Robotic Trajectory Dataset and Vision-Language-Action Model for Bimanual Manipulation
arXiv cs.RO (Robotics)
arXiv:2609.36416v3 Announce Type: replace Abstract: Robots operating in real-world environments must often execute complex, multi-step bimanual tasks over long horizons rather than single, isolated actions. Current manipulation datasets…
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Completion Aware Guidance for World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.01559v2 Announce Type: replace Abstract: World Action Models (WAMs) predict visual futures and robot actions, yet they remain susceptible to task-incomplete imagination, where plausible, action-consistent predictions omit the…
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KungfuAthleteBot: learning high-dynamic humanoid motion from video with unified robust recovery
arXiv cs.RO (Robotics)
arXiv:2610.03388v2 Announce Type: replace Abstract: Video is an abundant, inexpensive source of human motion data that is rich in extreme athletic behaviors. Making it usable for humanoid robots, however, is not a matter of simply…
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ProactiveVLA: Augmenting Embodied Memory through Proactive Environment Exploration
arXiv cs.RO (Robotics)
arXiv:2610.06999v1 Announce Type: new Abstract: Rapid adaptation to a new environment requires a robot to acquire useful knowledge about local objects, states, and interactions from limited experience. Systems that combine a reasoning…
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BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking
arXiv cs.RO (Robotics)
arXiv:2610.07052v1 Announce Type: new Abstract: Whole-body tracking has become the interface through which operators drive humanoid robots, yet the references it consumes are recorded on level ground and carrying nothing, so the tracker is…
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Towards Decentralized Formation of Minimum-Length Communication Networks Using Robot Swarms
arXiv cs.RO (Robotics)
arXiv:2610.07320v1 Announce Type: new Abstract: Multi-robot missions in infrastructure-denied environments frequently rely on reliable communication links between spatially separated locations. We propose a fully decentralized framework…
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Expressiveness, Equivalence, and Uncertainty in Velocity Obstacles and Closest Point of Approach Metrics
arXiv cs.RO (Robotics)
arXiv:2610.07371v1 Announce Type: new Abstract: Time to Closest Point of Approach (TCPA), Distance to Closest Point of Approach (DCPA), and Velocity Obstacles (VOs), are widely used to assess and mitigate collision risk in autonomous…
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Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach
arXiv cs.RO (Robotics)
arXiv:2610.07456v1 Announce Type: new Abstract: A common assumption to simplify the problem of controlling a multi-UAV slung load system (MUSLS) is that the flexible cables can be modeled as massless rigid rods. In this work, we propose an…
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Model-Based Geometry-Aware Generative Optimization for Constrained Locomotion Planning
arXiv cs.RO (Robotics)
arXiv:2610.07772v1 Announce Type: new Abstract: Constrained Locomotion Planning (CLP) for quadrupeds and humanoids, where robots must satisfy collision avoidance, contact consistency, kinematic feasibility, and support constraints, is…
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Nested Power Models for Multirotor Propulsion: From Aerodynamic Drag to Electrical Losses
arXiv cs.RO (Robotics)
arXiv:2610.08177v1 Announce Type: new Abstract: Speed-only aerodynamic power models for multirotor propulsion cannot represent acceleration-dependent effects. This work develops a nested sequence of propulsion-power models that starts from…
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How Much Planning Is Enough? Reducing Search and Computation in World-Model Planning
arXiv cs.RO (Robotics)
arXiv:2610.08350v1 Announce Type: new Abstract: Visual world models enable goal-directed control through decision-time action search, but their deployment efficiency is often limited by conservatively large planning budgets. We show that…
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Micro Neural Policies for Safe Real-Time Robotic Control
arXiv cs.RO (Robotics)
arXiv:2610.08541v1 Announce Type: new Abstract: In this paper, we investigate the synthesis of Micro Neural Policies (MNP) to enable safe and robust real-time robotic control on computationally constrained embedded devices. We demonstrate…
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MRPilot: Supervising and Intervening LLM-Based Multi-Robot Teams through Mixed Reality
arXiv cs.RO (Robotics)
arXiv:2610.07477v1 Announce Type: cross Abstract: Large language models (LLMs) let users direct heterogeneous multi-robot systems (MRS) through natural language, but make task interpretation, robot assignment, and coordination difficult to…
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Robust Nonprehensile Object Transport with Quadruped Robots
arXiv cs.RO (Robotics)
arXiv:2610.07245v1 Announce Type: new Abstract: In this paper, we present a robust nonprehensile object transportation framework for quadruped robots. An uncertainty-aware trajectory optimization method generates object motions with…
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Symmetries Here and There, Combined Everywhere: Cross-space Symmetry Compositions in Robotics
arXiv cs.RO (Robotics)
arXiv:2605.22639v4 Announce Type: replace Abstract: Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries…
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Mitigating Concept Drift in QoS Prediction for Teleoperation of Autonomous Vehicles Using Historic Data
arXiv cs.RO (Robotics)
arXiv:2610.08297v1 Announce Type: new Abstract: Teleoperation serves as the fallback solution to autonomous driving but reliable functions of the teleoperation require a certain amount of mobile network resources, which cannot be…
