Robotics & Automation
Robotics & Automation news — Thursday 08 October 2026
150 stories from 4 sources, every one in English. Each links to its publisher.
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SafeWorld emerges from stealth to build, deploy robot safety simulation technologies
Robotics Business Review
SafeWorld said its platform can work in a range of industries with a range of robot embodiments, including robots arms, humanoids, mobile robots, and more. | Source: SafeWorld SafeWorld this week emerged from stealth with $12.2 million in…
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SafeWorld emerges from stealth to build, deploy robot safety simulation technologies
The Robot Report
SafeWorld said its platform can work in a range of industries with a range of robot embodiments, including robots arms, humanoids, mobile robots, and more. | Source: SafeWorld SafeWorld this week emerged from stealth with $12.2 million in…
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Jabil discusses the pace of humanoid robot development and production
The Robot Report
The Apollo humanoid robot is designed for a variety of applications. | Credit: Apptronik While much of the focus on humanoid robots has been on entertaining demonstration videos and massive amounts of funds raised, the work of development…
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Jabil discusses the pace of humanoid robot development and production
Robotics Business Review
The Apollo humanoid robot is designed for a variety of applications. | Credit: Apptronik While much of the focus on humanoid robots has been on entertaining demonstration videos and massive amounts of funds raised, the work of development…
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Helm.ai reaches $70M in signed commercial contracts for its foundation models
The Robot Report
Helm.ai said it has commercial partners spanning perception, full-stack autonomous driving, automated data labeling, and generative simulation. | Source: Helm.ai Helm.ai today said it has signed $70 million in commercial contracts for its…
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Helm.ai reaches $70M in signed commercial contracts for its foundation models
Robotics Business Review
Helm.ai said it has commercial partners spanning perception, full-stack autonomous driving, automated data labeling, and generative simulation. | Source: Helm.ai Helm.ai today said it has signed $70 million in commercial contracts for its…
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AWS launches open-source Physical AI Toolchain for robotics
Robotics Business Review
Amazon Web Services (AWS) today launched an open-source Physical AI Toolchain designed to help roboticists move from collecting data to training, simulating, validating and deploying AI models on their robots. The toolchain brings together…
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AWS launches open-source Physical AI Toolchain for robotics
The Robot Report
Amazon Web Services (AWS) today launched an open-source Physical AI Toolchain designed to help roboticists move from collecting data to training, simulating, validating and deploying AI models on their robots. The toolchain brings together…
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This Disembodied Hand Is All the Robot You Need
IEEE Spectrum Robotics
A hand attached to the end of an arm is a given for most humans, but what if robots didn’t have to play by the same rules as we do? Researchers from ETH Zurich have turned an off-the-shelf robotic hand into a completely self-contained…
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WAMJET: A Harness for World Action Model Acceleration
arXiv cs.RO (Robotics)
arXiv:2610.03797v3 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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RoboPace: Contact-Aware Time-Optimal Retiming for Action-Chunk Policies
arXiv cs.RO (Robotics)
arXiv:2610.09696v1 Announce Type: new Abstract: Robot manipulation data collection has been shifting from teleoperation toward robot-free demonstrations, through interfaces such as the Universal Manipulation Interface (UMI) or directly…
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{\Delta}WAM: Distilling Action Tangent Fields into World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.09734v1 Announce Type: new Abstract: World Action Models (WAM) improve robot policies by augmenting sparse action supervision with dense future prediction. However, much of the predictable future is dominated by appearance and…
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Semantic-Aware Predictive Mapping for Exploration and Navigation
arXiv cs.RO (Robotics)
arXiv:2610.10382v1 Announce Type: new Abstract: Predictive mapping can support robotic exploration and navigation by estimating unseen geometric layouts from partial occupancy observations. However, occupancy-only representations may fail…
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ECHO: Embodied Camera Observations of Human Object Carrying
arXiv cs.RO (Robotics)
arXiv:2610.10438v1 Announce Type: cross Abstract: Embodied and assistive agents must do more than recognize objects: they must reason about where an object belongs given the layout of an environment and the habits of the people who live in…
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TriDeliver: Cooperative Air-Ground Instant Delivery with UAVs, Couriers, and Crowdsourced Ground Vehicles
arXiv cs.RO (Robotics)
arXiv:2604.09049v3 Announce Type: replace Abstract: Instant delivery, shipping items before critical deadlines, is essential in daily life. While multiple delivery agents, such as couriers, Unmanned Aerial Vehicles (UAVs), and crowdsourced…
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CAP: Codebook-Aligned Prediction for Tokenized Robot Policies
arXiv cs.RO (Robotics)
arXiv:2610.09178v1 Announce Type: new Abstract: Action tokenization converts continuous robot actions into discrete symbols that can be modeled autoregressively. However, existing tokenizer-based policies typically ignore the tokenizer's…
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RobotAPO: Adversarial Physics Preference Optimization for Robotic Manipulation Video Generation
arXiv cs.RO (Robotics)
arXiv:2610.09454v1 Announce Type: new Abstract: Robotic manipulation videos are increasingly used as visual plans for embodied agents, but optimizing purely for visual plausibility often fails to capture the fragile physical manifold of…
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Many Ways to Succeed: Diversity-Driven RL Fine-Tuning for VLA Generalization
arXiv cs.RO (Robotics)
arXiv:2610.09943v1 Announce Type: new Abstract: Reinforcement learning (RL) fine-tuning improves vision-language-action (VLA) policies through closed-loop experience, yet generalization beyond the fine-tuning distribution remains limited…
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Faster-WAM: Do World Action Models Need Deep Action Modules?
