Robotics & Automation
Robotics & Automation news — Thursday 22 October 2026
122 stories from 3 sources, every one in English. Each links to its publisher.
-
Dream Labs raises $90M and launches Dream API
Robotics Business Review
Dream Labs said its models learn how the physical world works from video and can control new robots without any data. | Source: Dream Labs More brains are coming for robots. Dream Labs this week said it has raised $90 million in seed…
-
Dream Labs raises $90M and launches Dream API
The Robot Report
Dream Labs said its models learn how the physical world works from video and can control new robots without any data. | Source: Dream Labs More brains are coming for robots. Dream Labs this week said it has raised $90 million in seed…
-
Learning-Enhanced Observer for Sensorless Task-Null-Space Compliant Control
arXiv cs.RO (Robotics)
arXiv:2610.28769v1 Announce Type: new Abstract: This paper presents a novel framework integrating a robust wrench observer with a hybrid pose and force controller for physical Human-Robot Interaction (pHRI). In pHRI tasks, robots are…
-
From VLM Planners to Robotic Agents: Self-Evolving Harnesses for History-Dependent Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.29560v1 Announce Type: new Abstract: Vision-language-action (VLA) models achieve strong performance across embodied manipulation tasks by unifying visual understanding, language conditioning, and action generation. However…
-
Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure
arXiv cs.RO (Robotics)
arXiv:2606.26588v2 Announce Type: replace Abstract: A central challenge in deploying learned robot policies is inference-time behavior steering: redirecting a policy at test time to satisfy user preferences not anticipated during training…
-
Test-Time Motion Steering for Perceptive Humanoid Fall Recovery
arXiv cs.RO (Robotics)
arXiv:2610.30061v1 Announce Type: new Abstract: Humanoid fall recovery requires selecting a motion that suits both the surrounding scene and the task. The same fallen pose can admit several ways to stand, with different routes, support…
-
Warping the Workspace: Expanding Visual Access with Adjustable Reach Mapping for Humanoid Teleoperation
arXiv cs.RO (Robotics)
arXiv:2610.28712v1 Announce Type: new Abstract: First-person humanoid teleoperation ties access to side and rear targets to operator rotation. We present coupled visual--motor remapping, pairing a panoramic azimuth warp with its inverse…
-
COWBOY: A Scalable Sim-to-Real Framework for Learning Contextual Whole-Body Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.28948v1 Announce Type: new Abstract: Mobile manipulators must adapt not only to objects, but also to the spatial context in which they appear: where to position the base, how to manipulate, and where to look while navigating…
-
Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2606.06281v2 Announce Type: replace Abstract: Touch sensing is beneficial for solving a wide variety of manipulation tasks. While there exists a wide range of tactile sensors with different properties, exploiting the fusion of…
-
SLoSa: Small, Low-Power, and Safe Foundation Models for Robotic Task Planning
arXiv cs.RO (Robotics)
arXiv:2610.28955v1 Announce Type: new Abstract: Safe robotic task planning requires planners that can reliably achieve task goals while satisfying safety constraints. Classical planners search over explicit symbolic task representations…
-
SimPT: An Automated Simulation Framework for Intervention-Based VLA Post-Training
arXiv cs.RO (Robotics)
arXiv:2610.29161v1 Announce Type: new Abstract: Human-in-the-loop (HIL) post-training improves vision-language-action (VLA) policies through expert corrections, but costly human supervision and repeated real-robot evaluation limit…
-
WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions
arXiv cs.RO (Robotics)
arXiv:2610.18826v3 Announce Type: replace Abstract: We introduce WorldOracle, a benchmark specifically designed to evaluate action-conditioned world models (ACWMs) against paired real-world executions. Given the same initial observation…
-
Feedback World Model Enables Precise Guidance of Diffusion Policy
arXiv cs.RO (Robotics)
arXiv:2605.15705v2 Announce Type: replace Abstract: World models aim to improve robotic decision making by predicting the consequences of actions. However, in practice, their predictions often become unreliable once the robot encounters…
-
T-WLA: Bridging Slow Vision and Fast Touch
arXiv cs.RO (Robotics)
arXiv:2610.28814v1 Announce Type: new Abstract: In contact-rich manipulation, contact conditions can change before a visual policy updates its action plan. Recomputing the plan through the visual policy adds latency, while tactile feedback…
-
AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems
arXiv cs.RO (Robotics)
arXiv:2503.06669v5 Announce Type: replace Abstract: We explore how scalable robot data can address real-world challenges for generalized robotic manipulation. Introducing AgiBot World, a large-scale platform comprising over 1 million…