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End-to-End Safe Social Navigation via Multi-Task Reinforcement Learning and Probabilistic Perception
arXiv cs.RO (Robotics)
arXiv:2610.05733v2 Announce Type: replace Abstract: Autonomous social navigation requires balancing efficiency, physical safety, and social compliance. Reinforcement Learning (RL) methods provide a viable and effective solution but often…
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HARL-A: An Extensible Benchmark Framework for Heterogeneous Multi-Agent Adversarial Reinforcement Learning in IsaacLab
arXiv cs.RO (Robotics)
arXiv:2510.01264v2 Announce Type: replace-cross Abstract: Progress in adversarial multi-agent reinforcement learning (MARL) for robotics has been hampered by a lack of shared, extensible infrastructure that supports heterogeneous agent…
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Behavioral Safety Assessment towards Large-scale Deployment of Autonomous Vehicles, Part I: Methodology
arXiv cs.RO (Robotics)
arXiv:2610.08450v1 Announce Type: new Abstract: Autonomous vehicles (AVs) have significantly advanced in real-world deployment in recent years, yet safety continues to be a critical barrier to widespread adoption. Traditional functional…
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Behavioral Safety Assessment towards Large-scale Deployment of Autonomous Vehicles, Part II: Assessment Results
arXiv cs.RO (Robotics)
arXiv:2610.08458v1 Announce Type: new Abstract: Third-party evaluations of autonomous vehicle (AV) safety can play a vital role in improving public acceptance, building consumer confidence, and establishing effective safety standards. In…
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Object-Reconstruction-Aware Whole-body Control of Mobile Manipulators
arXiv cs.RO (Robotics)
arXiv:2509.04094v3 Announce Type: replace Abstract: Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this…
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A Swarm-Coordinated Multi-Robot System for Early Stress Detection in Agricultural Rows Using Multimodal Leaf Sensing
arXiv cs.RO (Robotics)
arXiv:2610.08603v1 Announce Type: new Abstract: Early stress detection in crops is a necessity today to improve efficiency and reduce waste of time, money, and effort. However, most modern techniques, such as hyperspectral imaging and…
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Behavioral Cloning Mystery
arXiv cs.RO (Robotics)
arXiv:2610.07056v1 Announce Type: new Abstract: Behavioral cloning (BC), despite its simplicity, exhibits many counterintuitive phenomena in the real world. For example, the performance of BC often keeps increasing as the model overfits…
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PACE: Stage-Consistent Long-Horizon Robot Manipulation via Progress-Aligned Context for Execution
arXiv cs.RO (Robotics)
arXiv:2610.07917v1 Announce Type: new Abstract: Demonstration-conditioned policies provide a natural interface for specifying robot behavior, yet long-horizon manipulation remains difficult when visually similar states recur across…
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ACG-WAM: World-Action Modeling via Action-Conditioned Geometric Latent Prediction
arXiv cs.RO (Robotics)
arXiv:2610.06965v1 Announce Type: new Abstract: World action models jointly learn visual predictionand robot actions, providing a way to use observations ofscene evolution for policy learning. Their video and actionlosses, however, provide…
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Fluorescence-enhanced Whisker Array with Vision-based Deformation Analysis for Underwater Source Localization
arXiv cs.RO (Robotics)
arXiv:2610.07275v1 Announce Type: new Abstract: Deep-water biological observation is essential for understanding marine organisms and their interactions with the environment. However, conventional optical and acoustic approaches can…
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SMART: Zero-Shot Sim-to-Real Articulated Object Manipulation via Large-Scale Synthetic Pretraining
arXiv cs.RO (Robotics)
arXiv:2610.07652v1 Announce Type: new Abstract: The ability to interact with articulated objects is essential for embodied intelligent systems, but collecting large-scale real-world demonstrations for these interactions remains challenging…
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ESP: Energy-Score Policy for One-Step Multimodal Action Generation
arXiv cs.RO (Robotics)
arXiv:2610.07696v1 Announce Type: new Abstract: Generative action models based on diffusion and flow matching have been increasingly adopted in vision-language-action (VLA) policies for their ability to capture diverse behaviors, including…
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CUSP: CUSUM-Governed Survival Hazard Alarms at the Perception Onset for Off-Road Navigation
arXiv cs.RO (Robotics)
arXiv:2610.07882v1 Announce Type: new Abstract: Off-road navigation exposes a robot to potentially hazardous terrain en route. Although learning-based navigation uses safety supervision to choose which path to drive, it provides no runtime…
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Communication-Free Obstacle Localization from Aggregate Wrench Measurements in Leader--Follower Cooperative Transport
arXiv cs.RO (Robotics)
arXiv:2610.08324v1 Announce Type: new Abstract: We consider obstacle localization for a team of robots cooperatively transporting a rigid payload without explicit inter-robot communication. A leader robot directs the payload's motion…
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Safe Multi-Robot Collaborative Transport Using Density Functions
arXiv cs.RO (Robotics)
arXiv:2610.08441v1 Announce Type: new Abstract: This paper presents a hierarchical density-based model predictive control framework for safe collaborative manipulation by multiple quadrupedal robots. The framework enables a team of robots…
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QF3: Fast Flow RL with Filtered Q-Gradients
