Robotics & Automation
Robotics & Automation news — Monday 12 October 2026
134 stories from 3 sources, every one in English. Each links to its publisher.
-
Closing the reality gap: Why real-time execution has become the new competitive advantage
Robotics Business Review
Daifuku helped to automate Kagetsudo Co.’s product storage system and production lines. | Source: Daifuku Organizations across the supply chain continue to invest heavily in automation. Yet for many warehouse and distribution leaders, the…
-
Closing the reality gap: Why real-time execution has become the new competitive advantage
The Robot Report
Daifuku helped to automate Kagetsudo Co.’s product storage system and production lines. | Source: Daifuku Organizations across the supply chain continue to invest heavily in automation. Yet for many warehouse and distribution leaders, the…
-
REMM: Revisable Embodied Memory for Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.12710v1 Announce Type: new Abstract: Long-horizon manipulation requires robots to retain task-relevant history while revising conclusions no longer supported by physical evidence. Retaining observations alone does not specify…
-
Cubic Spline Interpolation for Smooth Trajectory Generation in Autonomous Motion Systems
arXiv cs.RO (Robotics)
arXiv:2610.12826v1 Announce Type: new Abstract: We presented a program that automates the construction and solution of the cubic spline interpolation problem for a sequence of position-time waypoints, producing trajectories that are…
-
What Visual Representations Do World Action Models Need?
arXiv cs.RO (Robotics)
arXiv:2610.13024v1 Announce Type: cross Abstract: World Action Models (WAMs) inherit powerful priors from pretrained video generation models, but their variational autoencoder (VAE) representations are optimized for visual reconstruction…
-
Modality-Autoregressive World-Action Models
arXiv cs.RO (Robotics)
arXiv:2609.17524v2 Announce Type: replace Abstract: World-action models (WAMs) jointly model future observations and actions, typically predicting the future as RGB images. Other visual modalities such as depth, pretrained visual features…
-
Evidence-Guided Counterfactual Learning for Long-Tailed Robotic Policies
arXiv cs.RO (Robotics)
arXiv:2610.12861v1 Announce Type: new Abstract: In the practical deployment of vision--language--action policies, handling long-tailed task distributions is a common challenge due to the highly imbalanced composition of robot demonstration…
-
Distributed Harmonic-Covariance Feedback for Hole Closure in Planar Robot Swarms
arXiv cs.RO (Robotics)
arXiv:2610.12637v1 Announce Type: new Abstract: We consider hole closure in a planar multi-agent system whose sensing disks form a time-varying \v{C}ech complex. We propose a harmonic-covariance feedback that uses harmonic edge signals to…
-
Spa-Bench: A Real-Robot Benchmark for Spatial Grounding in Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.12696v1 Announce Type: new Abstract: Vision-language-action models (VLAs) offer a promising route toward general-purpose robotics by transferring semantic knowledge from large-scale vision-language pretraining into…
-
What Should Embodied Agents Remember? Benchmarking and Evaluating Memory Modality for Embodied Agents
arXiv cs.RO (Robotics)
arXiv:2610.12561v1 Announce Type: new Abstract: Memory allows large language model (LLM) agents to use past experience, often stored as textual records, when responding to requests. For embodied agents that control robots, visual and…
-
Trajectory Prediction for Autonomous Driving in Road Construction Zones Using Human-in-the-Loop Driving Data
arXiv cs.RO (Robotics)
arXiv:2610.12747v1 Announce Type: new Abstract: Ego-trajectory prediction in urban roadway work zones remains an underexplored topic in autonomous-driving research, with limited dedicated data and systematic evaluation. Roadway work zones…
-
Towards Safer Cities: A Design Process for Perception Datasets in Urban Driving Scenarios
arXiv cs.RO (Robotics)
arXiv:2610.13077v1 Announce Type: new Abstract: Urban environments present significant challenges for the perception systems of automated driving due to their high complexity, characterized by dense traffic, diverse obstacles, or a wide…
-
Human2Dex: Dexterous Robot Learning from Wrist-Centric Human Demonstrations
arXiv cs.RO (Robotics)
arXiv:2610.13119v1 Announce Type: new Abstract: Collecting dexterous manipulation demonstrations for each robot hand requires repeated task-specific data acquisition. We ask whether one shared corpus of natural human demonstrations can…
-
Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance
arXiv cs.RO (Robotics)
arXiv:2610.13158v1 Announce Type: new Abstract: Reactive collision avoidance in unknown, cluttered environments must perceive obstacles and correct motion within milliseconds. Existing methods rely on maps for high-rate collision queries…
-
Grounded-Dreamer: Robot Learning from World Model Synthetic Data with Physical Grounding
arXiv cs.RO (Robotics)
arXiv:2610.13164v1 Announce Type: new Abstract: Scaling robot manipulation policies requires large amounts of diverse, action-labeled data, yet collecting such data in the real world remains expensive and difficult to scale. Existing…
-
Evo-RL: Iterative Robot Reinforcement Learning from Selective Experience
arXiv cs.RO (Robotics)
arXiv:2610.13345v1 Announce Type: new Abstract: Existing real-world reinforcement learning methods improve robot policies by combining human corrections with autonomous rollouts. However, accumulated experience varies in its value for…
-
MC-EvoBench: Auditing Experience-Driven Self-Improvement in Minecraft Agents