-
PhysiCalWorld: In-Context Physics Calibration for World Models
arXiv cs.RO (Robotics)
arXiv:2610.30125v1 Announce Type: new Abstract: Existing world models typically perceive a scene through current visual frame or a narrow history window. However, these observations may not reveal the physics properties that determine…
-
Multimodal Embodied Agents: A Unified Capability-centric Perspective from Computer-Use to Robot-Use
arXiv cs.RO (Robotics)
arXiv:2610.30108v1 Announce Type: new Abstract: Multimodal agents (MMAs) sustain interaction through reasoning, memory, tools, and feedback, most visibly as computer-use agents, while robotic systems (RSs) couple sensing and actuation…
-
Agentic World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.30136v1 Announce Type: new Abstract: Recent world action models provide visual foresight and future prediction for robot manipulation, but lack explicit mechanisms for compositional skill reuse. Agentic robotics combines…
-
Real-Time Ground Normal Vector Estimation for Spherical Mobile 3D Mapping using LiDAR-Inertial Odometry
arXiv cs.RO (Robotics)
arXiv:2610.28701v1 Announce Type: new Abstract: Accurate ground plane normal estimation is essential for odometry in spherical mobile mapping systems (SMMS), which face challenges from rapid rotations and limited ground coverage. We…
-
Payload generalization on feedforward control actions for trajectory tracking in robots with rigid and elastic joints
arXiv cs.RO (Robotics)
arXiv:2610.29356v1 Announce Type: new Abstract: Industries employ robots for repetitive tasks due to their high precision and performance, typically achieved through feedforward control actions based on an accurate robot description…
-
Preserving Operator Intent Under Actuation Constraints: Teleoperation of Manipulators with Coupled Transmissions
arXiv cs.RO (Robotics)
arXiv:2610.29565v1 Announce Type: new Abstract: Teleoperation enables intuitive control of remote engineering robots for precision tasks. Existing direct joint-mapping methods have two limitations: independent motor saturation disrupts…
-
Joint-Angle Invariance of Jacobian-Based Performance Indices for Serial Robotic Manipulators
arXiv cs.RO (Robotics)
arXiv:2610.29570v1 Announce Type: new Abstract: This article investigates the joint-angle invariance (JAI) of Jacobian-based performance indices for serial robotic manipulators. We identify kinematic conditions under which representative…
-
Human-Robot Interaction via Meta-Learning Based Mode Recognition and Adaptive Control
arXiv cs.RO (Robotics)
arXiv:2610.28761v1 Announce Type: new Abstract: In human-robot interaction (HRI) tasks, humans may interact with the robot in either an active guiding or passive following state, resulting in distinct control objectives for each…
-
Post-hoc Epistemic Uncertainty for Vision-Language-Action Policies
arXiv cs.RO (Robotics)
arXiv:2610.29730v1 Announce Type: new Abstract: Vision-language-action (VLA) policies need to recognize gaps in their training knowledge to request useful demonstrations or assistance in new situations, especially when failures are costly…
-
AtomicRL: Atomic Reinforcement Learning for Long-Horizon Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.30097v1 Announce Type: new Abstract: Vision-language-action (VLA) models have shown promise in robotic manipulation, but imitation learning (IL) alone often struggles to master complex long-horizon skills. Reinforcement learning…
-
ASPIRE: Agentic /Skills Discovery for Robotics
arXiv cs.RO (Robotics)
arXiv:2607.00272v2 Announce Type: replace Abstract: Traditional robot programming is notoriously challenging: it requires orchestrating multimodal perception, managing physical contact dynamics, and handling diverse environment…
-
FallGown: A Soft Pneumatic Wearable Device for Fall Prevention
arXiv cs.RO (Robotics)
arXiv:2610.12706v2 Announce Type: replace 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…
-
VeriCalib: Verifiable Target-Based LiDAR-Camera Calibration
arXiv cs.RO (Robotics)
arXiv:2610.28791v1 Announce Type: new Abstract: Target-based extrinsic calibration estimates the rigid transform between sensors from a few observations of a known target, and its result is commonly assessed by the root-mean-square error…
-
Stochastic Neural Control Barrier Functions
arXiv cs.RO (Robotics)
arXiv:2506.21697v2 Announce Type: replace-cross Abstract: Control Barrier Functions (CBFs) are utilized to ensure the safety of control systems. CBFs act as safety filters in order to provide safety guarantees without compromising system…
-
S-Rolling: Steerable Rolling Gaits for Twistable Snake Robots in Low-Clearance Environments
arXiv cs.RO (Robotics)
arXiv:2610.29478v1 Announce Type: new Abstract: Snake robots can traverse complex environments with limbless locomotion, but maneuvering in low-clearance environments remains challenging because a gait must maintain a small swept height…