arXiv cs.RO (Robotics)
arXiv:2610.08789v1 Announce Type: new Abstract: Flow policies have become a standard policy class for learning robot behaviors from demonstrations, but reinforcement learning is still critical for improving pre-trained flow policies or…
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VeriFine: Scaling Verification for Self-Improvement in Embodied Reasoning
arXiv cs.RO (Robotics)
arXiv:2610.08761v1 Announce Type: cross Abstract: Self-improving policies continually expose new failure patterns, changing what their judges must be able to verify. However, current fixed judges constrain both optimization feedback and…
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Mission-Aware Attestation Envelopes for Time-Critical Autonomous Action: A Hardware-in-the-Loop V2I Study
arXiv cs.RO (Robotics)
arXiv:2610.08771v1 Announce Type: cross Abstract: An autonomous system that asks for a privileged physical action is usually gated on integrity evidence: a platform proves what it is running, and the request is granted or refused on that…
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Learning from Hallucinating Critical Points for Navigation in Dynamic Environments
arXiv cs.RO (Robotics)
arXiv:2509.26513v2 Announce Type: replace Abstract: Generating large and diverse obstacle datasets to learn motion planning in environments with dynamic obstacles is challenging due to the vast space of possible obstacle trajectories…
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GaussianCaR: Gaussian Splatting for Efficient Camera-Radar Fusion
arXiv cs.RO (Robotics)
arXiv:2602.08784v2 Announce Type: replace Abstract: Robust and accurate perception of dynamic objects and map elements is crucial for autonomous vehicles performing safe navigation in complex traffic scenarios. While vision-only methods…
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Learning Force-Regulated Robotic Manipulation with a Low-Cost Tactile-Force-Controlled Gripper
arXiv cs.RO (Robotics)
arXiv:2602.10013v2 Announce Type: replace Abstract: Successfully manipulating many everyday objects, such as potato chips, requires precise force regulation. Failure to modulate force can lead to task failure or irreversible damage to the…
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HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
arXiv cs.RO (Robotics)
arXiv:2604.14944v3 Announce Type: replace Abstract: We present HRDexDB, a real-world 4D dexterous grasping dataset capturing 3D hand-object interaction trajectories over time across five embodiments. The dataset comprises 3.2K trials over…
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GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models
arXiv cs.RO (Robotics)
arXiv:2606.03240v2 Announce Type: replace Abstract: Current Vision-Language-Action (VLA) models often optimize for semantic grounding, whereas executable manipulation requires geometry-aware spatial alignment. We introduce GeoAlign, a…
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Affordance2Action: Task-Conditioned Scene-level Affordance Grounding for Real-Time Manipulation
arXiv cs.RO (Robotics)
arXiv:2606.04172v2 Announce Type: replace Abstract: Task-conditioned manipulation requires grounding instructions to task-relevant functional parts rather than object categories. This setting is scene-dependent and often one-to-many in…
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A Safe Action Is Not Enough: Feasible-Future Decoding for Vision-Language-Action Policies
arXiv cs.RO (Robotics)
arXiv:2610.05166v2 Announce Type: replace-cross Abstract: A safe action is not necessarily a viable one. A frozen vision-language-action (VLA) policy can favor a locally admissible move that leaves no policy-supported route to safe task…
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TAPDreamer: Transferable Adversarial Patches for World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.06814v2 Announce Type: replace-cross Abstract: World models learn to predict how their environment will evolve, making them an important foundation for general-purpose robotic control. Yet world action models depend on camera…
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SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation
arXiv cs.RO (Robotics)
arXiv:2602.16863v3 Announce Type: replace Abstract: The ability to manipulate tools significantly expands the set of tasks a robot can perform. Yet, tool manipulation represents a challenging class of dexterity, requiring grasping thin…
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ROMA: LLM System for Real-World Object-Centric Multi-Sensory Active Perception
arXiv cs.RO (Robotics)
arXiv:2610.06955v1 Announce Type: new Abstract: Humans inherently understand the physical world through an active process. When sensory evidence is insufficient to infer physical properties, we naturally interact with the environment by…
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Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation
arXiv cs.RO (Robotics)
arXiv:2609.15012v3 Announce Type: replace Abstract: Can changing only the language instruction redirect a VLA policy's end effector, or does the visually driven motion prior dominate? We present Atomic Motion Coordinate, a…
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Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2
arXiv cs.RO (Robotics)
arXiv:2610.08618v1 Announce Type: cross Abstract: A robot that offloads its control loop to the network carries the receiver with it, so link quality is decided by where it goes. Simulating this requires both a physics engine and a…
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TeleHairing: A Teleoperation Baseline for Robotic Haircutting
arXiv cs.RO (Robotics)
arXiv:2610.07096v1 Announce Type: new Abstract: Robotic haircutting requires controlled tool motion near the head while simultaneously accounting for communication, visual feedback, tool actuation, and interruption handling. Existing…