arXiv cs.RO (Robotics)
arXiv:2610.13829v1 Announce Type: new Abstract: A central challenge in embodied recursive self-improvement is enabling agents to convert interaction history into capabilities that persist beyond one world and transfer to later tasks. A…
-
Mapless, Stabilizing, and Anti-Stuck Flipper Control for Articulated Tracked Robots
arXiv cs.RO (Robotics)
arXiv:2610.13838v1 Announce Type: new Abstract: Nearly every autonomous or semi-autonomous flipper controller assumes access to an elevation map of the terrain under and in front of the robot. The terrain beneath the chassis is occluded in…
-
BT-Agent: Deploying Onboard Robot Agents with Behavior Trees and Multi-Fidelity Evaluation
arXiv cs.RO (Robotics)
arXiv:2610.13862v1 Announce Type: new Abstract: Deploying language-model agents onboard mobile robots requires task reasoning and responsive execution within limited compute and memory. We propose BT-Agent, an onboard architecture…
-
Imagine the Future, Internalize the Gist: Efficient VLA Reasoning via Internalized Spatiotemporal Imagination
arXiv cs.RO (Robotics)
arXiv:2610.02626v2 Announce Type: cross Abstract: Vision-language-action (VLA) models increasingly incorporate intermediate reasoning to improve robotic manipulation, yet existing approaches primarily reason about observed states without…
-
Noise Space Learning for VLA Adaptation
arXiv cs.RO (Robotics)
arXiv:2610.13943v1 Announce Type: new Abstract: Pretrained vision-language-action (VLA) models encode broad manipulation priors, yet adapting them to specific tasks requires balancing limited robot interaction, computational resources, and…
-
Reinforcement Learning via Fixed-point Flow Matching
arXiv cs.RO (Robotics)
arXiv:2610.12848v1 Announce Type: cross Abstract: In maximum entropy and behavior-constrained reinforcement learning (RL), the optimal policy is given by a Boltzmann distribution. Generating samples from this distribution can be…
-
AlphaNIST: Emergent Assembly Skills from Binary Task Rewards
arXiv cs.RO (Robotics)
arXiv:2610.13354v1 Announce Type: cross Abstract: The NIST Assembly Task Board #1 remains a challenging benchmark for learning-based methods in robotic manipulation. Over short horizons, it demands precise, contact-rich control of small…
-
Probabilistic Ship Trajectory Forecasting using Transformer Models on AIS Data
arXiv cs.RO (Robotics)
arXiv:2610.13557v1 Announce Type: cross Abstract: Anticipation of vessel trajectories is an essential task when navigating at sea. This applies to both human navigators and autonomous surface vessels. Trajectory forecasting enables…
-
MARGoS: A Configuration-Driven Platform for Reproducible MARL Experiments in ARGoS
arXiv cs.RO (Robotics)
arXiv:2610.13772v1 Announce Type: cross Abstract: Multi-agent reinforcement learning (MARL) has become a prominent research direction, particularly within collective robotics, where the ARGoS simulator is widely used to study emergent…
-
UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planning
arXiv cs.RO (Robotics)
arXiv:2506.02955v3 Announce Type: replace Abstract: Generative models have become increasingly powerful tools for robot motion generation, enabling flexible and multimodal trajectory generation across various tasks. Yet, most existing…
-
Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures
arXiv cs.RO (Robotics)
arXiv:2606.18328v2 Announce Type: replace Abstract: Intelligent robots should not only recover from failures, but also acquire the abstract knowledge needed to avoid them in the future. While reinforcement learning (RL) can learn reactive…
-
BayesFP: Posterior Estimation for Flow-Based Policies via Feynman-Kac Sampling
arXiv cs.RO (Robotics)
arXiv:2606.21014v2 Announce Type: replace Abstract: Robots must generate trajectories that remain faithful to learned expert behavior while satisfying safety constraints and task-specific objectives specified only at inference time. We…
-
RoboMME-Interference: Benchmarking Robot Memory Under Interference
arXiv cs.RO (Robotics)
arXiv:2606.22338v4 Announce Type: replace Abstract: Robots deployed in realistic settings will accumulate experience across many sessions and tasks over their deployment. The robot's tasks may often require it to remember information from…
-
CoRE-VLA: Towards Scalable and Robust Vision-Language-Action Modeling via Conditional Routing of Experts
arXiv cs.RO (Robotics)
arXiv:2607.03693v2 Announce Type: replace Abstract: Vision-language-action (VLA) models have advanced generalist robotic manipulation, yet real-world deployment reveals a fundamental challenge: robots are equipped with diverse and…
-
Multi-Agent Transportation of Free-Flyers in Microgravity Via Pushing Interaction Under Human-in-the-Loop Control
arXiv cs.RO (Robotics)
arXiv:2609.24376v2 Announce Type: replace Abstract: We propose a safety-critical framework for the cooperative transportation of passive targets in microgravity, where a team of chaser robots acts through unilateral pushing contacts to…
-
GOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive
arXiv cs.RO (Robotics)
arXiv:2610.03861v2 Announce Type: replace Abstract: Foundation models and large-scale human data provide rich sources of manipulation intent, but translating this intent into multi-fingered robot behavior remains difficult. Dexterous hands…
-
Talk, Render, Act: Integrating Social Gesture and Digital Face with Synchronized Speech for Conversational Humanoid Robot
arXiv cs.RO (Robotics)
arXiv:2610.06153v2 Announce Type: replace Abstract: Expressive humanoid interaction requires speech, facial animation, and body gestures to form a coherent response. However, many full-body humanoid robots produce speech and gestures…