-
Make it Walk: Computational Design of LEGO Walkers
arXiv cs.RO (Robotics)
arXiv:2610.29505v1 Announce Type: new Abstract: LEGO walkers are walking automata constructed from modular LEGO Technic bricks. They exhibit intriguing locomotion and are also highly reconfigurable through the modular Technic bricks…
-
A2I-Calib++: A Kinematics-Driven Anti-noise Active Calibration Framework for Whole-Body Multi-IMU Systems on Legged Robots
arXiv cs.RO (Robotics)
arXiv:2610.29438v1 Announce Type: new Abstract: Recently, multi-node inertial measurement unit (multi-IMU) systems have shown promise for robust odometry in legged robots. Multi-IMU fusion can improve legged robot odometry but requires…
-
Distance Field Driven Reinforcement Learning for Reactive and Robust Collision Avoidance
arXiv cs.RO (Robotics)
arXiv:2610.29452v1 Announce Type: new Abstract: Robust and reactive collision avoidance remains a central challenge for deploying Reinforcement Learning (RL) policies on real robotic manipulators, particularly when transferring behaviours…
-
AirPlayground: Benchmarking Aerial Navigation across Diverse Reconstructed Environments
arXiv cs.RO (Robotics)
arXiv:2610.29699v1 Announce Type: new Abstract: Large-scale aerial resources provide a foundation for learning navigation across diverse environments. However, existing resources remain limited in providing (1) densely sampled flight…
-
Implementation of Dynamic Microsegmentation for a Multi-Robot Network
arXiv cs.RO (Robotics)
arXiv:2610.30102v1 Announce Type: cross Abstract: This report describes a laboratory instantiation of a dynamic microsegmentation function for an Internet-of-Things network, specifically a multi-robot network, using a commercial…
-
UGV-Conditioned Multi-UAV Informative Planning on a Shared Exposure Belief
arXiv cs.RO (Robotics)
arXiv:2606.12306v3 Announce Type: replace Abstract: Safe ground navigation in large, threat-augmented environments requires aerial support that actively reduces the risks that a ground vehicle faces along its route. Existing aerial…
-
Learning Altruistic Collaboration in Heterogeneous Multi-Team Systems
arXiv cs.RO (Robotics)
arXiv:2605.21723v2 Announce Type: replace Abstract: This paper studies heterogeneous multi-team collaboration through dynamic robot allocation, where the robots themselves are treated as transferable resources. Leveraging Hamilton's rule…
-
Learning Dynamic Games for Cooperative Iterative Tasks
arXiv cs.RO (Robotics)
arXiv:2610.28901v1 Announce Type: new Abstract: We consider cooperative and iterative tasks involving multiple agents whose interactions are modeled as a dynamic game with shared constraints. We propose a general learning framework…
-
One Policy, Many Styles: Where to Aggregate Preferences for Steerable Humanoid Control?
arXiv cs.RO (Robotics)
arXiv:2610.28925v1 Announce Type: new Abstract: Modern robotic agents are increasingly expected to support steerable control, where a single policy can adjust its behavioral style at runtime under changing user preferences…
-
State-Dependent Objective Coordination for End-to-End Balance and Navigation
arXiv cs.RO (Robotics)
arXiv:2610.29142v1 Announce Type: new Abstract: Traditional robotic navigation systems separate mapping, planning, and low-level control through cascaded modules, introducing computational overhead and accumulated latency. End-to-end…
-
How Representational Priors Shape Generalization in World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.29168v1 Announce Type: new Abstract: World action models (WAMs) are shown to substantially diverge under generalization performance based on their generative backbones. We investigate this gap through the representational…
-
Relational Geometry Forcing for World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.29282v1 Announce Type: new Abstract: World Action Models (WAMs) have shown strong potential for robot manipulation by jointly learning visual dynamics and executable actions. However, their video and action objectives do not…
-
Compressing Onboard Language Models for Space Robots under a Behavioral-Fidelity Requirement
arXiv cs.RO (Robotics)
arXiv:2610.29302v1 Announce Type: new Abstract: Language models are being explored as the interface through which space robots interpret operator commands and select among verified skills. Running them onboard calls for low-bit…
-
Training in Deployment: Human-in-the-loop Online Post-Training for Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.29264v1 Announce Type: new Abstract: Large pretrained robot foundation models provide strong priors for manipulation, yet adapting them to target tasks with offline teleoperated demonstrations often fails to cover the…
-
Plan First, Act Later: Streaming Reasoning for Executable Memory in Robot Control
arXiv cs.RO (Robotics)
arXiv:2610.29329v1 Announce Type: new Abstract: Long-horizon robot manipulation requires a robot to remember task-relevant information beyond its short observation window. Existing memory-augmented policies typically retrieve relevant…