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EmbodiedSmith: Scaling Embodied Data through Recursive Self-Improvement Flywheel in Simulation
arXiv cs.RO (Robotics)
arXiv:2610.07969v1 Announce Type: cross Abstract: Scaling robotic foundation models requires diverse training data and reliable evaluation environments. Simulation offers a scalable solution, yet existing generation pipelines remain…
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VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.08220v1 Announce Type: new Abstract: Portable mobile-manipulation demonstrations can help alleviate data scarcity for embodied intelligence, but obtaining reliable, low-cost, and robot-free motion supervision from RGB…
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Embedded Bare-Metal Radar-Inertial Odometry
arXiv cs.RO (Robotics)
arXiv:2610.07278v1 Announce Type: new Abstract: Compact extraplanetary rovers and micro aerial vehicles require robust state estimation frameworks designed to operate under strict computational constraints in unforgiving environments…
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Silicon Language: A Robot-Native Knowledge Exchange Framework for Heterogeneous Robots
arXiv cs.RO (Robotics)
arXiv:2610.07650v1 Announce Type: new Abstract: Reusing a capability across heterogeneous robots still requires substantial human adaptation and verification: transferring a skill often means re-engineering interfaces, retuning parameters…
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EigenDEXplore: Structured Exploration for Dexterous Manipulation with Human Priors
arXiv cs.RO (Robotics)
arXiv:2610.07681v1 Announce Type: new Abstract: Dexterous manipulation poses a challenging high-dimensional optimization problem, as useful behaviors require coordinated motion across many hand joints. In reinforcement learning (RL) and…
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OpenWAM: An Open Framework for Composable World-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.07922v1 Announce Type: new Abstract: World-action models (WAMs) couple future prediction with robot control, yet existing systems often vary the video backbone, interaction structure, supervision, and inference procedure…
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ViDAL: A Visual Dynamics-Grounded Action Latent Space for Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.08150v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have become a central paradigm for robot policy learning, which predict actions in three forms: raw action chunks, discrete action tokens, or continuous…
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SC3BF: Shifted Collision Cone Control Barrier Function for Dynamic Obstacle Avoidance
arXiv cs.RO (Robotics)
arXiv:2610.08332v1 Announce Type: new Abstract: The collision cone used by velocity-space control barrier functions is conservative: it rejects every relative velocity aimed into an obstacle, however slow. We propose the \emph{shifted…
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Post-Grasp Kinematic Repair for Robotic Insertion via Object-in-Gripper Reorientation
arXiv cs.RO (Robotics)
arXiv:2610.08421v1 Announce Type: new Abstract: A stable grasp does not guarantee kinematically feasible robotic insertion because the object-in-gripper transform may force the robot towards singularities or joint limits along the…
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DepthWorld: 3D World Model for Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.08780v1 Announce Type: new Abstract: World models offer a data-driven alternative to traditional simulators for robotics, with applications spanning policy evaluation, improvement, and planning. All of these uses depend on…
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Educating future engineers about LLMs: A scalable workshop
arXiv cs.RO (Robotics)
arXiv:2610.07027v1 Announce Type: cross Abstract: As large language models (LLMs) are increasingly integrated into engineering workflows, students require hands-on experience to learn how to collaborate with them critically. This paper…
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R2RI: A Multi-View Event and RGB Dataset for Robot-to-Robot Interaction
arXiv cs.RO (Robotics)
arXiv:2610.07117v1 Announce Type: cross Abstract: Understanding and modeling interactions between autonomous agents is a fundamental challenge in robotics, with broad implications for collaborative systems, social robotics, and human-robot…
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Federated Bayesian Surveillance of Mechanical Thrombectomy Adverse Events: A Population Risk Layer for Surgical Digital Twins
arXiv cs.RO (Robotics)
arXiv:2610.08464v1 Announce Type: cross Abstract: Learned surgical simulators and world models can roll out plausible procedural futures, but they carry no grounded estimate of how often interventional devices actually harm patients. We…
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LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenes
arXiv cs.RO (Robotics)
arXiv:2508.16943v4 Announce Type: replace Abstract: Physics-based human motion control can make a simulated character walk, sit, and manipulate objects with high physical realism. Almost always, though, this happens in short, isolated…
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PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner
arXiv cs.RO (Robotics)
arXiv:2603.10330v3 Announce Type: replace Abstract: Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert demonstrations…
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BAT: Balancing Agility and Stability via Online Policy Switching for Long-Horizon Whole-Body Humanoid Control
arXiv cs.RO (Robotics)
arXiv:2604.01064v2 Announce Type: replace Abstract: Despite advances in reinforcement and imitation learning, achieving both precise control and dynamic whole-body behaviors in long-horizon tasks remains challenging. Existing approaches…
