Robotics & Automation
Robotics & Automation news — Friday 23 October 2026
112 stories from 4 sources, every one in English. Each links to its publisher.
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Webinar to discuss how the FCC robotics ruling affects automation buyers
Robotics Business Review
Vecna Robotics makes its systems in the U.S. and is not directly affected by the FCC ruling. Credit: Eugene Demaitre In July, the Federal Communications Commission, or FCC, said it had determined that certain foreign-made advanced robots…
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Webinar to discuss how the FCC robotics ruling affects automation buyers
The Robot Report
Vecna Robotics makes its systems in the U.S. and is not directly affected by the FCC ruling. Credit: Eugene Demaitre In July, the Federal Communications Commission, or FCC, said it had determined that certain foreign-made advanced robots…
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Generative Bionics to launch Physical AI Data Factory in Italy
Robotics Business Review
The first Data Factory hub is set to become one of Europe’s largest physical AI training facilities for humanoid robots. | Source: Generative Bionics Generative Bionics this week announced plans to build a proprietary, multi-site “Physical…
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Generative Bionics to launch Physical AI Data Factory in Italy
The Robot Report
The first Data Factory hub is set to become one of Europe’s largest physical AI training facilities for humanoid robots. | Source: Generative Bionics Generative Bionics this week announced plans to build a proprietary, multi-site “Physical…
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Video Friday: Quadruped Robot Solves Giant Rubik’s Cube By Itself
IEEE Spectrum Robotics
Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for…
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Multimodal Progress-Residual Fusion for Anticipating Navigation Retreat in Robotic Flexible Endoscopy
arXiv cs.RO (Robotics)
arXiv:2610.31028v1 Announce Type: new Abstract: Flexible robotic endoscopes provide access through tortuous anatomy, where friction, deformation, and wall interaction separate commanded insertion from useful distal progress. Operators…
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Self-Distilling Future Video Representations for World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.30320v1 Announce Type: new Abstract: World Action Models (WAMs) have emerged as a promising approach to learning generalist robot policies using rich spatiotemporal priors from pre-trained video diffusion models. A recent line…
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AstroBench: Benchmarking Free-Floating Capture and Space Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.31064v1 Announce Type: new Abstract: Capturing a loose object inside a spacecraft requires a robot to approach a target that can translate and rotate, and whose motion changes when contact is made. These conditions motivate…
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V2-STRep: VLM-Grounded Structured Task Representations for Reusable Robot Skills Acquired from Generated Videos
arXiv cs.RO (Robotics)
arXiv:2609.20582v2 Announce Type: replace Abstract: Human manipulation videos provide rich motion and interaction cues for acquiring robot skills without robot demonstrations. Video generation models synthesize such demonstrations from an…
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Decision Making and Ride Comfort Evaluation Based on Lane-Change Prediction for Autonomous Vehicles
arXiv cs.RO (Robotics)
arXiv:2610.30528v1 Announce Type: new Abstract: Predicting surrounding vehicles' lane-change intentions enables autonomous vehicles to anticipate potential hazards and respond proactively rather than relying solely on reactive maneuvers…
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Know When to Escalate: Critic-Guided Adaptive Execution for Cloud-Local Embodied Agents
arXiv cs.RO (Robotics)
arXiv:2610.30587v1 Announce Type: new Abstract: Recent advances in foundation-model agents have enabled increasingly capable embodied systems for long-horizon planning and interaction. However, embodied agents require fast, closed-loop…
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ProTrav: Probabilistic Traversability with Elevation Uncertainty Propagation for Risk-aware Off-road Navigation
arXiv cs.RO (Robotics)
arXiv:2610.30839v1 Announce Type: new Abstract: Reliable traversability estimation is essential for autonomous navigation on unstructured terrain. State-of-the-art approaches typically evaluate traversability from deterministic terrain…
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PATH: Preference-Aware Traversability Estimation for Robotic Teleoperation in Off-Road Navigation