arXiv cs.RO (Robotics)
arXiv:2608.02365v2 Announce Type: replace-cross Abstract: World Action Models (WAMs) build on pretrained video models, whose representations are grounded in physical dynamics and provide a natural basis for action prediction. Despite this…
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LACE-CRAFT: Robot Co-Design with Actor Inheritance and Blackboard Collaboration
arXiv cs.RO (Robotics)
arXiv:2610.09283v1 Announce Type: new Abstract: Robot co-design couples morphology search with policy learning, yet training every new design from scratch discards acquired control experience. We present LACE-CRAFT, which compares…
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OpenViTac: Learning and Benchmarking Visuo-Tactile Policies in a Unified Sim-and-Real Framework
arXiv cs.RO (Robotics)
arXiv:2610.10384v1 Announce Type: new Abstract: Tactile feedback provides embodied agents with physical information beyond visual observations, enabling more reliable interaction with the real world. However, despite the rapid progress of…
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RoboPrompt: Intuitive Robot Policy Steering with Sparse Human Input
arXiv cs.RO (Robotics)
arXiv:2610.10534v1 Announce Type: new Abstract: End-to-end robot policies trained through imitation learning remain constrained by limited data diversity, making reliable zero-shot deployment in real-world settings challenging…
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Beyond Policy Support: Interaction Constrained Offline Reinforcement Learning for Autonomous Driving
arXiv cs.RO (Robotics)
arXiv:2610.09763v1 Announce Type: cross Abstract: Offline reinforcement learning enables reward-driven policy improvement from fixed datasets without requiring online exploration, making it particularly attractive in safety-critical…
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Borrowed Eyes: Markerless Nano-UAV Flight with an Active Quadruped Observer
arXiv cs.RO (Robotics)
arXiv:2610.09967v1 Announce Type: new Abstract: Nano unmanned aerial vehicles (nano-UAVs) can navigate confined spaces that larger robots cannot, but their payload capacity severely limits the sensors and compute available for…
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StableGrasp: Reconstructing Physically Stable Human Hand Grasps from Single Images
arXiv cs.RO (Robotics)
arXiv:2610.09195v1 Announce Type: cross Abstract: Reconstructing a physically stable human grasp from a single RGB image is challenging because physically modeling grasps is itself difficult, and the problem requires estimating not only a…
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Design optimization of tendon-driven robots considering tendon wrapping and shortcut
arXiv cs.RO (Robotics)
arXiv:2610.09645v1 Announce Type: new Abstract: This study proposes a multi-objective optimization method for tendon-driven arm design, addressing the inherent trade-off between joint torque and arm thickness through tendon wrapping and…
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Juno: Taming Predictive Latents for Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.09940v1 Announce Type: new Abstract: Joint-embedding predictive architectures (JEPAs) predict masked or future observations in representation space, offering a natural source of predictive latents for vision-language-action…
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Shared-Roadmap Generation and Evaluator for Multi-Agent Path Planning Using Heterogeneous Graph Neural Network
arXiv cs.RO (Robotics)
arXiv:2610.09034v1 Announce Type: cross Abstract: Multi-agent path planning (MAPP) in continuous environments often relies on roadmaps to balance safety and search efficiency. However, traditional roadmap generation methods, such as…
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Anytime-Feasible First-Order Optimization via Safe Sequential QCQP
arXiv cs.RO (Robotics)
arXiv:2511.19675v2 Announce Type: replace-cross Abstract: This paper presents the Safe Sequential Quadratically Constrained Quadratic Programming (SS-QCQP) algorithm, a first-order method for smooth inequality-constrained nonconvex…
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Multi-Agent Coordination via Support-Preserving Distillation
arXiv cs.RO (Robotics)
arXiv:2610.10087v1 Announce Type: cross Abstract: Offline MARL increasingly relies on generative policies to model multimodal joint behavior, typically by distilling a centralized teacher into decentralized one-step actors under the CTDE…
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NovaPlan: Zero-Shot Long-Horizon Manipulation via Closed-Loop Video Language Planning
arXiv cs.RO (Robotics)
arXiv:2602.20119v2 Announce Type: replace Abstract: Solving complex long-horizon robotic tasks requires joint reasoning over abstract task structure and low-level physical interaction. While combining Vision-Language Models (VLMs) and…
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RoboRender: Robot-Oriented Video Generation for Visual Sim-to-Real Transfer
arXiv cs.RO (Robotics)
arXiv:2610.09254v1 Announce Type: new Abstract: Simulation enables large-scale, low-cost robot data generation, but policies trained in simulation often fail to transfer to the real world due to the sim-to-real visual discrepancies…
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TMT: Runtime Backdoor Detection for Vision-Language-Action Policies on Unseen Tasks
arXiv cs.RO (Robotics)
arXiv:2610.09462v1 Announce Type: new Abstract: Backdoored vision-language-action (VLA) policies can preserve benign task performance while producing malicious actions when a trigger appears. Detecting such activation is difficult because…
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Evaluating the Transfer of Co-Evolved Communication from 2D to 3D Simulation
arXiv cs.RO (Robotics)
arXiv:2610.09280v1 Announce Type: new Abstract: This work examines the transfer of a co-evolved communication mechanism between two robotic agents from a discrete two-dimensional (2D) simulator to a three-dimensional simulator with real…
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Temporally Interpretable Differentiable Decision Trees
arXiv cs.RO (Robotics)
arXiv:2610.10367v1 Announce Type: cross Abstract: Interpretability offers a solution to safe autonomy by providing transparency into an agent's underlying decision-making model. Within sequential-decision making tasks, differentiable…
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WBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.01083v2 Announce Type: replace Abstract: Vision-language-action (VLA) policies have demonstrated impressive capabilities in generalizable robotic manipulation, but their deployment in the real world remains challenging due to…
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A Scoping Review and Experimental Study on Reinforcement Learning from Human Feedback for Human-Robot Collaboration
arXiv cs.RO (Robotics)
arXiv:2610.09891v1 Announce Type: cross Abstract: Human-Robot Collaboration (HRC) can facilitate mass customisation in Industry 4.0, with Reinforcement Learning from Human Feedback (RLHF) representing a promising approach for developing…