-
Reading the Room: Scale-ambiguous Semantic Registration of Sparse VSLAM Maps to Floor Plans in Partially Built Environments
arXiv cs.RO (Robotics)
arXiv:2610.29647v1 Announce Type: new Abstract: Many robotic construction applications, such as progress tracking, require registering a sensor trajectory to a prior 2D floor plan. Visual capture is attractive for its low cost and…
-
From Acceptance and Avoidance to Affective Viscosity: Designing Social Agents Intermediating in Human Relationships
arXiv cs.RO (Robotics)
arXiv:2610.29674v1 Announce Type: new Abstract: As social agents become embedded in human relationships, they are expected not only to provide smooth assistance but also to handle rejection, discomfort, jealousy, persistence, and other…
-
Spacetime Splines for Adaptive Robot Motions
arXiv cs.RO (Robotics)
arXiv:2610.29839v1 Announce Type: new Abstract: Movement primitives commonly represent robot mo- tions through basis functions indexed by time or phase. Inspired by spacetime representations employed in physics, we propose a spline-based…
-
RangeNav: Task-Aligned LiDAR Range-Image Pretraining for Robot Navigation
arXiv cs.RO (Robotics)
arXiv:2610.29845v1 Announce Type: new Abstract: Autonomous mobile robots operating in dense crowds and cluttered sites require $360^\circ$ perception to react to surrounding hazards. While panoramic LiDAR offers full-surround coverage…
-
Robot Generalization Beyond Volume: The Diversity Path via Zero-Shot Capabilities
arXiv cs.RO (Robotics)
arXiv:2610.29829v1 Announce Type: new Abstract: General-purpose robots must handle tasks, objects and environments they were never trained on, yet zero-shot generalization remains one of the least solved problems in physical AI. In digital…
-
SP-HLM: Sparse-Pose-Driven Motion Generation and Whole-Body Control for Humanoid Loco-Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.30044v1 Announce Type: new Abstract: Humanoid loco-manipulation requires an effective interface between high-level task policies and whole-body control. Existing interfaces typically rely on a single action representation for…
-
RoPT: Robust 6DoF Object Pose Tracking in Video
arXiv cs.RO (Robotics)
arXiv:2610.28962v1 Announce Type: cross Abstract: Accurate 6-DoF object pose tracking is essential for robotic interaction, yet conventional monocular pipelines frequently suffer from catastrophic divergence under rapid object motion. We…
-
ExtremControl: Low-Latency Humanoid Teleoperation with Scaled Velocity Feedforward
arXiv cs.RO (Robotics)
arXiv:2602.11321v4 Announce Type: replace Abstract: Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, end-to-end latencies in existing approaches…
-
Onboard UAV State Estimation for Fast Flights Without External Localization Systems: A2RL Drone Racing Finalist Approach
arXiv cs.RO (Robotics)
arXiv:2602.01860v2 Announce Type: replace Abstract: Fast flights with aggressive maneuvers in cluttered GNSS-denied environments require fast, reliable, and accurate UAV state estimation. In this paper, we present an approach for onboard…
-
rMuscle: Robotic Muscle Memory for Efficient Vision-Language-Action Model Inference
arXiv cs.RO (Robotics)
arXiv:2609.19104v3 Announce Type: replace Abstract: Factory work is a promising early scenario for embodied AI: assigning repetitive manual jobs to robots has clear economic payoff, and a structured station keeps the jobs tractable for…
-
Beyond Appearance Shifts: Task-Semantic Action Calibration for VLA Models
arXiv cs.RO (Robotics)
arXiv:2609.23650v2 Announce Type: replace Abstract: Vision-language-action (VLA) models have achieved strong performance in embodied manipulation, but still struggle to distinguish between changes that should preserve behavior and those…
-
Action-Conditioned World Model for Goal Plane Guidance in Robotic Neck Ultrasound
arXiv cs.RO (Robotics)
arXiv:2607.21918v3 Announce Type: replace Abstract: Ultrasound examinations typically follow specific scanning protocols that require navigating through an ordered sequence of anatomical landmarks and target imaging planes. We present a…
-
RoboCap: A New Platform for Egocentric Robot Learning
arXiv cs.RO (Robotics)
arXiv:2610.07217v2 Announce Type: replace Abstract: Despite its promise for scaling robot learning, egocentric manipulation data is still scarce today. Collection at scale requires vertically integrating ergonomic hardware with…
-
Robot Learning with Visual Predicted Force
arXiv cs.RO (Robotics)
arXiv:2610.04741v2 Announce Type: replace Abstract: Force-aware manipulation typically relies on specialized force or tactile sensors. We show that force-aware manipulation can instead be achieved through visual force prediction from the…
-
FoveaVLA: Foveation Actions Replace the Wrist Camera in VLAs
arXiv cs.RO (Robotics)