arXiv cs.RO (Robotics)
arXiv:2610.30605v1 Announce Type: new Abstract: Traversability estimation is critical for ground vehicle teleoperation, yet existing methods often neglect the human operator's preferences for speed and risk tolerance. To address this gap…
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CMAR-search: Commonsense and Memory Augmented Reasoning for Object Search in Dynamic Interactive Environments
arXiv cs.RO (Robotics)
arXiv:2610.30606v1 Announce Type: new Abstract: Dynamic interactive object search in large-scale human environments presents substantial challenges for existing methods. Current scene representations like 3D Scene Graphs (3DSG) only…
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LocoManiLab: A Unified Testbed for Data, Policies, Controllers, and Deployment in Humanoid Loco-Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.30876v1 Announce Type: new Abstract: Humanoid robots must coordinate locomotion and manipulation in everyday environments, yet progress is difficult to assess across differing policies, controllers, and task settings…
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RGraph-Eval: Task-Grounded Scene Graphs for Evaluating Robot Video Generation
arXiv cs.RO (Robotics)
arXiv:2610.31121v1 Announce Type: new Abstract: Generated robot videos can look convincing while depicting the wrong interac- tion: a different object is moved, a grasp disappears, or a placement ends out- side its destination. We…
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Learning Robot Behavior Priors from Non-Robotic Synthetic Data
arXiv cs.RO (Robotics)
arXiv:2610.31275v1 Announce Type: new Abstract: Real robot data, rich across tasks and morphologies, is often treated as the bottleneck for training robot learning models, including embodied foundation models that aim for zero-shot…
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Probabilistic Energy Modeling Unifies Versatile Swarm Control
arXiv cs.RO (Robotics)
arXiv:2610.31371v1 Announce Type: new Abstract: Robotic swarms must coordinate across diverse missions, yet existing controllers often require redesign, retuning, or retraining when objectives change. Here we show that probabilistic energy…
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Inside-JEPA: From Prediction to Relational Grounding in Latent World Models
arXiv cs.RO (Robotics)
arXiv:2610.31194v1 Announce Type: cross Abstract: Joint-embedding predictive architectures (JEPAs) learn world models in latent space, enabling efficient planning but leaving their states opaque. We introduce Inside-JEPA, which places…
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Externalise the Memory: A Pre-Registered Study of Where an Embodied Agent's Experience Should Live
arXiv cs.RO (Robotics)
arXiv:2610.30478v1 Announce Type: new Abstract: Should an embodied agent's experience be baked into its policy weights, or kept external and retrieved at inference? A memory-augmented teacher (a VLM that retrieves lessons, with their…
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CoHelix: Event-Based Multi-Propeller Rotation-Rate Tracking with Shared Projective Geometry
arXiv cs.RO (Robotics)
arXiv:2610.31384v1 Announce Type: new Abstract: Estimating propeller rates from a moving event camera requires separating blade rotation from the changing image geometry. Background activity mixes with blade events, while repeated blade…
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FocusVLA: Future-Intent Guided Dynamic View Routing for Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.31423v1 Announce Type: new Abstract: Vision-language-action (VLA) models have become an important paradigm for robotic manipulation by unifying visual perception, language understanding, and action generation. Since reliable…
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VecTile: A Low-Cost Flexible Tactile Array for 3-DoF Force Sensing
arXiv cs.RO (Robotics)
arXiv:2610.31472v1 Announce Type: new Abstract: Tactile sensing provides robots with contact information difficult to obtain from vision alone. Shear force is particularly important for understanding tangential contact, guiding corrective…
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Initialization-Free LEO Doppler Positioning via Semidefinite Relaxation: A Cold-Start Approach
arXiv cs.RO (Robotics)
arXiv:2509.17198v2 Announce Type: replace Abstract: Low Earth Orbit (LEO) satellite Doppler measurements offer an alternative source of positioning information for Internet of Things devices when Global Navigation Satellite System signals…
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AgenticRoboRL: Bringing Coding-Agent Post-Training to Agentic Robotics
arXiv cs.RO (Robotics)