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Kuration SDK: Addressing the Virtual2Real Gap via Data Curation
arXiv cs.RO (Robotics)
arXiv:2610.09305v1 Announce Type: cross Abstract: Benchmarks for measuring the quality of action-conditioned world models are still evolving and shifting away from visual similarity-based metrics to action-semantic and physically-grounded…
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Robotic Boomerang Throwing via Model-Based Release Design
arXiv cs.RO (Robotics)
arXiv:2610.10472v1 Announce Type: new Abstract: Throwing objects that generate aerodynamic lift can greatly extend robot throwing beyond ballistic flight. A returning boomerang is a challenging example because its flight depends strongly…
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DSReg: Provably Recovering Individual World Latents without Reconstruction
arXiv cs.RO (Robotics)
arXiv:2610.09457v1 Announce Type: cross Abstract: Methods that recover individual latent variables of the world, from nonlinear ICA to dictionary learning and causal representation learning, anchor the latents to observations through…
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Sparse Feature Policy Unlearning Mitigates State Hallucination in Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.09496v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have shown strong generalization in robotic manipulation by leveraging rich representations from pretrained vision-language models. However, their…
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Taming an End-to-End Autonomous Driving Policy for Urban Navigation of Quadruped Robots
arXiv cs.RO (Robotics)
arXiv:2610.08812v1 Announce Type: new Abstract: We present Go2-DrivoR, a goal-conditioned adaptation of the end-to-end autonomous driving trajectory planning framework DrivoR for urban navigation with quadrupedal robots. By conditioning…
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Autonomous Droplet Navigation via Model-Based Reinforcement Learning: Zero-Shot Transfer and Emergent Dynamics
arXiv cs.RO (Robotics)
arXiv:2610.08852v1 Announce Type: new Abstract: Self-driving laboratories (SDLs) are transforming chemical and materials discovery through closed-loop automation, yet automated infrastructure for physical manipulation of soft, deformable…
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Belief-Space Planning with Planner-Conditioned Estimator Error under Intermittent Observations
arXiv cs.RO (Robotics)
arXiv:2610.09207v1 Announce Type: new Abstract: Belief-space planners with separately designed or off-the-shelf estimators may have access to state-relevant information the estimator does not observe. Consequently, even an estimator that…
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Adaptive Risk-Certified Event-Triggered Replanning for Dynamic Navigation
arXiv cs.RO (Robotics)
arXiv:2610.09302v1 Announce Type: new Abstract: Safe navigation in dynamic environments requires robots to plan under obstacle predictions whose errors are uncertain, non-stationary, and can induce rare but safety-critical failures…
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Learning Unknown Constraints without Unsafe Data via Optimality and Counterfactual Regularization
arXiv cs.RO (Robotics)
arXiv:2610.09350v1 Announce Type: new Abstract: Learning from demonstrations (LfD) provides a framework for inferring unknown constraints from locally optimal, constraint-satisfying expert behavior. Existing approaches largely fall into…
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COOL: Curiosity-Driven Object Ownership Learning for Personalized Robotic Assistance
arXiv cs.RO (Robotics)
arXiv:2610.09358v1 Announce Type: new Abstract: Robots are increasingly expected to provide personalized services in everyday environments. To do so, they must ground natural-language commands such as "Where is my backpack?" or "Find my…
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MCFR: A Mask-Guided Coarse-to-Fine Regression Framework for Robust Multi-Variant Board-to-Board Connector Assembly
arXiv cs.RO (Robotics)
arXiv:2610.09327v1 Announce Type: new Abstract: Automated insertion of board-to-board (BTB) connectors in 3C manufacturing requires both high visual accuracy and strong deployment robustness. This problem remains challenging because…
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Not All Uncertainty Matters: Simulation-in-the-Loop Fast-Slow Reasoning for Decision-Critical Autonomous Driving System
arXiv cs.RO (Robotics)
arXiv:2610.09520v1 Announce Type: new Abstract: Large vision-language models (VLMs) provide powerful open-world perception and reasoning for autonomous driving, but their high computational cost and inference latency make continuous…
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Targeted Modality Dropout for Real-Robot Manipulation Robust to Intermittent Vision Loss
arXiv cs.RO (Robotics)
arXiv:2610.09566v1 Announce Type: new Abstract: Imitation learning policies that integrate multiple sensory modalities are prone to overreliance on a dominant modality, such as vision, during training, which can disrupt policy execution…
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Benchmarking Behavioral Steerability in Behavior Foundation Models
arXiv cs.RO (Robotics)
arXiv:2610.10198v1 Announce Type: new Abstract: Behavior Foundation Models (BFMs) are emerging as a paradigm for translating human intentions into executable humanoid behaviors. As these models evolve beyond behavior generation toward…
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Making Task Abstractions Executable: Control-Aware Layout Repair for a Fixed Controller
arXiv cs.RO (Robotics)
arXiv:2610.10281v1 Announce Type: new Abstract: A task abstraction can specify the intended events while its spatial layout prevents a fixed agent and controller from completing them. Starting from a supplied structured task record, we…
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Hall Effect-Based Tactile Force Detection Sensor for Robot-Assisted Minimally Invasive Surgery
arXiv cs.RO (Robotics)
arXiv:2610.10346v1 Announce Type: new Abstract: Robotic minimally invasive surgery has revolutionized surgical practice. However, as the surgeons are mechanically separated from the surgical tools, loss of tactile feedback occurs. We…
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MultiFly: A Real-World Multimodal Aerial Dataset with Annotation-Efficient Label Transfer and Cross-Modal Semantic Consistency
arXiv cs.RO (Robotics)
arXiv:2610.10359v1 Announce Type: new Abstract: We introduce MultiFly, a real-world, low-altitude UAV dataset for semantic perception across RGB, thermal, LiDAR, and radar modalities. MultiFly provides 17,272 synchronized samples from four…
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RFPO: Rectified Flow Policy Optimization for Embodied Control
arXiv cs.RO (Robotics)