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WAMJET: A Harness for World Action Model Acceleration
arXiv cs.RO (Robotics)
arXiv:2610.03797v2 Announce Type: replace-cross Abstract: World Action Models (WAMs) leverage pretrained video foundation models for robot manipulation, but their large backbones and video-action co-prediction are expensive. Although…
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Energy-Aware Path Following: Comparative Analysis of Reinforcement Learning and NMPC for Electric Vehicles
arXiv cs.RO (Robotics)
arXiv:2610.08112v1 Announce Type: new Abstract: Path-following control strategies typically follow the bi-objective optimization dilemma: minimizing deviations from a reference path while maintaining smooth speed profiles. The latter…
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VLA-ACL: Action-Consistent Visual Token Pruning for Efficient Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.08133v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models achieve strong robotic manipulation performance but incur high computational costs from processing long token sequences at every control step, limiting…
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What the Elevation Map Cannot See: Semantic-Aware Locomotion and Execution-Aware Navigation for Humanoid Robot
arXiv cs.RO (Robotics)
arXiv:2610.07396v1 Announce Type: new Abstract: Navigation for humanoid robots is critical, yet large-scale evaluation on physical hardware is often impractical due to cost and safety concerns, making simulation benchmarks essential…
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AutodidactWAM: Cross-Modal Self-Distillation from Generated Video to Robot Actions
arXiv cs.RO (Robotics)
arXiv:2610.08119v1 Announce Type: new Abstract: World-action models (WAMs) such as Cosmos 3 jointly generate future video and robot actions from an observation and instruction. Adapting one such model with a lightweight LoRA fine-tune to a…
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Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning
arXiv cs.RO (Robotics)
arXiv:2607.12423v2 Announce Type: replace Abstract: Multi-Robot Motion Planning in continuous environments, where robots must generate dynamically feasible, collision-free trajectories, is challenging due to the combinatorial growth of the…
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Navigation with RF Cues: Embodied Perception Action under Multipath Uncertainty
arXiv cs.RO (Robotics)
arXiv:2610.08105v1 Announce Type: new Abstract: Smart factory inspection requires robots to reach connected equipment without a prior map or known target coordinates. Radio frequency (RF) signals from the target can provide directional…
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No Need to Stop the Fleet: Localized Anomaly Isolation via Dead Zones in AGV Fleets
arXiv cs.RO (Robotics)
arXiv:2610.08524v1 Announce Type: new Abstract: Automated Guided Vehicle (AGV) fleets in production and logistics environments rely on a system-wide emergency stop to handle local anomalies such as malfunctions, hazards, or contaminated…
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Belief-Informed Hybrid Control with Almost-Sure Target-Set Convergence
arXiv cs.RO (Robotics)
arXiv:2610.07674v1 Announce Type: cross Abstract: Controlling a hybrid system to a target set under parameter uncertainty can require informative actions that temporarily drive the system state away from the specified set. We propose a…
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Guided Action Flow: Value-Guided Sampling for Frozen Vision-Language-Action Policies
arXiv cs.RO (Robotics)
arXiv:2607.02092v4 Announce Type: replace Abstract: Reinforcement learning can improve vision-language-action (VLA) policies beyond supervised fine-tuning, although this typically involves further updates to the policy parameters. For…
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TransMASK: Masked State Representation through Learned Transformation
arXiv cs.RO (Robotics)
arXiv:2603.05670v2 Announce Type: replace Abstract: When humans learn new manipulation skills, they are able to generalize these skills to new contexts and environments. In particular, when learning, humans can easily separate…
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Generalizable Robustness Testing of DNN-Based Robotic Navigation Systems via XAI-Guided Search
arXiv cs.RO (Robotics)
arXiv:2610.06862v1 Announce Type: new Abstract: **Context:** Deep Neural Networks (DNNs) increasingly control Cyber-Physical Systems (CPSs), yet small input perturbations can cause unsafe system-level behavior. Existing approaches often…
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ScanSTL: Parallel Robustness Evaluation for Signal Temporal Logic
arXiv cs.RO (Robotics)
arXiv:2610.07346v1 Announce Type: new Abstract: Repeated evaluation and differentiation of Signal Temporal Logic (STL) robustness can become a computational bottleneck in robot planning and control. Sequential temporal recurrences limit…
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An Autonomous, 3D Printed, Waterjet-Powered, Open-Source Robotic Trimaran for Environmental Inspection and Monitoring
arXiv cs.RO (Robotics)
arXiv:2610.07398v1 Announce Type: new Abstract: Versatile, autonomous robotic boats can offer excellent environmental inspection and monitoring solutions for remote, dangerous, hard to reach, or access protected water bodies. This paper…
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ProCut: Probabilistic Cutting Topology for Autonomous Electrosurgical Tissue Dissection
arXiv cs.RO (Robotics)
arXiv:2610.07515v1 Announce Type: new Abstract: Accurately modeling and tracking the deformation of soft tissue is critical for a wide range of interventional and surgical procedures. However, current methods struggle in scenarios…
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Learning Grasp Targeting from Point Clouds for Log Pile Clearing on a Hydraulic Crane
arXiv cs.RO (Robotics)