arXiv:2610.20064v2 Announce Type: replace Abstract: We present FoveaVLA, a Vision-Language-Action (VLA) model that replaces the wrist camera with learned foveation actions. Wrist cameras provide close-up detail but restrict the view to the…
-
VLA-Rolling: Fewer Denoising Steps, Better Control via Adaptive Action Reuse
arXiv cs.RO (Robotics)
arXiv:2610.25043v3 Announce Type: replace-cross Abstract: Flow-matching vision-language-action (VLA) models generate an action chunk by iteratively denoising Gaussian noise, but typically execute only a short prefix before replanning with…
-
Planning under Noise with Neural Operators
arXiv cs.RO (Robotics)
arXiv:2610.28623v2 Announce Type: replace-cross Abstract: Planning under uncertain control execution noise requires reliable feedback policies across diverse environments. We introduce Planning Under Noise (PUN), a neural operator that…
-
inr2action: Encoding Robot Episodes as Neural Implicit Representations for Recall and Action
arXiv cs.RO (Robotics)
arXiv:2610.28882v1 Announce Type: new Abstract: Long-horizon robotic operation requires memory that scales with essential information rather than execution time. We present a parameter-space memory framework where each episode is stored as…
-
Asymmetric On-Policy Distillation Learns In-Context Exploration
arXiv cs.RO (Robotics)
arXiv:2610.30105v1 Announce Type: new Abstract: Sequential decision-making under partial observability is difficult because agents must explore to infer hidden, task-relevant information before acting effectively. Learning such…
-
HyperDrone: Simulation-to-Reality Transfer at Millions of Frames per Second
arXiv cs.RO (Robotics)
arXiv:2610.28950v1 Announce Type: new Abstract: We present HyperDrone, an extremely fast quadrotor simulator focused on high-performance batch rendering that is more than 20x faster than existing state-of-the-art batch quadrotor…
-
Reconstruction-Augmented Visuomotor Pre-Training of 3D-Grounded Bimanual Dexterity from RGB-Only Human Videos
arXiv cs.RO (Robotics)
arXiv:2610.29716v1 Announce Type: new Abstract: We present SpatialDex, a framework that learns 3D-grounded bimanual dexterity from RGB-only human videos through reconstruction-augmented visuomotor pre-training. The central idea is to learn…
-
Reinforcement learning for hardware acceleration and system-level optimization on FPGA and integrated-circuit platforms: A survey
arXiv cs.RO (Robotics)
arXiv:2610.28699v1 Announce Type: cross Abstract: Reinforcement learning (RL) enables adaptive and autonomous decision-making in embedded, edge, and heterogeneous computing systems. Field-programmable gate arrays (FPGAs) and integrated…
-
Navigation Explainability for Object Avoidance with LLMs for Assistive Robots
arXiv cs.RO (Robotics)
arXiv:2610.28920v1 Announce Type: new Abstract: Blind and visually impaired individuals face uncertainty when navigating unfamiliar areas. Whether a cane or a guide dog is used for navigation, this may prove to be challenging. To mitigate…
-
GGraph: A GPU-Accelerated Library for Graph-Based Robot Deployment and Learning
arXiv cs.RO (Robotics)
arXiv:2610.28953v1 Announce Type: new Abstract: Autonomous mobile robots require spatial representations that capture geometry and semantics while staying sparse enough for planning in large, unknown environments. Graphs provide a natural…
-
NavBind: Diagnosing Instruction-Action Binding at Route Forks in Navigation VLAs
arXiv cs.RO (Robotics)
arXiv:2610.29203v1 Announce Type: new Abstract: Vision-language-action (VLA) navigation models translate visual observations and instructions into actions. Navigation success assesses whether an agent reaches the goal. However, reaching…
-
FlowVLA: Learning Flow-Aware Physical Completion for Quantitative Robotic Pouring
arXiv cs.RO (Robotics)
arXiv:2610.29692v1 Announce Type: new Abstract: During steady pouring, images and robot pose may remain nearly unchanged while transferred mass accumulates, making the return decision ambiguous for a whole-task vision-language-action (VLA)…
-
DriveMLP: When Training Strategy Outperforms Model Complexity in Autonomous Driving
arXiv cs.RO (Robotics)
arXiv:2610.29676v1 Announce Type: cross Abstract: Learning motion planning policies that remain reliable under closed-loop execution is a central challenge in Autonomous Driving (AD). Imitation Learning (IL) scales well to large AD…
-
HarnessPAI: An Evolving Harness for Physical AI
arXiv cs.RO (Robotics)
arXiv:2609.29166v2 Announce Type: replace Abstract: Physical AI aims to build embodied agents that perceive the world, understand and reason about it, and decide how to act. Yet the field has focused primarily on the last component: the…
-
Failure Modes of Vision-Language Models for Human Activity Understanding in Thermal HRI
arXiv cs.RO (Robotics)
arXiv:2610.29244v1 Announce Type: cross Abstract: Thermal cameras enable robots to perceive human activities in darkness while revealing less personally identifiable appearance information and fewer details of the surrounding environment…
-
AFFORD2ACT: How Far Can Sparse Keypoints Go for Robot Manipulation?