arXiv:2610.10453v1 Announce Type: new Abstract: Flow-based policies provide an expressive framework for continuous robot control, but their iterative ODE integration incurs substantial inference cost. Naively reducing the integration…
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LLA-MPPI: Rapidly Adaptive Whole-body Control of Legged Robots with GPU-Accelerated Parallel Simulations
arXiv cs.RO (Robotics)
arXiv:2610.10465v1 Announce Type: new Abstract: Real-time whole-body controllers for legged robots typically plan through a fixed nominal model and degrade when the deployed dynamics change. Adaptive methods typically require a model…
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Long-WAM: Scaling the Context of World-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.10528v1 Announce Type: new Abstract: Real-time robot control demands enough visual history to infer motion and task progress, but processing that history can delay action. We present Long-WAM, a model-system framework for…
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YUBI-STAG: Contact and Semantic-Rich Alignment for VLAs via Automated Video-Language Grounding
arXiv cs.RO (Robotics)
arXiv:2610.09718v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models acquire broad manipulation capabilities via large-scale pretraining, yet eliciting them through language requires fine-grained alignment between…
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Lifelong small-object navigation in changing object layouts: a benchmark and method
arXiv cs.RO (Robotics)
arXiv:2610.10125v1 Announce Type: new Abstract: Household robots need to continually navigate to different objects in the same environment, many of which are small and portable, such as tools and toys. Their small visual footprint and…
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FoldBack: Self-Correcting Masked Generative Policy for Long-Horizon Garment Folding
arXiv cs.RO (Robotics)
arXiv:2610.10462v1 Announce Type: new Abstract: We present FoldBack, a self-correcting masked generative policy for long-horizon garment folding. Existing long-trajectory policies may continue after a missed or slipped grasp even when the…
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LeCuration: A Tiny World Model as a Data Curation Multi-Tool
arXiv cs.RO (Robotics)
arXiv:2610.09285v1 Announce Type: cross Abstract: Many applications of physical AI run within finite or closed physical worlds with a limited set of physical laws governing object behavior. Examples include robots working in a warehouse…
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RLHND: Video Foundation Models as Physically Grounded Hand Trackers for Robot Learning
arXiv cs.RO (Robotics)
arXiv:2610.09455v1 Announce Type: cross Abstract: Recently, approaches that leverage human video datasets for robot policy training have become increasingly prevalent. However, most existing hand trackers regress pose from cropped frames…
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Rephrase Before You Act: Characterizing and Mitigating Language Sensitivity in Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.10526v1 Announce Type: new Abstract: Vision-language-action models (VLAs) are strikingly sensitive to instruction phrasing and do not inherit the language robustness of the vision-language models they are built on. A one-word…
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FlightMagNav: An Open Dataset and Probabilistic Map Learning and Validation Framework for Outdoor Magnetic Field-Based Positioning
arXiv cs.RO (Robotics)
arXiv:2610.08982v1 Announce Type: cross Abstract: Magnetic field-based positioning is a resilient positioning technology that requires no external infrastructure and is hard to jam at scale. To facilitate research on magnetic field-based…
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MeshSIPP: Efficient Lattice Planning in Dynamic Environment
arXiv cs.RO (Robotics)
arXiv:2610.09652v1 Announce Type: cross Abstract: Autonomous navigation in dynamic environments requires computing spatiotemporal trajectories that satisfy non-holonomic motion constraints. When the trajectories of the moving obstacles are…
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RoboJEPA: Scaling Robotic Latent World Models
arXiv cs.RO (Robotics)
arXiv:2610.10515v1 Announce Type: cross Abstract: Latent world models have shown a remarkable ability to predict future states and to plan in the real world. In practice, however, we lack a principled way to estimate how their capabilities…
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Robotic Ultra-Long-Horizon Manipulation Skills via Human-guided Lifelong Code Generation
arXiv cs.RO (Robotics)
arXiv:2509.18597v3 Announce Type: replace Abstract: Large language models (LLMs) can translate natural-language instructions for robotic manipulation into executable code, but ambiguity, noisy generations, and limited context windows make…
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TAVIS: A Benchmark for Egocentric Active Vision and Anticipatory Gaze in Imitation Learning
arXiv cs.RO (Robotics)
arXiv:2605.07943v2 Announce Type: replace Abstract: Active vision -- where a policy controls its own gaze during manipulation -- has emerged as a key capability for imitation learning, with multiple independent systems demonstrating its…
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Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks
arXiv cs.RO (Robotics)
arXiv:2606.08775v2 Announce Type: replace Abstract: Visual world models have shown great potential in learning complex system dynamics. Recent advancements leverage these models as transition functions within Model Predictive Control (MPC)…
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Targeting World Models to Compromise Robot Learning Pipelines
arXiv cs.RO (Robotics)
arXiv:2606.09499v2 Announce Type: replace Abstract: World models have recently seen a rapid growth in both their popularity and capability as more data efficient tools for generating robot training data or simulating real world…
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ModPack: Extensible Teleoperation Interface for Bimanual Mobile Manipulation
arXiv cs.RO (Robotics)
arXiv:2607.19479v2 Announce Type: replace Abstract: Existing teleoperation systems are often tailored to specific robot hardware and task domains, limiting their scalability and adaptability. We present ModPack, a modular and extensible…
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Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data
arXiv cs.RO (Robotics)
arXiv:2610.09117v1 Announce Type: new Abstract: Humanoid robots still struggle to plan contact-rich whole-body manipulation from egocentric RGB and proprioception. Workhorse learns such manipulation from robot-free human demonstrations. A…
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RoboPilot: Generalizable Dynamic Robotic Manipulation with Dual-thinking Modes
arXiv cs.RO (Robotics)
arXiv:2510.00154v2 Announce Type: replace Abstract: Despite rapid progress in robotics, complex or long-horizon tasks remain a fundamental challenge. Most current approaches follow an open-loop paradigm with limited reasoning and no…