arXiv:2610.07613v1 Announce Type: new Abstract: In mill yards, log loaders clear dense piles by a sequence of bundle grasps: hundreds of logs rest in contact, and each removal changes the pile available to the next grasp. A learned policy…
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Nine Trials to Recover: A Reproducible Benchmark for Repertoire-Free Soft-Robot Damage Adaptation
arXiv cs.RO (Robotics)
arXiv:2610.07616v1 Announce Type: new Abstract: We present a repertoire-free benchmark for soft-robot damage recovery under nine online trials. The protocol pairs damage masks within each morphology, retains a measured nominal fallback…
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TacZero: Training-Free Peg Insertion Using a General-Purpose Vision-Language Model with Tactile Feedback
arXiv cs.RO (Robotics)
arXiv:2610.07621v1 Announce Type: new Abstract: Robots that autonomously determine their actions from language instructions and sensory observations could perform new contact-rich manipulation tasks without task-specific training or…
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Beyond Waypoint Regression: Query-Based Cost Learning over Reachable Ego Futures for End-to-End Driving
arXiv cs.RO (Robotics)
arXiv:2610.08123v1 Announce Type: new Abstract: End-to-end planners based on waypoint regression achieve strong open-loop accuracy, but they primarily learn to mimic expert geometry and remain difficult to adapt to deployment-time safety…
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HexaGripper: A Single-Actuator, Winch-Deployed Gripper for Autonomous Aerial Parcel Collection
arXiv cs.RO (Robotics)
arXiv:2610.08259v1 Announce Type: new Abstract: Autonomous aerial parcel collection remains constrained by package-transfer operations that require manual loading, landing, or dedicated ground infrastructure. This letter presents…
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Sensor-Layout-Agnostic Navigation via Geometric Observation Canonicalization
arXiv cs.RO (Robotics)
arXiv:2610.08306v1 Announce Type: new Abstract: Existing visual navigation policies are inherently bound to fixed camera configurations, creating a fundamental barrier to zero-shot deployment across heterogeneous robot sensor layouts. To…
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From Legs to Wheels: Embodiment-Aware Human Motion Retargeting for Mobile-Base Humanoids
arXiv cs.RO (Robotics)
arXiv:2610.08381v1 Announce Type: new Abstract: Human video offers a scalable source of robot demonstrations, yet most human-to-humanoid retargeting methods assume a legged robot with human-like kinematics. This assumption does not hold…
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Reactive Exploration of Unknown Environments for Redundant Robots using Virtual Model Control
arXiv cs.RO (Robotics)
arXiv:2610.08110v1 Announce Type: new Abstract: The exploration of confined, occluded, and partially known spaces poses significant challenges in robotic manipulation. The overall pose of the robotic arm must be carefully controlled to…
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Dexterous Control of an 11-DOF Redundant Robot for CT-Guided Needle Insertion With Task-Oriented Weighted Policies
arXiv cs.RO (Robotics)
arXiv:2503.14753v3 Announce Type: replace Abstract: Computed tomography (CT)-guided needle biopsies are critical for diagnosing a range of conditions, including lung cancer, but present challenges such as limited in-bore space, prolonged…
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Bidirectional Incremental Generalized Hybrid A*
arXiv cs.RO (Robotics)
arXiv:2605.30647v2 Announce Type: replace Abstract: We focus on the problem of efficient anytime kinodynamic planning for systems with complex dynamics in unstructured environments that make using precomputed motion primitives infeasible…
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Learning Visual Feature-Based World Models via Residual Latent Action
arXiv cs.RO (Robotics)
arXiv:2605.07079v2 Announce Type: replace-cross Abstract: World models predict future transitions from observations and actions. Existing works predominantly focus on image generation only. Visual feature-based world models, on the other…
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A Geometric Decision Procedure for STL Feasibility and Repair
arXiv cs.RO (Robotics)
arXiv:2610.00199v2 Announce Type: replace-cross Abstract: Signal Temporal Logic control synthesis frequently encounters physical infeasibility due to actuator limits or flawed task deadlines. Standard optimization methods model time by…
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Reward as Observation: Learning Reward-Based Policies for Rapid Adaptation
arXiv cs.RO (Robotics)
arXiv:2610.00729v2 Announce Type: replace-cross Abstract: This paper explores a reward-based policy to achieve zero-shot transfer between source and target environments with completely different observation spaces. While humans can…
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UWB Meets Crazyflow: Simulating Degraded Feedback at Scale for Aerial Robotics
arXiv cs.RO (Robotics)
arXiv:2610.08225v1 Announce Type: new Abstract: In this work, we introduce Crazyflow, an accurate, differentiable simulator built on JAX. By leveraging jit compilation via XLA, Crazyflow unifies physics and control into a single…
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ActTune: Action-Aware Precision and GPU Operating-Point Adaptation for Energy-Efficient Vision-Language-Action Inference
arXiv cs.RO (Robotics)
arXiv:2610.08444v1 Announce Type: new Abstract: Vision-language-action (VLA) policies repeatedly invoke inference to control robots, making graphics processing unit (GPU) energy a recurring cost of task execution. Reducing energy per…
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Hierarchy-GBP: Accelerating Factor Graph Inference via Abstraction and Recovery
arXiv cs.RO (Robotics)
arXiv:2610.06978v1 Announce Type: cross Abstract: Gaussian Belief Propagation (GBP) is a distributed inference algorithm that passes messages in graphical models, making it attractive for scalable spatial intelligence. However, we find GBP…