-
LACE-CRAFT: Robot Co-Design with Actor Inheritance and Blackboard Collaboration
arXiv cs.RO (Robotics)
arXiv:2610.09283v3 Announce Type: replace 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…
-
Training Non-Differentiable Networks via Optimal Transport
arXiv cs.RO (Robotics)
arXiv:2605.01928v4 Announce Type: replace-cross Abstract: Hard thresholds, quantization, and discrete routing can produce training losses with flat regions and jumps, where ordinary gradients vanish or are undefined. We introduce PolyStep…
-
Non-Prehensile Multi-Object Placement with Mobile Robots via Diffusion-Based Trajectory Planning
arXiv cs.RO (Robotics)
arXiv:2610.12684v1 Announce Type: new Abstract: Non-prehensile manipulation with mobile robots has primarily targeted placement in coarse goal regions. Precision placement has been studied with manipulators on benchmarks such as Push-T…
-
FallGown: A Soft Pneumatic Wearable Device for Fall Prevention
arXiv cs.RO (Robotics)
arXiv:2610.12706v1 Announce Type: new Abstract: Concerns about falling and potential resulting injuries prevent many older adults from participating in forms of health-improving exercise such as walking, dance, and tai chi. Existing…
-
Visual-Wi-Fi Navigation to Signal-Emitting Devices
arXiv cs.RO (Robotics)
arXiv:2610.12733v1 Announce Type: new Abstract: Indoor navigation to task-relevant targets remains difficult when the target is small, occluded, or visually indistinct. Meanwhile, smart appliances, mobile devices, and IoT tags emit Wi-Fi…
-
Gamma: Grounded Multi-Agent Memory with Mechanical Audit for Memory-Intensive Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.12793v1 Announce Type: new Abstract: Pretrained vision-language-action (VLA) policies fail on memory tasks, behaviour that depends on events observed long before the current frame, because their training data is overwhelmingly…
-
ReAT: Residual Action Tokenization for Autoregressive Robot Policies
arXiv cs.RO (Robotics)
arXiv:2610.13093v1 Announce Type: new Abstract: Autoregressive robot policies rely on action tokenizers to convert continuous action chunks into compact sequences of discrete prediction targets. Existing tokenizers can reconstruct action…
-
Beyond In-Distribution Preservation: Recovering Generalization in Quantized VLAs via Vulnerability-Oriented Tuning
arXiv cs.RO (Robotics)
arXiv:2610.05745v2 Announce Type: replace-cross Abstract: Post-training quantization has been shown to preserve VLA performance under standard evaluation conditions, but whether it preserves the full-precision model's robustness and…
-
VICAR: Video Imitation with Contact-Aware Retargeting for Humanoid Interactive Skills
arXiv cs.RO (Robotics)
arXiv:2610.13079v1 Announce Type: new Abstract: Third-person human videos offer a scalable alternative to task-specific reward engineering, teleoperation, and manually scripted demonstrations for humanoid loco-manipulation. Recent…
-
Evo-World: A Lightweight Vision-Language-Action Model with Future Motion Prediction via Optical-Flow Supervision
arXiv cs.RO (Robotics)
arXiv:2610.12936v1 Announce Type: new Abstract: Vision-language-action (VLA) models provide a unified framework for visual understanding, language grounding, and robot control, yet anticipating how the scene will evolve beyond the current…
-
CeDR-Nav: Cross-Embodiment Mapless Navigation via Offline Demonstration Recasting
arXiv cs.RO (Robotics)
arXiv:2610.13007v1 Announce Type: new Abstract: Learning-based methods have demonstrated strong performance in mapless robot navigation. However, a learned policy remains restricted to the embodiment on which it was trained. Many…
-
PartiGen: Part-Aware Representations for Language-Conditioned Humanoid Motion Generation
arXiv cs.RO (Robotics)
arXiv:2610.13373v1 Announce Type: new Abstract: Translating language into humanoid motion requires coordinating body parts, determining motion duration, and producing references suitable for robot execution. We introduce PartiGen, a…
-
ManeuverFlow: Maneuver Hypothesis Generation with Future Evidence for Trajectory Evaluation and Refinement in End-to-End Autonomous Driving
arXiv cs.RO (Robotics)
arXiv:2610.13409v1 Announce Type: new Abstract: End-to-end planning in complex scenes must model diverse driving intentions and select the most appropriate trajectory using scene context and future risks. However, multi-query regression…
-
Towards a Unified Taxonomy of Agricultural Harvesting Technologies: Linking Physical Interaction, Automation, and Selectivity
arXiv cs.RO (Robotics)
arXiv:2610.13688v1 Announce Type: new Abstract: Harvesting technologies have evolved from conventional mechanized systems based on bulk mechanical interaction toward increasingly automated and robotic systems capable of perception…
-
A Local Agentic AI Framework to Generate Edge Case Scenarios for Safety Assurance
arXiv cs.RO (Robotics)
arXiv:2610.13479v1 Announce Type: cross Abstract: Generating edge case scenarios is crucial for training, testing and safety assuring autonomous systems. This identifies hazardous failures to increase system reliability and robustness…
-
PATACON: GPU-Parallel Tangent-Bundle RRT-Connect for Constrained Motion Planning
arXiv cs.RO (Robotics)
arXiv:2610.13195v1 Announce Type: new Abstract: Fast whole-body motion planning enables continuous replanning for humanoid robots in dynamic environments while satisfying collision avoidance and kinematic constraints. However, constrained…
-
Does Knowledge About Perceptual Uncertainty Help an Agent in Automated Driving?