arXiv cs.RO (Robotics)
arXiv:2510.01433v3 Announce Type: replace Abstract: Vision-based manipulation policies are commonly learned from rich visual observations, typically using dense visual features extracted from full resolution images. It remains unclear how…
-
WARPED: Wrist-Aligned Rendering for Robot Policy Learning from Egocentric Human Demonstrations
arXiv cs.RO (Robotics)
arXiv:2604.10809v2 Announce Type: replace Abstract: Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor…
-
Physical Words: A Vocabulary for Structuring Latent Reasoning in Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.26854v3 Announce Type: replace Abstract: Multimodal reasoning provides robotic foundation models with predictive context needed for reliable action generation. However, language-based reasoning captures task semantics but…
-
HuMiT: Low-Latency Whole-Body Humanoid Teleoperation via Compact Reference Tracking
arXiv cs.RO (Robotics)
arXiv:2610.29903v1 Announce Type: new Abstract: Real-time whole-body humanoid teleoperation remains challenging due to the computational latency introduced by optimization-based retargeting pipelines and future-frame conditioning. Existing…
-
DONIC: Generalist Dexterous Bimanual Tracking Control from Human Demonstrations
arXiv cs.RO (Robotics)
arXiv:2610.29997v1 Announce Type: new Abstract: Despite recent progress in dexterous reference tracking, existing models focus primarily on single-hand manipulation and a limited range of interactions, leaving the bimanual dexterous…
-
OMAR: Open-World Multi-Attribute Reasoning for Scene-Conditioned Shelf Organization
arXiv cs.RO (Robotics)
arXiv:2610.29761v1 Announce Type: new Abstract: With the advent of foundation models, robots are increasingly capable of understanding and executing explicitly specified human tasks. Extending these capabilities to open-ended tasks…
-
Learning from Fleet Experience: Collective Experience Learning Across 96 Robots
arXiv cs.RO (Robotics)
arXiv:2610.25736v2 Announce Type: replace Abstract: Robot deployment generates experience that can support policy improvement, but continued reliance on expert corrective actions makes learning difficult to scale across growing fleets. We…
-
PaceVLA: Adaptive Temporal Action Quantization in Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.25961v2 Announce Type: replace Abstract: Fast and reliable manipulation is crucial for practical robot deployment. Although Vision-Language-Action (VLA) models have recently shown remarkable progress as generalist robot…
-
Toward Recursive Self-Improvement in Physical AI
arXiv cs.RO (Robotics)
arXiv:2610.29677v1 Announce Type: new Abstract: Recursive self-improvement (RSI) describes a system that improves not only its behavior but also the process by which it improves. Recent digital agents test this idea by rewriting their own…
-
Flexible Language-Guided Representation Editing for Adaptive Robot Behavior
arXiv cs.RO (Robotics)
arXiv:2610.28893v1 Announce Type: new Abstract: Trajectory demonstrations show robots how to behave but not why, leaving them to guess which features of the task actually matter. Incorrect guesses produce misaligned internal…
-
Watch Your Step: Anticipated Perception for Humanoid Locomotion
arXiv cs.RO (Robotics)
arXiv:2610.29612v1 Announce Type: new Abstract: Perceptive locomotion policies typically observe a dense robot-centric elevation map, although only the terrain beneath and around the next footsteps informs the control decision. Learned…
-
TARSphere: A Robot-Oriented Full-Stack Framework for Long-Horizon Embodied Agents in Evolving Physical and Social Environments
arXiv cs.RO (Robotics)
arXiv:2610.30043v1 Announce Type: new Abstract: Robots must act under physical and social constraints while adapting to changes in their environment and human needs. Existing embodied-agent systems often focus on specified goals or…
-
Causal world models under physical parameter shifts
arXiv cs.RO (Robotics)
arXiv:2610.29088v1 Announce Type: cross Abstract: World models predict how embodied systems evolve under actions, but their accuracy can degrade when physical conditions move outside the training distribution. We study two components of…
-
Linear Twisting Sidewinding Gaits for Twistable Snake Robot Motion Planning on Complex Terrains
arXiv cs.RO (Robotics)
arXiv:2610.29461v1 Announce Type: new Abstract: Sidewinding is an efficient gait for snake robots to locomote on various terrains, by undulating the backbone curve and shifting the contact segments along it. However, relying solely on…
-
End-to-End Reinforcement Learning for Quadrupedal Jumping in Lunar Gravity
arXiv cs.RO (Robotics)
arXiv:2610.29586v1 Announce Type: new Abstract: Legged robots can extend planetary exploration to rugged and discontinuous terrain that is inaccessible to conventional rovers. In lunar gravity, jumping further expands this mobility by…
-
PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation
arXiv cs.RO (Robotics)
arXiv:2609.29760v2 Announce Type: replace Abstract: Humans typically rely on vision, touch, hearing, and proprioception to perceive contact and adapt their actions during manipulation. Providing robots with comparable responsiveness…
-
TrackDeform3D: Markerless and Autonomous 3D Keypoint Tracking and Dataset Collection for Deformable Objects