arXiv:2610.28589v2 Announce Type: replace Abstract: Agentic robotics systems combine planners with robot harnesses to perform complex manipulation tasks. Recent work improves these systems through better harnesses and external memory, but…
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TerraTransfer++: Demonstration-Free End-to-End Planner
arXiv cs.RO (Robotics)
arXiv:2610.30319v1 Announce Type: new Abstract: End-to-end autonomous driving has achieved state-of-the-art performance on benchmarks and real-world deployments. Its standard training recipe, however, is expensive across all existing…
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Integrated Respiratory Sensing and Gated Control for Autonomous Needle Insertion Via CT Bore Robotic Arm
arXiv cs.RO (Robotics)
arXiv:2610.30452v1 Announce Type: new Abstract: Currently, CT-guided lung biopsy is a highly manual procedure requiring patient breath-holding, iterative manual needle insertions, and repeated CT confirmation scans to accurately target a…
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Tilt-Rotor Quadcopter with Learned Residual Control and Mode-Dependent State Estimation
arXiv cs.RO (Robotics)
arXiv:2610.31051v1 Announce Type: new Abstract: Tilt-rotor quadcopters redirect thrust for translation without banking, but complicate modeling, state estimation, and disturbance rejection. This paper presents a simulation-based flight…
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A Sparse Topometric Graph for Scalable Cross-Session Indoor Navigation
arXiv cs.RO (Robotics)
arXiv:2610.31432v1 Announce Type: new Abstract: A conventional embodied agent in an indoor environment builds a map by accumulating noisy real-world measurements and results from heavy inference to guide navigation. While the detailed…
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OEL-AD: An Online Evolutive Learning Framework for Cross-Region Adaptive Autonomous Driving
arXiv cs.RO (Robotics)
arXiv:2508.11453v2 Announce Type: replace Abstract: Autonomous driving models have achieved great progress in recent years, yet most existing approaches remain static, following a train-then-deploy paradigm that lacks the ability to adjust…
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CENIC: Convex Error-controlled Numerical Integration for Contact
arXiv cs.RO (Robotics)
arXiv:2511.08771v2 Announce Type: replace Abstract: State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physical…
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Event-based SLAM Benchmark for High-Speed Maneuvers
arXiv cs.RO (Robotics)
arXiv:2604.24033v2 Announce Type: replace Abstract: Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle…
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Robot Motion Transition with Human Motion Prior
arXiv cs.RO (Robotics)
arXiv:2610.30817v1 Announce Type: new Abstract: Humanoid motion-tracking policies can reproduce diverse behaviors, yet connecting independently acquired motions into a continuous sequence remains challenging. Interpolation connects…
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LAST-V2X: Language-Driven Adaptive Scenario Synthesis and Testing for Communication-Induced Failures in V2X Safety Applications
arXiv cs.RO (Robotics)
arXiv:2610.30979v1 Announce Type: new Abstract: Vehicle-to-everything (V2X) communication enables connected vehicles to make safety-critical decisions, but delayed, missing, or incorrect information can compromise driving safety…
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Calibration-free IMU-based Relative Orientation Estimation under Dynamic Human Motion
arXiv cs.RO (Robotics)
arXiv:2610.31156v1 Announce Type: new Abstract: Recent magnetometer-free inertial measurement unit (IMU) methods can reduce drift in joint motion estimation using rigid-body constraints, but they typically require pre-calibrated sensor…
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GelSlim 5.0: Unifying Vision and Touch with a Single Fingertip Camera
arXiv cs.RO (Robotics)
arXiv:2610.31334v1 Announce Type: new Abstract: Vision and touch provide complementary cues for object pose and local contact geometry, but external cameras are often occluded at the contact site. We present GelSlim 5.0, a fingertip sensor…
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Learning Cooperative Bimanual Dexterous Grasp of Large Objects with Tactile Sensing
arXiv cs.RO (Robotics)
arXiv:2608.10383v3 Announce Type: replace Abstract: Bimanual dexterous grasping of large objects is a critical challenge in robotic manipulation. However, most existing studies focus on sequential manipulation rather than cooperative…
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What Does It Take For A Generalist Robot Policy To Adapt Using Minimal Data?