arXiv cs.RO (Robotics)
arXiv:2502.11864v2 Announce Type: replace-cross Abstract: Agents in real-world scenarios like automated driving deal with uncertainty in their environment, in particular due to perceptual uncertainty. Although, reinforcement learning is…
-
KineWorld: Action-Induced Transport Fields for Embodied World Modeling
arXiv cs.RO (Robotics)
arXiv:2610.06349v2 Announce Type: replace-cross Abstract: Embodied world models predict the visual consequences of candidate actions before execution. However, existing action-conditioned world models often adopt uniformly weighted visual…
-
VLMs are Native Action Models: Unleashing the Manipulation Capabilities of VLMs with Explicit Action-Space Grounding
arXiv cs.RO (Robotics)
arXiv:2610.12832v1 Announce Type: new Abstract: Pretrained vision-language models (VLMs) already exhibit strong visual, spatial and reasoning capabilities relevant to robotic manipulation. The key challenge in turning pretrained VLMs into…
-
Cooperative Aerial Transportation of a Payload with a Sliding Cable Attachment
arXiv cs.RO (Robotics)
arXiv:2610.13665v1 Announce Type: new Abstract: This paper presents a dual-quadrotor hook- suspended transport system for cooperative aerial manipulation of a payload that is not rigidly attached to a fixed point along the cable. Two…
-
Sampling-Based Safe Reinforcement Learning
arXiv cs.RO (Robotics)
arXiv:2605.19469v2 Announce Type: replace-cross Abstract: Safe exploration remains a fundamental challenge in reinforcement learning (RL), limiting the deployment of RL agents in the real world. We propose Sampling-Based Safe Reinforcement…
-
BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.07594v2 Announce Type: replace 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…
-
RESCUE: Is This Alarm Worth Acting On? Counterfactual Evaluation of VLA Runtime Monitors
arXiv cs.RO (Robotics)
arXiv:2610.13516v1 Announce Type: new Abstract: Runtime failure monitors for robot policies are typically evaluated by how accurately they distinguish failed from successful executions. Yet an accurate alarm may arrive too late for…
-
SmolWAM: A Latent World-Action Model for Robotic Manipulation on Edge Devices
arXiv cs.RO (Robotics)
arXiv:2610.13740v1 Announce Type: new Abstract: World-action models (WAMs) predict a robot's actions together with the observations those actions will produce. However, the strongest models rely on video diffusion transformers that are far…
-
When LiDAR Fades, Radar Takes Over: LiDAR Reliability-Aware Adaptive Localization Under Airborne Obscurants
arXiv cs.RO (Robotics)
arXiv:2610.13788v1 Announce Type: new Abstract: LiDAR-inertial odometry (LIO) is widely used for real-time localization and mapping, but its reliability can degrade substantially in subterranean environments affected by smoke, dust, and…
-
Decoupling the Declarative from the Procedural in Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2606.21496v2 Announce Type: replace Abstract: Deploying generalist robotic agents in the real world requires transferable skills. Specifically, a policy trained to clone a behavior from object-specific demonstrations must generalize…
-
Tracking the Invisible: Self-Supervised Wheel Track Detection with Thermal-RGB Fusion
arXiv cs.RO (Robotics)
arXiv:2610.13872v1 Announce Type: cross Abstract: Accurate detection of drivable area is essential for autonomous driving and advanced driver assistance systems. While state-of-the-art methods focus on general traversability estimation…
-
Dual-Stream Memory for Vision-Language-Action Policies
arXiv cs.RO (Robotics)
arXiv:2610.13262v1 Announce Type: new Abstract: Memory-dependent manipulation requires a policy to track execution state and recover visual evidence that is no longer observable. We propose dual-stream memory for vision-language-action…
-
Distributionally Robust Adaptive Iterative Covariance Steering for Small-Body Proximity Operations
arXiv cs.RO (Robotics)
arXiv:2610.12774v1 Announce Type: cross Abstract: Autonomous small-body proximity operations require continuous-thrust guidance under uncertain gravity, solar-radiation pressure (SRP), and stochastic disturbances. We combine iterative…
-
Any House Any Task: Scalable Long-Horizon Planning for Abstract Human Tasks
arXiv cs.RO (Robotics)
arXiv:2602.12244v3 Announce Type: replace Abstract: Open world language conditioned task planning is crucial for robots operating in large-scale household environments. While many recent works attempt to address this problem using Large…
-
Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data
arXiv cs.RO (Robotics)
arXiv:2610.09117v2 Announce Type: replace 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…
-
Watch, Recall, Act: Always-On Robots in Concurrent Embodied Streams
arXiv cs.RO (Robotics)
arXiv:2609.28429v2 Announce Type: replace Abstract: An always-on robot faces an endless stream that never resets: instructions arrive and lapse, the scene changes, and its own past actions reshape what it must reason about. Today's action…
-
CASTER: Formalizing Zero-Shot Manipulation from Synthetic Videos as Constrained Optimization
arXiv cs.RO (Robotics)
arXiv:2610.12567v1 Announce Type: new Abstract: Prior research on learning from humans often requires real human demonstrations. But advances in video generation models offer a new paradigm: we can now prompt these generators to make…
-
Development of a Low-Cost Prosthetic Hand Using Electromyography and Machine Learning
arXiv cs.RO (Robotics)
arXiv:2411.15533v2 Announce Type: replace Abstract: Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics…
-
FACT: Fidelity-Aware Construction of Articulated Twins