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WSM-Aware HRI: An IoT-Enhanced Framework for Early Detection and Norm-Guided Repair of Failures with LLM Guidance
arXiv cs.RO (Robotics)
arXiv:2609.32336v2 Announce Type: replace Abstract: Human-robot interaction (HRI) failures remain a major barrier to deploying robots in real-world environments. Prior work often treats failures as isolated technical faults or focuses on…
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Humanoid Rickshaw Pulling: Whole-Body Locomotion under Coupled Wheeled Loads
arXiv cs.RO (Robotics)
arXiv:2610.04238v2 Announce Type: replace Abstract: Humanoid robots could transport payloads substantially heavier than themselves by pulling passive wheeled vehicles instead of carrying the load. This capability, however, creates a…
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Generative AI for Autonomous Driving: Frontiers and Opportunities
arXiv cs.RO (Robotics)
arXiv:2505.08854v2 Announce Type: replace-cross Abstract: Generative Artificial Intelligence (GenAI) constitutes a transformative technological wave that reconfigures industries through its unparalleled capabilities for content creation…
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FedGuide: Diffusion Prior Alignment and Value Baseline Guidance for Heterogeneous Federated Reinforcement Learning
arXiv cs.RO (Robotics)
arXiv:2609.18964v3 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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Enhancing Robotic Perception and Adaptability through Sensor Fusion and Origami-Inspired Designs
arXiv cs.RO (Robotics)
arXiv:2610.09828v1 Announce Type: new Abstract: Compact mobile robots must recover scene geometry under changing lighting and surface texture while working within tight payload and cost limits. We present a compact mobile robot that uses…
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Modeling Robotics Dataset Construction as an Artifact-Based Build Process
arXiv cs.RO (Robotics)
arXiv:2606.00162v2 Announce Type: replace Abstract: Robotic systems generate large volumes of multimodal sensor data, but converting ROS bag recordings into machine learning datasets is often handled by ad hoc sequential scripts, creating…
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SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA
arXiv cs.RO (Robotics)
arXiv:2606.15568v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models perform well in generalist robot manipulation but remain brittle to out-of-distribution perturbations, while full human teleoperation is cognitively…
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CMP-IRRT*: A Perception-Assisted Height-Adaptive Planner for Quadruped Robots
arXiv cs.RO (Robotics)
arXiv:2610.10470v1 Announce Type: new Abstract: Quadruped robots can traverse low obstacles, but many 2D planning pipelines still model obstacles as binary occupied regions and rely on sampling-based search that can be inefficient under a…
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The Impact of Operational-Data Fidelity when Assessing Safety-Critical Autonomous-Vehicle Software
arXiv cs.RO (Robotics)
arXiv:2608.10025v2 Announce Type: replace Abstract: For safety-critical software, operational data (e.g. sequences of software successes and failures) can provide strong statistical support for reliability claims. However, insufficient…
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Demo: Vision-Language Model-Guided Online Calibration of an Electromagnetic Digital Twin
arXiv cs.RO (Robotics)
arXiv:2610.07081v2 Announce Type: replace Abstract: An electromagnetic (EM) digital twin gives mobile robots wireless situational awareness but depends on material conductivities that change with the environment. Online calibration faces…
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Do Vision-Language-Action Models Understand Instructions? A Mechanistic Interpretability Study on Language Grounding
arXiv cs.RO (Robotics)
arXiv:2610.10178v1 Announce Type: new Abstract: Vision-Language-Action models are designed to generalise across environments and task descriptions, raising the question of whether their action generation actually depends on the language…
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Graph-Based Floor Separation Using Node Embeddings and Clustering of WiFi Trajectories
arXiv cs.RO (Robotics)
arXiv:2505.08088v5 Announce Type: replace-cross Abstract: Indoor positioning systems (IPSs) are increasingly vital for location-based services in complex multi-storey environments. This study proposes a novel graph-based approach for floor…
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Towards Kinematic Actionable Infeasibility Detection in Motion Planning
arXiv cs.RO (Robotics)
arXiv:2609.32806v2 Announce Type: replace Abstract: Motion planning in robotics requires not only computing collision-free paths but also certifying infeasibility when no such path exists. Complete methods are limited to low-dimensional…
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AirGroundVLN: A Large-Scale Benchmark for Goal-Oriented Air-Ground Collaborative Vision-and-Language Navigation
arXiv cs.RO (Robotics)
arXiv:2610.10421v1 Announce Type: new Abstract: Goal-oriented Vision-and-Language Navigation (VLN) requires agents to locate and reach targets described in natural language without prescribed routes. Air--ground collaboration is valuable…
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FAR: Failure-Aware Retry for Test-Time Recovery and Continual Policy Improvement
arXiv cs.RO (Robotics)
arXiv:2607.01111v2 Announce Type: replace Abstract: Robot policies inevitably encounter failures when deployed in real environments. Naive retries often repeat the same mistakes, while many existing recovery methods rely on human…
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Immiscible Diffusion Policy: Preserving Multimodal Robot Actions through Label-Free Noise Assignment
arXiv cs.RO (Robotics)
arXiv:2610.09369v1 Announce Type: new Abstract: When diffusion policies were first introduced, they were expected to recover multi-modal action distributions. However, we find this expectation does not always hold, as diffusion policies…
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NAViLoss: An Underwater Navigation-Aware Dual-Residual Objective for Physics-Consistent Learning
arXiv cs.RO (Robotics)
arXiv:2610.09690v1 Announce Type: new Abstract: Autonomous underwater vehicles (AUVs) commonly rely on inertial navigation systems (INS) aided by Doppler velocity logs (DVLs) for reliable underwater navigation. Accurate DVL velocity…
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Adaptive Code Generation for Controlling Robots
arXiv cs.RO (Robotics)
arXiv:2610.09588v1 Announce Type: new Abstract: Deploying robots as Complex Adaptive Systems (CAS) in unknown and dynamic environments necessitates a transition from rigid command libraries toward intention-based autonomy, as natural…
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Do Better Visual Representations Always Lead to Better End-to-End Autonomous Driving?