arXiv cs.RO (Robotics)
arXiv:2608.11363v3 Announce Type: replace Abstract: A central goal in robot learning is to move beyond task-specific human data collection toward robots that improve through autonomous interaction. Yet fully autonomous learning remains…
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DiffDreamer: Coupling World Models with Differentiable Simulation for Agile Quadrotor Control
arXiv cs.RO (Robotics)
arXiv:2610.31617v1 Announce Type: new Abstract: Tasks such as quadrotor dynamic-gate racing require agents to anticipate external motion while maintaining precise high-frequency control. World-model-based reinforcement learning provides a…
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Proprioceptive Safe Active Navigation and Exploration for Planetary Environments
arXiv cs.RO (Robotics)
arXiv:2603.08905v2 Announce Type: replace Abstract: Deformable granular terrains introduce significant locomotion and immobilization risks in planetary exploration and are difficult to detect via remote sensing (e.g., vision). Legged…
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Real-Time Disturbance-Aware Koopman Model Predictive Control for Quadrotors in Spatially Varying Winds
arXiv cs.RO (Robotics)
arXiv:2610.27414v2 Announce Type: replace Abstract: Reliable quadrotor flight in disturbed environments requires predictive models that remain accurate as unmodeled aerodynamic effects change during deployment. We introduce a…
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Robot Generalization Beyond Volume: The Diversity Path via Zero-Shot Capabilities
arXiv cs.RO (Robotics)
arXiv:2610.29829v2 Announce Type: replace 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…
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Do VLAs Really Follow Instructions? Diagnosing How-Level Instruction Following in Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.21251v2 Announce Type: replace-cross Abstract: Vision-language-action (VLA) models are expected to follow instructions like their language backbones, yet prior work has focused on What-level instructions that specify the task…
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PhysibleMDM: Enforcing Inference-Time Physical Feasibility Constraints on Motion Diffusion Models via Noise Optimization
arXiv cs.RO (Robotics)
arXiv:2610.30500v1 Announce Type: new Abstract: Motion Diffusion Models (MDMs) can generate diverse and visually appealing human motion; yet, the resulting trajectories frequently violate physical constraints, limiting their downstream use…
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IORA: Irregular Object Immobilization under Restricted Actuation
arXiv cs.RO (Robotics)
arXiv:2610.30969v1 Announce Type: new Abstract: Stable grasping under task-specific disturbances is important for robotic manipulation. However, most dexterous grasp synthesis methods are developed for highly actuated hands in free space…
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Navigating human-robot interaction challenges in private and residential aged care homes
arXiv cs.RO (Robotics)
arXiv:2610.31149v1 Announce Type: cross Abstract: This chapter explores how robotic systems and ambient intelligence can enhance care for older adults in residential aged care (RAC) homes and private homes. Although these settings differ…
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Beyond Imitation: Reinforcement Learning-Based Sim-Real Co-Training for VLA Models
arXiv cs.RO (Robotics)
arXiv:2602.12628v5 Announce Type: replace Abstract: Simulation offers a scalable and low-cost way to enrich vision-language-action (VLA) training, reducing reliance on expensive real-robot demonstrations. However, most sim-real co-training…
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ThermoAct:Thermal-Aware Vision-Language-Action Models for Robotic Perception and Decision-Making
arXiv cs.RO (Robotics)
arXiv:2603.25044v3 Announce Type: replace Abstract: In recent human-robot collaboration environments, there is a growing focus on integrating diverse sensor data beyond visual information to enable safer and more intelligent task…
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FluxVLA Engine: A One-Stop VLA Engineering Platform for Embodied Intelligence
arXiv cs.RO (Robotics)
arXiv:2609.17210v2 Announce Type: replace Abstract: Vision-language-action (VLA) models, world-action models (WAMs), and offline reinforcement learning methods are rapidly expanding the design space of embodied policies, yet turning these…
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Scale and Selection: What Makes Automatic Harness Evolution Work for Visual-Interface Robot Agents
arXiv cs.RO (Robotics)
arXiv:2609.39304v4 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…
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TRACE: Typed Reference-Aware Conversational Editing for Humanoid Motion Diffusion
arXiv cs.RO (Robotics)
arXiv:2610.21515v2 Announce Type: replace Abstract: Language-conditioned humanoid motion generation enables users to create and refine robot movements through natural language. The central challenge is to connect an underspecified request…
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Full 3D Radiation Pattern Approximation in Multi-Rotor UAVs
arXiv cs.RO (Robotics)
arXiv:2604.02827v3 Announce Type: replace Abstract: In-flight outdoor approximation of full 3D Radiation Patterns (RPs) in non-holonomic multi-rotor Uncrewed Aerial Vehicles (UAVs) enables efficient communication-aware robotic missions…
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Soft Robotic Exogloves for Dexterous Mobility -- Towards Personalized Rehabilitation