arXiv cs.RO (Robotics)
arXiv:2609.37067v2 Announce Type: replace Abstract: Visually plausible articulated assets may still fail during contact interactions or exhibit inaccurate motion. We present FACT (Fidelity-Aware Construction of Articulated Twins), an…
-
LeWAM: End-to-End World and Action Modeling with JEPAs
arXiv cs.RO (Robotics)
arXiv:2610.12818v1 Announce Type: new Abstract: Joint-embedding predictive architectures (JEPAs) learn compact latent world models without pixel reconstruction. Existing JEPA pipelines typically train visual representations and…
-
EgoReveal: Learning Active Vision and Object Manipulation under Partial Occlusions from Egocentric Demonstrations
arXiv cs.RO (Robotics)
arXiv:2610.12999v1 Announce Type: new Abstract: Learning from Demonstrations (LfD) enables robots to learn object manipulation directly from human demonstrations. In contrast to resource-intensive and labor-intensive teleoperation…
-
Injecting Hallucinations in Autonomous Vehicles: A Component-Agnostic Safety Evaluation Framework
arXiv cs.RO (Robotics)
arXiv:2510.07749v3 Announce Type: replace Abstract: Perception failures in autonomous vehicles (AV) remain a major safety concern because they can directly compromise decision-making and contribute to unsafe behavior. To study how these…
-
Demonstration Calibrated Port-Hamiltonian Retuning for Manipulation Policies
arXiv cs.RO (Robotics)
arXiv:2610.05755v3 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…
-
Featurized Occupation Measures for Structured Global Search in Numerical Optimal Control
arXiv cs.RO (Robotics)
arXiv:2603.16231v3 Announce Type: replace-cross Abstract: Numerical optimal control is split between globally structured but dimensionally intractable Hamilton--Jacobi--Bellman (HJB) methods and scalable but local trajectory optimization…
-
Selectively Actuated Fiberbots for High-precision Minimally Invasive Surgery
arXiv cs.RO (Robotics)
arXiv:2610.12636v1 Announce Type: new Abstract: Long, slender instruments are essential for minimally invasive surgery (MIS), but achieving precise distal manipulation becomes increasingly difficult when actuation extends along the entire…
-
Verifier-Mediated Multi-LLM Coordination for Multi-Robot Path Planning
arXiv cs.RO (Robotics)
arXiv:2610.12761v1 Announce Type: new Abstract: Foundation models are increasingly used for high-level multi-robot task planning, yet independently generated symbolic plans can become jointly infeasible after geometric grounding because of…
-
TAME-Nav: Temporal Asymmetric Mixture-of-Experts Distillation for Agile and Versatile Robot Navigation
arXiv cs.RO (Robotics)
arXiv:2610.12877v1 Announce Type: new Abstract: Agile and reliable navigation is a core capability for embodied robots navigating complex spatial constraints and dynamic interactions. However, a single policy often struggles to accommodate…
-
Reflect-VLA: Internalizing Reflective Guidance via Dual-Path On-Policy Self-Distillation for Autonomous Driving
arXiv cs.RO (Robotics)
arXiv:2610.13453v1 Announce Type: new Abstract: Reinforcement Learning (RL) substantially improves planning performance in autonomous-driving Vision-Language-Action (VLA) models. However, existing RL methods rely on scalar trajectory…
-
DiffMorphGrasp: A Diffusion Framework Conditioned on Hand Morphology for Cross-Embodiment Grasp Generation
arXiv cs.RO (Robotics)
arXiv:2602.00915v2 Announce Type: replace Abstract: As robots are deployed across diverse environments, manipulation tasks require robot hands with different morphologies to satisfy varying task requirements, hardware capabilities, and…
-
PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting
arXiv cs.RO (Robotics)
arXiv:2610.12642v1 Announce Type: new Abstract: Motion retargeting is a critical preprocessing step for transferring human motion data to humanoid robots. While existing methods are effective for single-character motions, interactions…
-
EndoRSI: Physical-Evidence-Driven Recursive Improvement of Endoscopic Robot Policies
arXiv cs.RO (Robotics)
arXiv:2610.13376v1 Announce Type: new Abstract: Artificial intelligence is beginning to automate scientific discovery, yet physical robot-policy research still relies on scientists and engineers to interpret experimental failures and…
-
SAP-CoPE: Social-Aware Planning using Cooperative Pose Estimation with Infrastructure Sensor Nodes
arXiv cs.RO (Robotics)
arXiv:2504.05727v3 Announce Type: replace Abstract: Autonomous mobile robots must operate smoothly in human-populated indoor environments, where onboard-only sensing suffers from limited perception range and occlusions, and socially…
-
PanTact: Teaching Whole-Body Dexterity with a Wearable Contact Interface
arXiv cs.RO (Robotics)
arXiv:2610.12558v1 Announce Type: new Abstract: Humanoid robots have many degrees of freedom and contact surfaces, yet most loco-manipulation research restricts manipulation to the hands and avoids other body contacts with the environment…
-
Higher-Order Action Supervision Makes A Strong Policy Class
arXiv cs.RO (Robotics)
arXiv:2610.11175v2 Announce Type: replace Abstract: Modern data-driven decision-making methods, such as imitation learning (IL) and reinforcement learning (RL), have achieved great success in solving many complex tasks. However, these…
-
Video2World: Benchmarking Coding Agents for Interactive World Modeling from Embodied Videos
arXiv cs.RO (Robotics)
arXiv:2610.04432v3 Announce Type: replace-cross Abstract: Building interactive simulators from real-world observations is a promising way to scale embodied data, but current pipelines still rely heavily on manual environment construction…
-