arXiv cs.RO (Robotics)
arXiv:2610.09695v1 Announce Type: new Abstract: Visual foundation models (VFMs) are increasingly integrated into end-to-end autonomous driving for their powerful representations, yet it remains unclear when these representations improve…
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Video-to-Model: Automatic Modeling of Deformable Linear Objects
arXiv cs.RO (Robotics)
arXiv:2610.10039v1 Announce Type: new Abstract: This paper presents a video-to-model framework for automatically modeling the motion of a deformable suture thread from an input video. We utilize a recently developed CBF--CLF--QP numerical…
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Distributed Motion Planning for Multi-Robot Systems under Topological Constraints
arXiv cs.RO (Robotics)
arXiv:2610.10065v1 Announce Type: new Abstract: Efficient and distributed coordination of mobile robots is one of the main challenges in multi-robot systems. Topological constraints, often expressed as topological braids, are a popular…
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Tactile Reconstruction of Contact Task Frames and Forces for Hybrid Force/Motion Control
arXiv cs.RO (Robotics)
arXiv:2610.10020v1 Announce Type: new Abstract: Hybrid force/motion control requires knowledge of the interaction force and of a task frame defining the force- and motion-controlled directions. These quantities are usually obtained from…
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Temporal Visuo-Tactile Learning for Dexterous Grasp Stability
arXiv cs.RO (Robotics)
arXiv:2610.10283v1 Announce Type: new Abstract: Humans can grasp everyday objects with almost perfect success rates using fingertip tactile feedback, yet much of the robotic grasping literature emphasizes vision-based grasp selection with…
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NeRFifyMesh: Optimizing Neural Radiance Fields from Textured Meshes for Robotics Scene Building
arXiv cs.RO (Robotics)
arXiv:2610.10387v1 Announce Type: new Abstract: In robotics, scene representation plays a pivotal role in understanding and interacting with the environment. The advent of Neural Radiance Fields (NeRF) and its variants, as a novel…
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On the complexity of the single-move labeled token routing problem
arXiv cs.RO (Robotics)
arXiv:2610.09084v1 Announce Type: cross Abstract: In neutral-atom quantum computers, atoms are moved to target positions along paths of empty positions, and a target position may be reserved for one species of atom. Motivated by this task…
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RoboFAC: A Comprehensive Framework for Robotic Failure Analysis and Correction
arXiv cs.RO (Robotics)
arXiv:2505.12224v5 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have recently advanced robotic manipulation by translating natural-language instructions and visual observations into control actions. However…
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Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains
arXiv cs.RO (Robotics)
arXiv:2607.13319v2 Announce Type: replace Abstract: High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains. Recent forward kinodynamic (FKD) prediction…
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ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics
arXiv cs.RO (Robotics)
arXiv:2610.09315v1 Announce Type: new Abstract: This paper presents an open-sourced MATLAB simulation and analysis platform dedicated to legged climbing robots. This simulator enables the design of any limbed robotic system as an…
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Dynamic Neural Koopman Distillation for Fast Robot Control Using Diffusion Models
arXiv cs.RO (Robotics)
arXiv:2605.24924v2 Announce Type: replace Abstract: Diffusion models excel at generating diverse, multimodal trajectories for robotic control, yet their iterative denoising process introduces latency that can constrain real-time…
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Resolving Conflicts Where and When They Arise: Reactive Composition of Multi-Goal Behavior
arXiv cs.RO (Robotics)
arXiv:2605.27314v2 Announce Type: replace Abstract: Multi-goal robotic tasks are commonly delegated to planning, because reactive control is prone to local minima when objectives conflict. We show that many such failures stem from static…
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Beyond Reconstruction: What Matters in Action Tokenization for Robot Policies?
arXiv cs.RO (Robotics)
arXiv:2610.09170v1 Announce Type: new Abstract: Autoregressive action-token policies such as vision-language-action models require action tokenizers to translate discrete token sequences into precise control actions in continuous space…
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World Models Dream of Success: Diagnosing and Repairing Failure Insensitivity in Robot World Models
arXiv cs.RO (Robotics)
arXiv:2610.09134v1 Announce Type: new Abstract: Robot world models support policy evaluation, planning, and synthetic data generation, but these applications require predictions that distinguish successful actions from failures. Across…
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Fast and Robust Teach-and-Repeat Navigation Using MixVPR Visual Place Recognition*
arXiv cs.RO (Robotics)
arXiv:2610.09631v1 Announce Type: new Abstract: Teach-and-repeat navigation systems employing advanced visual place recognition techniques for localization exhibit key attributes for long-term mobile robot navigation, such as the ability…
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AeroEval: Staged Program and Execution Validation for AI-Generated Drone Missions
arXiv cs.RO (Robotics)
arXiv:2610.09764v1 Announce Type: new Abstract: Large Language Models (LLMs) can generate drone programs from natural-language mission descriptions, but syntactically valid programs may still violate user intent, environmental constraints…
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Video Prediction Policy 2: Predict Better, Act Better
arXiv cs.RO (Robotics)
arXiv:2610.10270v1 Announce Type: cross Abstract: World action models (WAMs) have emerged as an important class of generalist robot policies, aiming to transfer video prediction priors to action learning. However, we find that existing…
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RoboIRS: Inference-Time Internal Representation Steering for Generalist Robot Policies
arXiv cs.RO (Robotics)
arXiv:2610.04681v2 Announce Type: replace Abstract: Vision-language-action (VLA) and world-action models (WAMs) often degrade under out-of-distribution task variations despite retaining partial task capability. To recover such capability…
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A Review Of Robotic World Models For Dynamic Environments Based On Factor And Scene Graphs
arXiv cs.RO (Robotics)
arXiv:2610.08800v1 Announce Type: new Abstract: Models based on graphs have emerged in robotics as a powerful foundation for internal world representations, where factor and scene graphs are among the most prominent model types found in…
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From Wearable Interfaces to Dexterous Policies: Contact Shifts and Tactile Representations
arXiv cs.RO (Robotics)
arXiv:2610.08870v1 Announce Type: new Abstract: Unlike conventional teleoperation, wearable interfaces allow operators to collect dexterous demonstrations through their own hand motions while directly interacting with task objects. This…
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HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids
arXiv cs.RO (Robotics)
arXiv:2610.08970v1 Announce Type: new Abstract: Humanoid loco-manipulation of large, heavy objects demands forceful interaction across the entire body. However, such payloads shift a humanoid's center of mass and impose sustained loads…
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MimicX: Policy-in-the-Loop Supervision Refinement for Video-Driven Humanoid Motion Tracking
arXiv cs.RO (Robotics)
arXiv:2610.09055v1 Announce Type: new Abstract: Human videos provide rich motion targets for humanoid learning, yet visually plausible references can still produce persistent failures under physics-based execution. These failures reveal…
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geodex: A Library for Motion Planning on Riemannian Manifolds
arXiv cs.RO (Robotics)
arXiv:2610.09165v1 Announce Type: new Abstract: Planning motions that respect the intrinsic geometry of a robot's configuration space, including its curvature and a configuration-dependent notion of cost, yields shorter, lower-energy, and…