arXiv cs.RO (Robotics)
arXiv:2607.07968v3 Announce Type: replace Abstract: Soft robotic exogloves can provide hand rehabilitation and assistance. Fitting these gloves often relies on standardized measurements not tailored to the individual, limiting their…
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UniFlowWAM: A Unified World-Action Model with Visual Semantics and 4D Geometry
arXiv cs.RO (Robotics)
arXiv:2610.30991v1 Announce Type: new Abstract: Robot demonstrations record what the robot saw and what it did. They do not specify how the 3D world changed in between. Scene-level 3D flow describes it by tracking 3D scene points…
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OpenTac: An Open Ecosystem for Customizable, Scalable, and Transferable 3D Tactile Sensing
arXiv cs.RO (Robotics)
arXiv:2610.31661v1 Announce Type: new Abstract: We present OpenTac, a novel sensor and a full-stack ecosystem for tactile skins that are highly customizable, scalable, and readily deployed in downstream robot control and learning…
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PhysTrace: Interpretable Temporal Evaluation of Physical Consistency in Video Generative Models
arXiv cs.RO (Robotics)
arXiv:2610.31429v1 Announce Type: cross Abstract: World action models increasingly rely on pretrained video models assumed to capture physical dynamics for prediction, planning, and action generation. Existing evaluations assess…
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Hearing the shape of an arena with spectral swarm robotics
arXiv cs.RO (Robotics)
arXiv:2403.17147v2 Announce Type: replace Abstract: Swarm robotics relies on robots with minimal sensing and computation that achieve self-organization at the level of the collective to address a variety of tasks. Yet swarm robotics still…
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Multi-Tool Selection for Robotic Systems: Comparing Semantic Retrieval and LLM
arXiv cs.RO (Robotics)
arXiv:2610.31013v1 Announce Type: new Abstract: Natural-language interfaces allow users to command robotic systems without interacting directly with mission planners or robotics middleware. Their reliable use depends on robot tool routing…
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Learning to Drive in New Cities Without Human Demonstrations
arXiv cs.RO (Robotics)
arXiv:2602.15891v2 Announce Type: replace Abstract: While autonomous vehicles have achieved reliable performance within specific operating regions, their deployment to new cities remains costly and slow. A key bottleneck is the need to…
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Perceive, Predict, and Plan: a Unified World Action Model for Egocentric Dexterous Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.22363v2 Announce Type: replace-cross Abstract: We introduce P$^{3}$-WAM, a unified world action model for egocentric dexterous manipulation that learns 3D perception, action-conditioned prediction, and goal-directed planning…
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Co^2Gen: Collaboratively Generating Task Plans for Decentralized Multi-Robot and Human Collaboration
arXiv cs.RO (Robotics)
arXiv:2610.30671v1 Announce Type: new Abstract: Visual Language Action (VLA) models are designed to be generalist robot models that can be implemented across embodiments, tasks and environments. However, their ability to collaborate with…
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Memory before Goal: Role of Pre-History Memory for Humanoid Loco-Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.31166v1 Announce Type: new Abstract: Humanoid loco-manipulation in dynamic scenes is non-Markovian: cues vanish as objects change or are hidden, or leave the view as the robot turns and walks, yet whole-body…
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Prior Evolution and Task Alignment for Aerial Grasping
arXiv cs.RO (Robotics)
arXiv:2609.18153v2 Announce Type: replace Abstract: Aerial grasping is a remarkable capability exhibited by predatory birds, allowing them to capture prey through highly coordinated maneuvers in flight. Inspired by this capability…
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Sensorimotor Alignment: A Platonic Proxy for Embodied Policy Success
arXiv cs.RO (Robotics)
arXiv:2610.31670v1 Announce Type: cross Abstract: Robotic foundation models are typically evaluated through costly closed-loop rollouts, which motivates cheap offline proxies for model capability. The Platonic Representation Hypothesis…
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Tactile-Based Robotic Manipulation: From Mechanics-Driven to Data-Driven Perspectives
arXiv cs.RO (Robotics)
arXiv:2610.30438v1 Announce Type: new Abstract: Tactile sensing provides robots with direct access to physical interactions at the contact interface, making it a critical modality for robust and dexterous manipulation. Over the past…
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Humanoid Mobility via Attention-based Contacts
arXiv cs.RO (Robotics)
arXiv:2610.31608v1 Announce Type: new Abstract: Humanoid mobility over complex terrain requires accurate foot placement and coordinated whole-body motion capable of robust adaptation. Reinforcement learning (RL) policies trained without…
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AlignDrive: Aligned Lateral-Longitudinal Planning for End-to-End Autonomous Driving
arXiv cs.RO (Robotics)
arXiv:2601.01762v5 Announce Type: replace Abstract: Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes. While state-of-the-art (SOTA) methods use…
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Principles of Robot Autonomy