Robust and Scalable UAV-UGV Planning for Aerial Monitoring under Energy and Precedence Constraints
arXiv cs.RO (Robotics)
arXiv:2610.12670v1 Announce Type: new Abstract: We consider planning for unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) teams in aerial monitoring missions with ordering requirements on the monitoring points to be visited…
-
USER: A Unified and Extensible System for Real-World Online Policy Learning in Embodied AI
arXiv cs.RO (Robotics)
arXiv:2602.07837v5 Announce Type: replace Abstract: Online policy learning directly in the physical world is a promising yet challenging direction for embodied intelligence. Unlike simulation, real-world systems cannot be arbitrarily…
-
MagCilia: A Compact Magnetociliary Tactile Sensor with 3D Force Sensing for Robotic Contact Perception and Grasping Feedback
arXiv cs.RO (Robotics)
arXiv:2610.09536v2 Announce Type: replace Abstract: Robotic grasping and surface exploration benefit from simultaneous measurement of normal and tangential forces and from surface information obtained through contact. Here, we present a…
-
Forward Dynamics Models
arXiv cs.RO (Robotics)
arXiv:2610.13117v1 Announce Type: new Abstract: Vision-language-action (VLA) models and world action models (WAMs) have advanced robotic policy learning by building on pretrained vision-language models (VLMs) and video generative models…
-
ForeAct3D: Policy-Grounded Future World Modeling for VLA Policies
arXiv cs.RO (Robotics)
arXiv:2610.04607v2 Announce Type: replace Abstract: Robots need to anticipate how their actions will change the world, since manipulation success hinges on the resulting contacts and object motions. However, existing Vision-Language-Action…
-
NovaSplat: Model-Free 6D Object Pose Estimation via 3D Gaussian Splatting Onboarding and Refinement
arXiv cs.RO (Robotics)
arXiv:2610.13309v1 Announce Type: cross Abstract: 6D pose estimation of novel objects without CAD models remains an open challenge: model-free methods must build the object representation from scratch during onboarding and have long…
-
JoyInside-VLM-Agent: Product-Conditioned Multimodal Policy Learning for Embodied Agents
arXiv cs.RO (Robotics)
arXiv:2610.12957v1 Announce Type: new Abstract: Embodied agents must translate multimodal observations and user requests into executable actions while adapting to product constraints, changing goals, and execution feedback. We present…
-
Beyond Successful Robot Demonstrations: Learning from Human Interactions and Modeling Failure Dynamics
arXiv cs.RO (Robotics)
arXiv:2610.13522v1 Announce Type: new Abstract: Action-conditioned world models offer a promising foundation for generalist robotic intelligence by predicting the consequences of actions. However, existing robotic datasets provide limited…
-
RARA: Robust Policy Fine-Tuning through Retrieval-Anchored Representation Alignment for Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.13578v1 Announce Type: new Abstract: Pre-trained robot policies, such as Vision-Language-Action (VLA) models, provide a strong foundation for generalist robotic manipulation, but adapting them to new tasks with only a few…
-
HorizonNav: Geometry-Guided Video Diffusion for Anticipatory 3D Robot Navigation
arXiv cs.RO (Robotics)
arXiv:2610.13849v1 Announce Type: new Abstract: We present HorizonNav, a video diffusion-based framework for anticipatory robot navigation that transforms a single RGB image and a text prompt into a geometrically aligned representation of…
-
Scale and Selection: What Makes Automatic Harness Evolution Work for Visual-Interface Robot Agents
arXiv cs.RO (Robotics)
arXiv:2609.39304v2 Announce Type: replace Abstract: When an off-the-shelf coding agent is used directly as a robot policy, observing a browser-based 3D interface through screenshots and acting by posing a virtual target gripper through a…
-
SUN: Reaching for Novelty in Reinforcement Learning
arXiv cs.RO (Robotics)
arXiv:2609.08642v2 Announce Type: replace-cross Abstract: Exploration in reinforcement learning (RL) remains a fundamental challenge. Recent goal-conditioned RL strategies (which select goals to encourage broader state coverage) have shown…
-
MAGMA-Bench: Evaluating Long-Horizon Embodied Agents under Dynamic Tasks and Execution Failures
arXiv cs.RO (Robotics)
arXiv:2610.13534v1 Announce Type: cross Abstract: Long-horizon embodied agents must maintain task-relevant information, coordinate heterogeneous robots, and adapt their decisions as execution unfolds. Existing benchmarks investigate…
-
Multimodal Image-based Robotic Assistance and Guidance Environment (MIRAGE): A Novel Unified Framework for Surgical Navigation and Visualization
arXiv cs.RO (Robotics)
arXiv:2610.12780v1 Announce Type: new Abstract: This paper presents the computational architecture and quantitative preclinical evaluation of MIRAGE, a multimodal image-guided robotic surgery framework for real-time visualization and…
-
Belief-Overlap Partial Inversion: Object-Centric Flow Replanning for Humanoid Loco-Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.13087v1 Announce Type: new Abstract: People often learn how an unfamiliar object moves through a small exploratory push, using its response to guide their next motion. Inspired by this behavior, we study humanoids pushing carts…
-
Robot-WATCHDOG : failure detection through object-centric graph representation
arXiv cs.RO (Robotics)
arXiv:2610.13403v1 Announce Type: new Abstract: Reliable real-time failure detection is critical for deploying learned robotic policies, yet defining failures explicitly is infeasible in open-world settings. This motivates failure…
-