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Co-Evolving Robot Orchestrators and Policies through Deployment
arXiv cs.RO (Robotics)
arXiv:2610.09228v1 Announce Type: new Abstract: Vision-language-action (VLA) policies trained on large datasets are capable within their training domains, yet they still fail to generalize to the variety of situations a robot meets in…
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Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control
arXiv cs.RO (Robotics)
arXiv:2610.09479v1 Announce Type: new Abstract: Precise end-effector tracking during humanoid whole-body motion is challenging due to floating-base oscillations, gravity, dynamic coupling, and locomotion-induced disturbances. We propose…
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SiGNgapore - An Interactive Dataset for Sign-based Visual Navigation
arXiv cs.RO (Robotics)
arXiv:2610.09488v1 Announce Type: new Abstract: The future of autonomous robots in human-oriented environments depends on their ability to navigate in the absence of prebuilt maps; exploiting navigational aids, such as navigational signs…
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ActiveLang: Active Open-Vocabulary 3D Mapping with Semantic-Uncertainty-Guided Exploration
arXiv cs.RO (Robotics)
arXiv:2610.09518v1 Announce Type: cross Abstract: As robots increasingly assist humans with diverse tasks, they need both geometric and semantic understanding of their surroundings. Moreover, robots often operate in unfamiliar environments…
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Decoding Neural Population Dynamics through Robotic Analog
arXiv cs.RO (Robotics)
arXiv:2610.09977v1 Announce Type: new Abstract: Animal evidence shows that precise voluntary movements arise from rotational neural population dynamics in motor cortex, but their physical effects remain unknown. We developed a robotic…
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Energy-Efficient Gait Adaptation via Hierarchical Reinforcement Learning for Quadrupedal Locomotion Across Diverse Terrains
arXiv cs.RO (Robotics)
arXiv:2610.10297v1 Announce Type: new Abstract: While energy efficiency is a critical objective for legged-robot locomotion control, achieving low energy consumption while maintaining robust performance across different velocity ranges and…
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Benchmarking Generative Trajectory Models for Active-Inference Control
arXiv cs.RO (Robotics)
arXiv:2610.05692v2 Announce Type: replace Abstract: Learning from trajectory demonstrations offers a route to active-inference control of complex systems whose dynamics are difficult to model explicitly. We introduce generative…
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Never Look Back: Understanding Persistence in 3D Object Memory from Egocentric Videos
arXiv cs.RO (Robotics)
arXiv:2610.10538v1 Announce Type: cross Abstract: As we move through the world and carry out everyday tasks, we encounter objects that may become relevant only later. We are capable of recalling where we left something or what was inside a…
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Agentic Scene Policies
arXiv cs.RO (Robotics)
arXiv:2509.19571v2 Announce Type: replace Abstract: Designing or learning robot policies that generalize zero-shot across a range of language instructions and objects is a core problem in robotics. Vision-Language-Action models (VLAs)…
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Towards Accurate End-Effector Localization for UMI-Style Robotic Manipulation Teaching
arXiv cs.RO (Robotics)
arXiv:2610.09857v1 Announce Type: new Abstract: Robot demonstration learning requires accurate and temporally complete end-effector localization during close-range manipulation and camera occlusion. Existing SLAM benchmarks emphasize…
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Visible Touch: Rendering Contact for Visuomotor Policies
arXiv cs.RO (Robotics)
arXiv:2609.14156v2 Announce Type: replace Abstract: Integrating contact information into visuomotor policies remains an open problem. Touch is essential to robust manipulation, yet most modern policies, including pretrained…
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VIA: Visual Interface Agent for Robot Control
arXiv cs.RO (Robotics)
arXiv:2607.11119v2 Announce Type: replace Abstract: Robot manipulation is a complex task that requires visual perception, physical reasoning, planning, and closed-loop control. General-purpose foundation models (FMs) have grown remarkably…
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Contact-Aware Imitation Learning Through Contact Factorization
arXiv cs.RO (Robotics)
arXiv:2610.09533v1 Announce Type: new Abstract: Generalizable contact-rich manipulation requires robots to preserve intended task behavior while adapting its physical realization to changing contact conditions. However, interaction forces…
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Embedded Evaluation of Task Admission Coalescing in Decentralized Multi-Robot Systems
arXiv cs.RO (Robotics)
arXiv:2610.09187v1 Announce Type: new Abstract: Multi-robot task allocators in dynamic missions commonly admit newly released tasks immediately, potentially invoking allocation for each new arrival. We evaluate task-admission coalescing as…
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SurGE: Surrogate Gradient-guided Evolution for Co-design of Legged Robots with Parallel Elasticity
arXiv cs.RO (Robotics)
arXiv:2606.21866v2 Announce Type: replace Abstract: Co-design of legged robots with elastic elements is challenging due to the non-differentiability of contact dynamics and mechanism engagement. This paper presents SurGE, a framework that…
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Where Success Breaks: Failure-Boundary Learning for Robust Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2609.06114v2 Announce Type: replace Abstract: Vision-language-action (VLA) models adapted through supervised fine-tuning (SFT) inherit a structural asymmetry: expert demonstrations teach the policy where success behavior lies, but…
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Factorized Tactile Representation and Control for Sim-to-Real Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.10510v1 Announce Type: new Abstract: Tactile sim-to-real learning must bridge simulated contact and device-specific sensor responses while preserving information needed for control. We propose a factorized tactile representation…
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Point It, Strike It: Direction-Conditioned Dynamic Manipulation of Deformable Linear Objects
arXiv cs.RO (Robotics)
arXiv:2610.09573v1 Announce Type: new Abstract: Goal-conditioned dynamic manipulation of deformable linear objects has mainly specified goals as positions for a rope tip to reach. Many tasks, however, depend on how the tip arrives. We…
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End-to-End Autonomous Generation of Human Assembly Plans
arXiv cs.RO (Robotics)
arXiv:2610.09781v1 Announce Type: new Abstract: Turning a CAD design into an assembly plan is still largely done by hand, requiring engineers to reason about geometric feasibility, tool access, stability, and the ergonomics of human…
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RobotWorld: Benchmarking Multimodal Agents for Robot Use Across Diverse Tasks and Embodiments
arXiv cs.RO (Robotics)
arXiv:2610.10409v1 Announce Type: new Abstract: General-purpose agents increasingly write code, use tools, and complete complex digital tasks, raising the question of how far these capabilities carry into the physical world. To investigate…
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CIRRA: Dual-Level Continual Instruction Reconciliation with Ongoing Execution for Embodied Robot Agents in Interactive Household Tasks
arXiv cs.RO (Robotics)
arXiv:2610.08862v1 Announce Type: new Abstract: Household robots must accommodate new user instructions while executing ongoing tasks. Existing agents often regenerate or extensively revise the remaining task sequence, introducing plan…
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RoboQuest: Generalist Physical Agents that Search, Inspect and Test
arXiv cs.RO (Robotics)
arXiv:2610.10388v1 Announce Type: new Abstract: Recent advances in multimodal foundation models have made them capable generalist physical agents for a range of manipulation tasks. However, successful operation in an unfamiliar environment…
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RealtimeWAM: How Fast Can I Run My World Action Model?