arXiv cs.RO (Robotics)
arXiv:2608.03496v2 Announce Type: replace Abstract: Autonomous robots are moving rapidly from research labs into everyday life - on roads, in the air, in warehouses, and in space. Robot autonomy is no longer solely an academic pursuit, but…
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UniMem: Unifying Visual and Textual Memory in VLAs for Non-Markovian Tasks
arXiv cs.RO (Robotics)
arXiv:2608.22869v2 Announce Type: replace Abstract: While Vision-Language-Action (VLA) models have leveraged internet-scale pretraining and task-specific finetuning to achieve strong performance on long-horizon tasks, they often struggle…
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TEAR: Task-Evidence Authority Routing for Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.30819v1 Announce Type: new Abstract: Reliable robotic manipulation in field-deployed settings requires more than executing a capable controller. As the execution conditions change, the system must decide, online and on the robot…
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SCOPE: Scene-graph Construction Optimized by Plan Error-correction for Robot Long-term Planning Datasets
arXiv cs.RO (Robotics)
arXiv:2610.31518v1 Announce Type: new Abstract: Task and Motion Planning (TAMP) stands as a fundamental challenge in robotics, essential for enabling autonomous agents to execute complex, long-horizon tasks in diverse environments. While…
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ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
arXiv cs.RO (Robotics)
arXiv:2606.30362v3 Announce Type: replace Abstract: While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute pre-defined reference motions. As a result, they are vulnerable to…
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NavBind: Diagnosing Instruction-Action Binding at Route Forks in Navigation VLAs
arXiv cs.RO (Robotics)
arXiv:2610.29203v2 Announce Type: replace Abstract: Vision-language-action (VLA) navigation models translate visual observations and instructions into actions. Navigation success assesses whether an agent reaches the goal. However…
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MPBRS: Multi-Potential-Based Reward Shaping for Unified Reward Configuration in Humanoid Locomotion
arXiv cs.RO (Robotics)
arXiv:2610.30334v1 Announce Type: new Abstract: Designing and tuning reward functions remains one of the main challenges in building effective reinforcement learning (RL) pipelines for humanoid locomotion. While shaping rewards can…
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Progress Probes $P^2$: Lightweight Runtime Monitoring for Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.31613v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models can perform diverse manipulation tasks directly from visual observations and natural language instructions, but they remain prone to mistakes and…
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EBV-CAN: Vision--Language Grounding for Contact-Aided Endoscope Navigation
arXiv cs.RO (Robotics)
arXiv:2610.30786v1 Announce Type: new Abstract: Flexible endoscopes exploit structural compliance to traverse narrow lumens, pipes, and cavities, where navigation involves distributed environmental contact. This compliance makes tip motion…
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Robustness Verification of an Autonomous Underwater Vehicle-based Plankton Classifier
arXiv cs.RO (Robotics)
arXiv:2607.04453v2 Announce Type: replace Abstract: The assessment of planktonic standing stocks and microorganism structures is critical for understanding upper ocean biological processes. Currently, autonomous underwater vehicles (AUVs)…
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To Route or to Adapt? Multi-Expert Diffusion Planners in Unseen Regions
arXiv cs.RO (Robotics)
arXiv:2610.31095v1 Announce Type: new Abstract: Diffusion trajectory planners with domain-specific experts face a practical question in unseen regions: can they rely on selecting among existing experts, or must the planner itself adapt? We…
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Integrated Longitudinal and Lateral Control for High-Speed Platooning of Articulated Vehicles
arXiv cs.RO (Robotics)
arXiv:2610.30437v1 Announce Type: new Abstract: This paper presents an integrated control framework for high-speed platooning of articulated vehicles, combining advanced longitudinal and lateral control strategies to address the challenges…
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When One Step Is Enough: An Empirical Study of Euler Integration in Flow-Matching Policies
arXiv cs.RO (Robotics)
arXiv:2610.30735v1 Announce Type: new Abstract: Flow matching is now the dominant approach for vision-language action (VLA) robot policies, thanks to its expressiveness and simple training objective. However, inference for standard flow…
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TRACE: Traversability-aware Reactive Navigation via VLM-driven Adaptive Constraints Estimation
arXiv cs.RO (Robotics)
arXiv:2610.30994v1 Announce Type: new Abstract: This paper presents TRACE, a traversability-aware reactive navigation framework designed for the autonomous operation of ground robots in unstructured forest environments. Unlike traditional…
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Super Agents and Confounders: Influence of surrounding agents on vehicle trajectory prediction
arXiv cs.RO (Robotics)
arXiv:2604.03463v2 Announce Type: replace-cross Abstract: In highly interactive driving scenes, trajectory prediction is conditioned on information from surrounding traffic participants such as cars and pedestrians. Our main contribution…