The value of information and the emergence of communication in evolved e-puck robots
arXiv cs.RO (Robotics)
arXiv:2610.13118v1 Announce Type: new Abstract: We study when communication emerges between autonomous agents and what role an innate action selection architecture plays. Two e-puck robots, reconstructed in PyBullet from their Webots model…
-
AutoBio+: Benchmarking Dexterous Manipulation with Dynamic Experimental Phenomena in Realistic Laboratories
arXiv cs.RO (Robotics)
arXiv:2610.13643v1 Announce Type: new Abstract: Automating biological laboratories requires robots to perform dexterous tool interactions under realistic visual conditions while handling dynamic experimental phenomena, presenting…
-
Dream to Remember: Continual Steering of Generalist Robot Policies with World Models
arXiv cs.RO (Robotics)
arXiv:2610.13816v1 Announce Type: new Abstract: Generalist robot policies are trained with imitation learning and are bounded by the quality and coverage of their demonstrations. Reinforcement learning can improve and extend them, either…
-
Infinite-Dimensional Closed-Loop Inverse Kinematics for Soft Robots via Neural Operators
arXiv cs.RO (Robotics)
arXiv:2602.18655v3 Announce Type: replace Abstract: For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint velocities to…
-
Towards Path-Creative Navigation: Robot Navigation through Embodied Interaction
arXiv cs.RO (Robotics)
arXiv:2610.11072v2 Announce Type: replace Abstract: Autonomous navigation in cluttered and constrained environments typically assumes a fixed environment and searches only for paths within existing free space. However, a route can be…
-
Staggered Integral Online Conformal Prediction for Safe Dynamics Adaptation with Multi-Step Coverage Guarantees
arXiv cs.RO (Robotics)
arXiv:2604.06058v2 Announce Type: replace-cross Abstract: Safety-critical control of uncertain, adaptive systems often relies on conservative, worst-case uncertainty bounds that limit closed-loop performance. Online conformal prediction is…
-
Fly-by-Code: Embodied Coding Agents for Aerial Manipulation with Active Visual and Physical Feedback
arXiv cs.RO (Robotics)
arXiv:2610.12549v1 Announce Type: new Abstract: Embodied coding agents construct robot policies from natural-language instructions by generating executable programs and refining them from execution feedback. This refinement assumes that…
-
Failure-Resilient Multi-Robot Coordination with $k$-Connectivity Constrained Submodular Maximization
arXiv cs.RO (Robotics)
arXiv:2610.13049v1 Announce Type: new Abstract: Multi-robot coordination is essential in applications such as coverage, target tracking, and information gathering, where robots must jointly select actions to maximize team performance…
-
Splat2Act: From Captured Scenes to Personalized VLA Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.13945v1 Announce Type: new Abstract: A user who brings a generalist manipulation policy into their home or office wants it to pick up their objects from their shelves, counters, and tables. Yet even a strong generalist like…
-
Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space
arXiv cs.RO (Robotics)
arXiv:2610.12631v1 Announce Type: new Abstract: Recently, soft robotic procedures are being developed aiming at achieving targeted minimally invasive operations or drug administration in specific locations in the human body. Accordingly…
-
Tactile Sensing-based Secure and Gentle Grasping of Unknown Objects
arXiv cs.RO (Robotics)
arXiv:2610.12790v1 Announce Type: new Abstract: Reliable robotic manipulation requires maintaining a firm grasp while strictly avoiding both contact slip and structural damage to the object. Satisfying these inherent…
-
Chronos Policy: Learning Robot Policies on Physical Time
arXiv cs.RO (Robotics)
arXiv:2610.13929v1 Announce Type: new Abstract: Robot policies often convert sensing and control into fixed-rate observation-action sequences, leaving physical time implicit in sequence position. This assumption breaks when observation…
-
LeapBot-JAC: Joint Action Chains for World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.12886v1 Announce Type: new Abstract: Action-chunking policies predict future controls but execute only a prefix before replanning. How should a fixed action-token budget be organized to support execution? We propose LeapBot-JAC…
-
Sampling-based Kinodynamic Planning with World Models
arXiv cs.RO (Robotics)
arXiv:2610.12910v1 Announce Type: new Abstract: Visual world models predict the consequences of actions from images, but planning with them is typically done by optimizers such as CEM and MPPI. However, these optimizers stall on…
-
Adaptive Whole-Body MPC with Optimal Posture Planning for Humanoid Robots under Unknown Payloads
arXiv cs.RO (Robotics)
arXiv:2610.12972v1 Announce Type: new Abstract: Humanoid robots performing lifting and material-handling tasks must maintain balance despite unknown and varying payloads. However, payload uncertainty significantly affects whole-body…
-
From Impact to Insight: Dynamics-Aware Proprioceptive Terrain Sensing on Granular Media
arXiv cs.RO (Robotics)
arXiv:2604.02563v2 Announce Type: replace Abstract: Robots that traverse natural terrain must interpret contact forces generated under highly dynamic conditions. However, most terrain characterization approaches rely on quasi-static…
-
DIDO: Distilling Interaction-Centric Dynamics into One-Step Denoising for World Action Models
arXiv cs.RO (Robotics)
arXiv:2609.15570v3 Announce Type: replace Abstract: World Action Models (WAMs) use video generation models to predict future visual dynamics for robotic manipulation, but iterative denoising introduces additional latency for closed-loop…