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Commit While Futures Agree: Consequence-Aware Adaptive Action Chunking for Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.07949v1 Announce Type: new Abstract: Action-chunking policies predict multi-step control sequences, but a fundamental question remains: how much of a predicted action chunk should be committed before replanning? Existing systems…
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CoRE: Learning Collaboration-Role Experts for Decentralized Collaborative Manipulation with One Policy
arXiv cs.RO (Robotics)
arXiv:2610.07752v1 Announce Type: new Abstract: Collaborative manipulation requires robots to perform complementary actions as interactions unfold. We study single-policy decentralized collaboration: every robot runs the same policy from…
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PhoneBot: A Low-Cost Open Humanoid Robot Platform Reusing Smartphones
arXiv cs.RO (Robotics)
arXiv:2610.08737v1 Announce Type: new Abstract: The adoption of humanoid robots in education and research remains limited by high hardware costs, complex sensing systems, and substantial computational requirements. This paper presents…
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RACER: Residual-Adaptive Closed-Loop Estimation for Sampling-Based Planning in Wheeled-Quadruped Racing
arXiv cs.RO (Robotics)
arXiv:2610.07409v1 Announce Type: new Abstract: We present RACER, a hierarchical control framework for wheel-based quadruped racing that combines an MPPI planner with a learned residual dynamics model and a low-level RL velocity tracker…
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Beyond Task Reward: A Controller-Restriction Protocol for Evaluating Embodiment-Dependent Competence
arXiv cs.RO (Robotics)
arXiv:2610.07629v1 Announce Type: new Abstract: Co-design methods optimize a robot's body and controller jointly and judge the result by one number, the task reward of the fully optimized pair. That number cannot separate morphologies…
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ExoBridge: Learning a Bare Hand to Hand-Worn Exoskeleton Mapping through Human Limb Coupling
arXiv cs.RO (Robotics)
arXiv:2610.07692v1 Announce Type: new Abstract: Human video offers a scalable source of experience for dexterous robot learning, but obtaining motion and tactile supervision while preserving bare hand interaction remains challenging. We…
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LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference
arXiv cs.RO (Robotics)
arXiv:2610.08765v1 Announce Type: new Abstract: Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactly when safety matters most. We…
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Sim-to-Real Transfer of Vision-Language Navigation in Continuous Environments Using an Ackermann-Steered Mobile Robot
arXiv cs.RO (Robotics)
arXiv:2610.07192v1 Announce Type: cross Abstract: Vision-Language Navigation (VLN) enables robots to navigate through environments using natural language instructions, making human-robot interaction intuitive. Traditional VLN models often…
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Revisiting Temporal Regularization for Smooth Control in Deep Reinforcement Learning
arXiv cs.RO (Robotics)
arXiv:2610.07910v1 Announce Type: cross Abstract: Deep Reinforcement Learning policies can produce nonsmooth action oscillations that hinder deployment on physical robots. Existing architectural and penalty-based approaches seek spatial…
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A Three-Stage Offline SDRE-Based Control Framework for Human Motion Reproduction on a Suspended Bipedal Robot
arXiv cs.RO (Robotics)
arXiv:2506.04680v4 Announce Type: replace Abstract: This paper presents a three-stage offline command generation framework for reproducing human lower-limb motion on a suspended bipedal robot while matching torque trajectories computed…
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GenZ-LIO: Generalizable LiDAR-Inertial Odometry Beyond Confined--Open Boundaries
arXiv cs.RO (Robotics)
arXiv:2603.16273v3 Announce Type: replace Abstract: For field robotic missions such as inspection, search-and-rescue, and exploration, light detection and ranging (LiDAR)-inertial odometry (LIO) can serve as a core component of autonomy by…
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Generalizable Dense Reward for Long-Horizon Robotic Tasks
arXiv cs.RO (Robotics)
arXiv:2604.00055v2 Announce Type: replace Abstract: Existing robotic foundation policies are trained primarily via large-scale imitation learning. While such models demonstrate strong capabilities, they often struggle with long-horizon…
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A GPU-Parallel Framework for Heterogeneous Multi-Task Reinforcement Learning
arXiv cs.RO (Robotics)
arXiv:2606.03335v3 Announce Type: replace Abstract: GPU-parallel simulation provides abundant robot interaction, but existing benchmarks rarely combine this scale with heterogeneous manipulation tasks and standardized multi-task RL…
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DexPIE: Stable Dexterous Policy Improvement from Real-World Experience
arXiv cs.RO (Robotics)
arXiv:2606.09615v3 Announce Type: replace Abstract: Dexterous manipulation presents substantial challenges for imitation learning due to its high-dimensional action space and complex contact-rich dynamics. Policies trained purely from…
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Sensitivity Shaping for Latent Modeling
arXiv cs.RO (Robotics)
arXiv:2606.14585v2 Announce Type: replace Abstract: Generative dynamics models enable planning in challenging systems, but safe deployment requires detecting policy-induced out-of-distribution (OOD) transitions. Existing methods typically…
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What Enables In-Context Behavior Prompting for Manipulation?