arXiv cs.RO (Robotics)
arXiv:2603.17068v3 Announce Type: replace-cross Abstract: Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information…
-
AgriVLN: Vision-and-Language Navigation for Agricultural Robots
arXiv cs.RO (Robotics)
arXiv:2508.07406v2 Announce Type: replace Abstract: Agricultural robots are serving as powerful members across a wide range of tasks, nevertheless, they are still heavily relying on manual operations or railway systems for movement. In…
-
Real2Sem2Real: 3D Semantic Augmentations for Robot Learning from a Single Human RGB Demonstration
arXiv cs.RO (Robotics)
arXiv:2610.28880v1 Announce Type: new Abstract: Human video scales easily and does not need robot hardware, but existing methods require depth sensing, overlay the robot onto 2D video, or generate data only for the demonstrated objects. We…
-
PHD-Hand: A Printable Humanoid Dexterous Hand with Linkage-Driven 3-DOA Digits
arXiv cs.RO (Robotics)
arXiv:2610.29030v1 Announce Type: new Abstract: Currently, dexterous humanoid robot hands are widely considered the final hardware bottleneck that hampers generalist robots from physically assisting people at home and work. As conventional…
-
DepState-JEPA: Learning Depth-Grounded State Representation for Visual Perception and Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.29246v1 Announce Type: new Abstract: Predictive representations for robot manipulation should connect scene geometry with the state changes induced by actions. Our intuition is that understanding what an action will change…
-
Integrating Flow Matching and Model Predictive Control for Safe Robot Navigation
arXiv cs.RO (Robotics)
arXiv:2610.29377v1 Announce Type: new Abstract: Learning-based path planners based on diffusion and flow matching can generate diverse trajectories from demonstrations but typically lack mechanisms for constraint satisfaction and collision…
-
Object- and Task-Aware Active Perception for Safe Navigation of Mobile Manipulators in Semi-Static Environments
arXiv cs.RO (Robotics)
arXiv:2610.29964v1 Announce Type: new Abstract: Mobile manipulators must navigate safely in cluttered, partially unknown environments across logistics, manufacturing, and service applications. Semi-static changes between robot visits can…
-
Cartender: Verifiable Language-Conditioned Driving by Learning the Drives Not Taken
arXiv cs.RO (Robotics)
arXiv:2610.26390v2 Announce Type: replace Abstract: Every driving scene is logged once, but driving is one-to-many: the scene determines which behaviors are feasible, while an instruction selects among them. A log records only the action…
-
From Reasoning to Action: Benchmarking Frontier AI Models on LIBERO-10 Robot Manipulation Tasks
arXiv cs.RO (Robotics)
arXiv:2610.30051v1 Announce Type: new Abstract: Recent advances in frontier AI models have demonstrated remarkable capabilities in visual understanding, reasoning, planning, and tool use, raising the possibility of using general-purpose AI…
-
Do Earth-Trained Humanoid Controllers Walk on the Moon? Gravity, Terrain, and Soil Transfer
arXiv cs.RO (Robotics)
arXiv:2610.30080v1 Announce Type: new Abstract: The Moon changes gravity, terrain, and soil at once. Learned locomotion has studied reduced gravity on rigid ground and granular terrain mostly at Earth gravity, but not humanoids under both…
-
Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation
arXiv cs.RO (Robotics)
arXiv:2603.05754v3 Announce Type: replace Abstract: Current Vision-Language-Action (VLA) models rely primarily on RGB perception, preventing them from capturing modalities such as thermal signals that are imperceptible to conventional…
-
PRISM: Learning Realistic Depth via Physics-Grounded Noise Disentanglement with Semantic-Geometric Collaboration
arXiv cs.RO (Robotics)
arXiv:2610.29432v1 Announce Type: new Abstract: Real-world physical sensing exhibits complex, heterogeneous noise patterns that deviate significantly from idealized simulation, posing a fundamental bottleneck for sim-to-real transfer…
-
Mixture of Flow Matching and Particle Filter for Proprioception-Based Online Contact Estimation
arXiv cs.RO (Robotics)
arXiv:2610.29568v1 Announce Type: new Abstract: In this article, we propose ContactFlowFilter, a novel approach for contact estimation that determines the number of active contacts, their locations, and the associated force vectors. We…
-
PCLA-Bridge: A Framework for Cross-Domain Deployment of CARLA Agents
arXiv cs.RO (Robotics)
arXiv:2610.28696v1 Announce Type: cross Abstract: Most high-performing end-to-end autonomous driving agents (ADAs) are developed for the CARLA Leaderboard, tightly coupling them to CARLA's APIs, sensor layouts, coordinate systems, and…
-
$\mu_0$: A Scalable 3D Interaction-Trace World Model
arXiv cs.RO (Robotics)
arXiv:2606.13769v3 Announce Type: replace Abstract: World models that capture how actions induce physical change enable scalable robot learning without reliance on embodiment-specific action labels. Pixel-space video models provide broad…
-
AOV-GS: Active Open-Vocabulary Semantic Mapping with 3D Gaussian Splatting
arXiv cs.RO (Robotics)
arXiv:2610.29374v1 Announce Type: cross Abstract: Robots deployed in human-centered environments need maps that support both geometric navigation and open-vocabulary semantic queries beyond a fixed label set. A key challenge is enriching…