-
TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation
arXiv cs.RO (Robotics)
arXiv:2609.23580v4 Announce Type: replace Abstract: Reactive vision-language-action (VLA) policies suffer from task-state aliasing in long-horizon manipulation, where identical multimodal inputs call for distinct, context-dependent…
-
HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos
arXiv cs.RO (Robotics)
arXiv:2602.02473v2 Announce Type: replace Abstract: Enabling humanoid robots to perform agile and adaptive interactions has long been a core challenge in robotics. Current approaches are bottlenecked by either the scarcity of realistic…
-
Easy-IIL: Reducing Human Operational Burden in Interactive Imitation Learning via an Assistant Expert
arXiv cs.RO (Robotics)
arXiv:2603.12769v2 Announce Type: replace Abstract: Interactive Imitation Learning (IIL) typically relies on extensive human involvement for both offline demonstration and online interaction. Prior work primarily focuses on reducing human…
-
Mind the Temporal Gap: Evaluating Video Models for Temporal Understanding in Driving
arXiv cs.RO (Robotics)
arXiv:2610.12575v1 Announce Type: cross Abstract: Modern video-language models are increasingly treated as general-purpose video reasoners, yet it remains unclear whether they robustly capture temporal dynamics in safety-critical settings…
-
HARP-VLA: Human-Robot Aligned Representation Learning for Vision-Language-Action Model
arXiv cs.RO (Robotics)
arXiv:2605.31234v2 Announce Type: replace Abstract: Learning generalizable vision-language-action (VLA) models from large-scale human videos is promising but challenging due to cross-embodiment discrepancies in both visual observations and…
-
JitterVLA: A Replay Benchmark for Motion Quality in VLA-Driven Human-Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.13628v1 Announce Type: new Abstract: Vision-language-action (VLA) policies issue sparse targets whose arrival at the robot controller is delayed and irregular, so a reasonable predicted action can still produce abrupt motion…
-
Graph-Based Heuristics for Minimum Constraint Removal in Cluttered Robot Motion Planning
arXiv cs.RO (Robotics)
arXiv:2610.12609v1 Announce Type: new Abstract: Humanoid and service robots operating in clut- tered human environments may encounter motion planning problems that are infeasible when all surrounding objects are treated as fixed obstacles…
-
StereoEngine: Scaling Stereo Bimanual Robot Data without Stereo Cameras
arXiv cs.RO (Robotics)
arXiv:2610.12734v1 Announce Type: new Abstract: Stereo vision is increasingly used for robotic manipulation, with a growing body of work incorporating it into Vision-Language-Action (VLA) models. However, the scarcity of large-scale…
-
Sonic-AMG: Streaming Human Motion Generation from Spatial Audio
arXiv cs.RO (Robotics)
arXiv:2610.13300v1 Announce Type: cross Abstract: Modeling human reactions to spatial audio requires understanding both what is heard and where it comes from. Prior work generates motion offline from complete acoustic and spatial input…
-
ATHLETE: Learning Reactive Humanoid Tennis via Trajectory-Guided Motion Matching
arXiv cs.RO (Robotics)
arXiv:2610.13572v1 Announce Type: new Abstract: Humanoid tennis requires reactive whole-body coordination under rapidly changing ball dynamics, yet collecting task-specific motion-capture demonstrations that cover diverse approach states…
-
Beyond Actions: Learning Future Operation Targets for Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.13212v1 Announce Type: new Abstract: Actions specify what a robot should execute, but do not describe what those commands will achieve. Vision-language-action (VLA) policies nevertheless learn primarily by predicting action…
-
LAPT-Scale: Scaling Embodied Policies with Latent Action Pre-Training on Human Videos
arXiv cs.RO (Robotics)
arXiv:2610.13732v1 Announce Type: cross Abstract: Scaling generalist robotic policies is limited by the high cost of collecting embodied interaction data. Large-scale egocentric human videos offer a rich alternative, but they lack robot…
-
DeFM: Learning Foundation Representations from Depth for Robotics
arXiv cs.RO (Robotics)
arXiv:2601.18923v2 Announce Type: replace Abstract: Depth sensors are widely deployed across robotic platforms, and advances in fast, high-fidelity depth simulation have enabled robotic policies trained on depth observations to achieve…
-
Beyond the Snowflakes: Disentangling Weather Effects from Confounding Meta-Factors in LiDAR Object Detection
arXiv cs.RO (Robotics)
arXiv:2610.13891v1 Announce Type: cross Abstract: Light Detection and Ranging (LiDAR) is critical for autonomous perception, yet its performance is known to degrade in adverse weather. While existing literature models snow as atmospheric…
-
Prediction-Informed Landing Window Planning for UAV Landing on USV in High Sea States
arXiv cs.RO (Robotics)
arXiv:2610.13190v1 Announce Type: new Abstract: Autonomous landing of unmanned aerial vehicle (UAV) on unmanned surface vehicle (USV) is difficult in high sea states. Existing hierarchical landing methods often infer future USV motion only…
-
Reflex: Visually Grounded Reactive Humanoid Control
arXiv cs.RO (Robotics)
arXiv:2610.12772v1 Announce Type: new Abstract: Humans effortlessly react to the world; they adeptly return a tennis shot, catch a falling cup, step aside from a passing cart, or pass a box tossed during truck unloading. These everyday…
-
BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
arXiv cs.RO (Robotics)
arXiv:2605.07605v2 Announce Type: replace Abstract: Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper presents…