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Causal Analysis of Failures of Cyber-Physical Systems with Continuous Inputs
arXiv cs.RO (Robotics)
arXiv:2610.30737v1 Announce Type: new Abstract: Modern autonomous Cyber-Physical Systems (CPSs), such as self-driving cars, operate in increasingly complex environments while expected to maintain high reliability. The black-box nature of…
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Multilaminate piezoelectric polymer actuators for insect-scale softrobots
arXiv cs.RO (Robotics)
arXiv:2511.12380v2 Announce Type: replace Abstract: Piezoelectric ceramics enable fast, precise, and powerful actuation with integrated sensing in insect-scale robots. However, they are brittle, failing at low strains limiting its…
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FastHarness: Experience-Driven Review Scheduling for Vision-Language-Action Policies
arXiv cs.RO (Robotics)
arXiv:2610.31427v1 Announce Type: new Abstract: Agentic robot systems combine language-model reasoning with robot policies to monitor execution and recover from failures. However, reviewing every action chunk incurs substantial overhead…
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In-Context Learning World Models for Robot Dual-Arm Manipulation of Soft Garment with Partial Observations
arXiv cs.RO (Robotics)
arXiv:2610.30988v1 Announce Type: new Abstract: Robust manipulation of soft objects, such as garments, is a critical skill for service and household robots to adopt, but remains challenging due to its high-dimensional state space, and…
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Replan for Error Recovery: Training Embodied VLMs through Verifiable Interaction with Action-Grouped Turn-GSPO
arXiv cs.RO (Robotics)
arXiv:2610.27003v2 Announce Type: replace Abstract: Embodied VLMs can execute increasingly complex manipulation tasks, yet execution errors can leave the environment in states that require replanning for recovery. Existing recovery methods…
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Point-Level Refinable Semantic Mapping for Spatial Understanding
arXiv cs.RO (Robotics)
arXiv:2610.31476v1 Announce Type: new Abstract: Open-vocabulary 3D semantic maps have emerged as a key spatial memory representation for long-horizon robot autonomy, enabling robots to reason about objects, their spatial relationships, and…
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Reflection-Based Relative Localization for Cooperative UAV Teams Using Active Markers
arXiv cs.RO (Robotics)
arXiv:2511.17166v3 Announce Type: replace Abstract: Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these…
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Alpha: Systematic Fault Injection and Robustness Evaluation for LLM-Driven Embodied Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.30197v1 Announce Type: new Abstract: Large language models (LLMs) are increasingly integrated into embodied robotic planning, yet standard benchmarks primarily evaluate end-to-end task completion in nominal environments…
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A Transparent 3-DoF Assistive Device for Upper-Limb Tremor and Ataxia Compensation: Design and Experimental Validation
arXiv cs.RO (Robotics)
arXiv:2610.30955v1 Announce Type: new Abstract: Assistive devices for patients with neurodegenerative movement disorders must combine high mechanical transparency with the ability to generate corrective interaction forces. Achieving both…
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Consistent Distributed Invariant EKF SLAM with Point and Object Features
arXiv cs.RO (Robotics)
arXiv:2610.31221v1 Announce Type: new Abstract: Multi-robot SLAM allows robots to improve their estimates by exchanging map information, but repeated exchanges create unknown correlations between local estimators. Covariance intersection…
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Extending Harmonic Function Methods via Root Locus for Coordinated Path Generation
arXiv cs.RO (Robotics)
arXiv:2610.31625v1 Announce Type: new Abstract: We consider the offline generation of coordinated paths for N interchangeable robots and N goals in planar environments with polygonal obstacles. After a conformal map to a circular domain…
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OASIS: Online Anchor-centric Scene Inference System for Open-Vocabulary Retrieval and Navigation in Dynamic Environments
arXiv cs.RO (Robotics)
arXiv:2610.30589v1 Announce Type: new Abstract: Reliable robotic mapping in dynamic real-world environments is essential for embodied intelligence and long-term autonomy. However, existing methods often involve a trade-off: lightweight…
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Continuous-Time Motion Planning and Steering with Global Convergence
arXiv cs.RO (Robotics)
arXiv:2610.30607v1 Announce Type: new Abstract: Motion planning is central to robotics, and it is increasingly used to correct the motions proposed by learned planners and policies. In both uses, constraints must hold at every instant of…
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Geometry-Dependent Properties of Physically Crosslinked PPy-PVA Hydrogels Enable Tunable Iontophoretic Drug Delivery
arXiv cs.RO (Robotics)
arXiv:2610.31567v1 Announce Type: new Abstract: Objective: Iontophoretic drug delivery has primarily relied on current modulation to regulate drug transport. Here, we investigate hydrogel geometry, microstructure, and local electric fields…
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The Bitter Lesson Comes to Robotics