arXiv cs.RO (Robotics)
arXiv:2610.10079v1 Announce Type: new Abstract: World Action Models (WAMs) combine visual dynamics modeling with action generation, but their high inference latency limits responsive robot control. Recent efforts accelerate inference by…
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GUARD: Geometric Uncertainty-Aware Point Cloud Denoising and Segmentation for Robotic Hard Disk Drive Disassembly
arXiv cs.RO (Robotics)
arXiv:2610.09068v1 Announce Type: cross Abstract: Reliable robotic disassembly requires part-level representations that distinguish genuine component geometry from scanning and reconstruction artifacts. In point clouds of hard disk drives…
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An Informational Curse of Horizon in Goal-Conditioned Policy Learning
arXiv cs.RO (Robotics)
arXiv:2610.09247v1 Announce Type: cross Abstract: The difficulty of learning goal-reaching policies is often attributed to a "curse of horizon" that manifests as bias accumulation in temporal-difference backups and noisy advantage…
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Safety-Critical Control for Smoothed Implicit Contact Dynamics
arXiv cs.RO (Robotics)
arXiv:2605.21138v3 Announce Type: replace Abstract: Smoothed implicit contact dynamics enables gradient-based planning and control for contact-rich tasks without predefined mode sequences. However, safety-critical control remains…
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STARS: From Spatiotemporal Dynamics to Social Representations in Human-Robot Interaction
arXiv cs.RO (Robotics)
arXiv:2609.40245v3 Announce Type: replace Abstract: Robot navigation in dynamic, human-centered environments requires socially-compliant decisions grounded in robust scene understanding. Recent Vision-Language Models (VLMs) exhibit…
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$R^2$-WAM: Repair-and-Reject Post-Training for World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.04913v2 Announce Type: replace Abstract: World Action Models (WAMs) emerge as a promising foundation for policy refinement by predicting the consequences of sampled actions. However, visually plausible predictions can mislead…
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Demonstration-Calibrated Port-Hamiltonian Retuning for Manipulation Policies
arXiv cs.RO (Robotics)
arXiv:2610.05755v2 Announce Type: replace Abstract: Diffusion and VLA policies for manipulation are often deployed through downstream impedance controllers. The stiffness and damping gains of these controllers affect task success, yet are…
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Co${}^{2}$Skill: Whole-Body Control via Skill Composition for Long-Horizon Human-Environment Interaction
arXiv cs.RO (Robotics)
arXiv:2610.09291v1 Announce Type: new Abstract: Achieving human-level dexterity in complex, unstructured environments requires the seamless integration of whole-body scene interaction and dexterous object manipulation skills. While…
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HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion
arXiv cs.RO (Robotics)
arXiv:2610.10489v1 Announce Type: new Abstract: Despite recent advances in humanoid locomotion, controllers optimized for command tracking and robustness tend to produce mechanical gaits, whereas controllers tied to human motion data often…
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LASER: Latent Space Adjoint Matching for Support-Constrained Entropy-Regularized Offline RL
arXiv cs.RO (Robotics)
arXiv:2610.08989v1 Announce Type: cross Abstract: While offline reinforcement learning (RL) enables policy optimization from static datasets without costly online interaction, it remains bottlenecked by the risk of executing…
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Systematic Multi-Agent Vision-and-Language Navigation: Formulation, Benchmark, and Method
arXiv cs.RO (Robotics)
arXiv:2609.35965v2 Announce Type: replace-cross Abstract: Vision-and-Language Navigation (VLN) has largely focused on a single agent following a single instruction, yet many real-world applications require teams of robots to tackle tasks…
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Context-Aware Adaptive Pesticide Spraying for Agricultural Robots under Changing Weather and Terrain Using Vision-Language Models
arXiv cs.RO (Robotics)
arXiv:2610.08807v1 Announce Type: new Abstract: Precision pesticide spraying is essential for optimizing application efficiency and ensuring uniform chemical distribution. Spraying performance is influenced by multiple factors, including…
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A Unified Kinematic Representation Enables Reusable Biological Joint Moment Estimation
arXiv cs.RO (Robotics)
arXiv:2610.09150v1 Announce Type: new Abstract: Objective: Data-driven models that estimate physiological states, particularly biological joint moments, are widely used in exoskeleton control. However, these estimators are often coupled to…
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IVG-UAV: An Intelligent Voice-Guided UAV System for Autonomous Ripe Fruit Harvesting with Vision-Based Classification and Adaptive Path Planning
arXiv cs.RO (Robotics)
arXiv:2610.09398v1 Announce Type: new Abstract: In tropical regions, their agricultural sectors remain highly dependent on manual labor for fruit harvesting. On large-scale farms, this dependency often results in significant labor cost and…