arXiv cs.RO (Robotics)
arXiv:2606.30457v2 Announce Type: replace Abstract: Behavior prompting is a paradigm in which a sensorimotor robot demonstration, called a behavior prompt, serves as an in-context prompt for performing new tasks at test time. While prior…
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Risk-Sensitive Crowd Navigation with Adaptive Ellipsoidal Conformal Prediction
arXiv cs.RO (Robotics)
arXiv:2610.07474v1 Announce Type: new Abstract: Safe crowd navigation under distribution shift requires uncertainty representations that capture structured human-motion prediction errors and safety objectives that account for rare but…
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Koopman Model Predictive Control of An Origami-Inspired Soft Exoskeleton for Knee Rehabilitation
arXiv cs.RO (Robotics)
arXiv:2510.11094v2 Announce Type: replace Abstract: Knee rehabilitation plays a critical role in restoring patients' mobility and functional independence. Traditional rigid rehabilitation exoskeletons are often bulky and cumbersome to…
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OpenSplatGraph: From Dense Semantic Maps to Structured Scene Graphs for Open-Vocabulary Robot Perception
arXiv cs.RO (Robotics)
arXiv:2610.07569v1 Announce Type: new Abstract: Dense 3D mapping with semantic understanding is essential for robotic perception in complex environments. Recent 3D Gaussian Splatting-based mapping approaches enable high-fidelity geometry…
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Modeling Latent Disturbances for Robust Decision-Making in World Models
arXiv cs.RO (Robotics)
arXiv:2610.07599v1 Announce Type: new Abstract: In this paper, we study robust decision-making in the latent space of world models (WMs). Robust optimization is a mathematical framework where, given explicitly specified dynamics and…
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From Model to Prototype: Design and Motor-Flap Propulsion Control of a Twin-Wing Metamorphic UAV
arXiv cs.RO (Robotics)
arXiv:2610.07896v1 Announce Type: new Abstract: This paper presents the design and control strategy for MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV), capable of both spinning-wing hover and fixed flying-wing cruise flight…
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RobotUse: Allocating Computation, Context, and Decisions
arXiv cs.RO (Robotics)
arXiv:2610.04929v2 Announce Type: replace Abstract: Robot agents must connect their intended actions to observed outcomes while retaining the context needed to revise their choices over repeated attempts. Existing interfaces often leave…
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IronMan: Information-Constrained Video-Action Learning for Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.07961v1 Announce Type: new Abstract: Video Action Models (VAMs) couple visual dynamics modeling with action generation for robot manipulation. However, video representations are not naturally suited to action generation, as…
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Event-Driven Proactive Robot Assistance through Vision-Language Reasoning
arXiv cs.RO (Robotics)
arXiv:2610.08344v1 Announce Type: new Abstract: Assistance in collaborative manipulation is often initiated by user instructions, making high-level reasoning request-driven. In fluent human teamwork, however, partners often infer the next…
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Distribution-Transfer Safe-Horizon MPC under Mode Uncertainty
arXiv cs.RO (Robotics)
arXiv:2610.07277v1 Announce Type: new Abstract: Scenario-based MPC is an attractive strategy for chance-constrained motion planning that approximates uncertainty via a finite set of sampled scenarios. As a sampling-based method…
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SURGE: Sonar-fUsed Reconstruction and localization via image-gated Graph Estimation
arXiv cs.RO (Robotics)
arXiv:2610.07472v1 Announce Type: new Abstract: Remotely operated vehicles (ROVs) are widely used to explore and inspect underwater environments such as caves, shipwrecks, and submerged infrastructure. These missions require accurate 3D…