arXiv cs.RO (Robotics)
arXiv:2610.25287v2 Announce Type: replace Abstract: General purpose multimodal language models (LMs) are increasingly capable of directly controlling robotic arms (e.g., by commanding end effector poses) to manipulate their environment…
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RangeNav: Task-Aligned LiDAR Range-Image Pretraining for Robot Navigation
arXiv cs.RO (Robotics)
arXiv:2610.29845v2 Announce Type: replace 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…
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Sensitive dependence of the motion of a legged robot on granular media
arXiv cs.RO (Robotics)
arXiv:0905.4950v2 Announce Type: cross Abstract: Legged locomotion on flowing ground ({\em e.g.} granular media) is unlike locomotion on hard ground because feet experience both solid- and fluid-like forces during surface penetration…
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Adaptive Aerial Loco-Manipulation Policy Learning via LLM-Assisted Proactive Task Generation
arXiv cs.RO (Robotics)
arXiv:2610.30810v1 Announce Type: new Abstract: Loco-manipulation extends the workspace of conventional manipulation by combining mobility with physical interaction, while aerial loco-manipulation further expands this capability into…
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Dual-Arm Box Manipulation via Online Inertial Estimation and Convex Wrench Optimization
arXiv cs.RO (Robotics)
arXiv:2605.22021v2 Announce Type: replace Abstract: Dual-arm robotic manipulation often requires lifting and transporting objects whose mass and center of mass are not known in advance. These uncertainties affect the force-moment balance…
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Decentralized Bi-Level Optimization for Cooperative Orbital Transportation of a Rigid Payload
arXiv cs.RO (Robotics)
arXiv:2610.31562v1 Announce Type: cross Abstract: The rapid growth of the space economy, alongside increasing orbital congestion and debris, is driving demand for reliable on-orbit transportation of large and non-cooperative objects…
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Live Thread Reconstruction for Autonomous Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.30694v1 Announce Type: new Abstract: Autonomous robotic surgery has drawn increased attention in recent years due to its potential to relieve surgeons of time-consuming, mentally straining, and tedious tasks, particularly during…
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Motion Retargeting with Spatiotemporal Preferences for Humanoid Loco-Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.30540v1 Announce Type: new Abstract: Human motion retargeting bridges the embodiment gap between humans and humanoid robots by converting human demonstrations into reference trajectories for whole-body control and…
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Dispersive Tree Agreements for Multi-Robot Coordination
arXiv cs.RO (Robotics)
arXiv:2610.31540v1 Announce Type: new Abstract: Multi-robot coordination of nonlinear systems is naturally formulated as joint-space optimal control subject to constraints over groups of robots. Existing methods that approach joint…
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HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation
arXiv cs.RO (Robotics)
arXiv:2604.07993v3 Announce Type: replace Abstract: Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making high-DoF…
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Demonstration-Based Robotic Feeding Using Dynamic Movement Primitives
arXiv cs.RO (Robotics)
arXiv:2610.31020v1 Announce Type: new Abstract: This paper presents a demonstration-based robotic feeding framework that integrates human demonstration, Dynamic Movement Primitive-based motion planning, vision-based scene perception, and…
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Whole-Body Motion Guided Reference Generation for Uncertainty-Aware Compliant Assistance
arXiv cs.RO (Robotics)
arXiv:2610.31302v1 Announce Type: new Abstract: Exoskeletons have shown great potential for augmenting human physical capabilities, yet generating reliable assistance remains challenging because human motion patterns and interaction…
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Where Success Breaks: Failure-Boundary Learning for Robust Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2609.06114v3 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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Revisiting Distribution Matching for State-to-Vision Policy Distillation in Laparoscopic Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.31010v1 Announce Type: new Abstract: End-to-end control policies trained via Reinforcement Learning (RL) have emerged as an alternative to conventional surgical robotic control approaches, with recent studies exploring…
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Skeleton-Grounded Latent Action Model for Robot World Models
arXiv cs.RO (Robotics)
arXiv:2610.31474v1 Announce Type: new Abstract: Robot world models simulate how environments evolve in response to robot actions. Latent action models enable learning dynamics from videos by encoding visual transitions as proxy actions…
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Echo: Coupled Action and Task Status Signal Denoising for Vision Language Action Models
arXiv cs.RO (Robotics)
arXiv:2610.31569v1 Announce Type: new Abstract: Recognizing task completion and failure enables robots to stop upon success and initiate recovery or replanning after failure. Existing methods augment Vision Language Action (VLA) policies…