-
OSCAR: Obstacle Survival Curves for Adaptive Robot Navigation
arXiv cs.RO (Robotics)
arXiv:2606.00990v3 Announce Type: replace Abstract: A mobile robot following a graph of known routes can make costly navigation errors when a temporary obstacle blocks a critical edge: waiting too long behind a parked cart wastes time, but…
-
SSIO: Self-Supervised Inertial Odometry
arXiv cs.RO (Robotics)
arXiv:2610.25988v2 Announce Type: replace Abstract: Learning inertial odometry for a new platform usually requires ground-truth trajectories. We show that an inertial odometry model can instead be trained from scratch by a myopic teacher…
-
Let It Be Simple: One-Step Action Generation for Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2606.05737v3 Announce Type: replace-cross Abstract: One-step generation from standard diffusion or Flow-Matching training is rarely effective for text-to-image or video generation without distillation or specialized one-step…
-
Extending Affordance Segmentation for Wearable Robots to Multi-Object Images
arXiv cs.RO (Robotics)
arXiv:2610.29474v1 Announce Type: cross Abstract: This paper proposes a refinement to existing vision-based portable pipelines for the recognition of graspable object parts. Such pipelines can effectively support automatic grasp selection…
-
SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model
arXiv cs.RO (Robotics)
arXiv:2606.20698v2 Announce Type: replace Abstract: Safe control is a prerequisite for real-world embodied intelligence, for which safe reinforcement learning has emerged as a promising paradigm. However, existing safe reinforcement…
-
$\lambda_0$: Scaling Open-World Egocentric Human Data for Humanoid Loco-Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.18950v2 Announce Type: replace Abstract: Humanoid loco-manipulation requires coordinated whole-body interaction with the physical world, yet collecting robot demonstrations at scale remains costly. Human demonstrations offer a…
-
Vector-Quantized World Model: Latent Feedback Motion Planning for Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.25600v2 Announce Type: replace Abstract: Visual world models have shown strong potential for robot planning, yet long-horizon manipulation remains challenging due to compounding prediction errors, large search complexity, and…
-
CausGround: Causal Interaction Grounding for Adaptive Embodied Planning
arXiv cs.RO (Robotics)
arXiv:2610.29702v1 Announce Type: new Abstract: Multimodal large language models (MLLMs) show promising reasoning capabilities, but reliable physical interaction requires planning that accounts for when actions are executable and how they…
-
Learning to Absorb Corrections: Critic-Weighted Residual Flow for Vision-Based Insertion
arXiv cs.RO (Robotics)
arXiv:2610.29117v1 Announce Type: new Abstract: Vision-based insertion requires correcting alignment errors while retaining useful behavior learned from demonstrations. We present ACT--Flow, an online learning framework that couples an…
-
Move-Then-Operate: Behavioral Phasing for Human-Like Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2604.23620v4 Announce Type: replace Abstract: We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and…
-
Sufficient and Necessary Causal Explanations for the Analysis of Autonomous Systems
arXiv cs.RO (Robotics)
arXiv:2610.29724v1 Announce Type: new Abstract: Understanding failures of autonomous systems is challenging, particularly when their behavior depends on black-box components such as neural networks. In this work, we make a distinction…
-
CW-WAM: A Structured Contact-Wrench World Action Model for Force-Sensitive Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.30117v1 Announce Type: new Abstract: Force-sensitive manipulation requires contact and load information that is not provided explicitly by visual observations. We present CW-WAM, a world action model that jointly predicts video…
-
HEHA: Bounded Suboptimal Planning for Constrained Routing and Its Use in Heterogeneous Multi-Robot Exploration of Unknown Environments
arXiv cs.RO (Robotics)
arXiv:2510.04161v2 Announce Type: replace Abstract: This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, with…
-
Physical AI for Intralogistics: Benchmarking the NVIDIA Sim-to-Real Ecosystem for Cosmos-Enhanced COMPASS Navigation on Industrial Mobile Robots
arXiv cs.RO (Robotics)
arXiv:2610.28432v2 Announce Type: replace Abstract: Classical robot navigation stacks are reliable but often require re-engineering for each new robot type and site. Learning-based navigation shifts this effort from hand-tuned parameters…
-
Hilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization
arXiv cs.RO (Robotics)
arXiv:2607.06464v2 Announce Type: replace Abstract: Automated progress monitoring on construction sites is an active area of research and development. Robot and human-carried mapping systems have been developed to build 3D maps of building…
-
SMR: Learning streaming motion retargeting for humanoids from human semantic
arXiv cs.RO (Robotics)
arXiv:2610.29169v1 Announce Type: new Abstract: Retargeting human motion to humanoids requires preserving motion semantics while accounting for the robot's physical constraints. Kinematic pipelines prescribe a robot trajectory through…