Robotics & Automation
Robotics & Automation news — Wednesday 28 October 2026
108 stories from 3 sources, every one in English. Each links to its publisher.
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North American robot orders climb 24.8% in Q3 of 2026, says A3
The Robot Report
While automotive OEM orders declined in the first half of 2026, they picked up in Q3. Source: A3 North American companies ordered 10,989 robots valued at $723.5 million in the third quarter of 2026, according to the latest data from the…
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What Symbotic’s Walmart growth teaches robotics startups about anchor customers
The Robot Report
Symbotic’s recent quarterly filing lists its largest customer, together with affiliates, as “Customer A,” and the annual report names that customer as Walmart. Customer A supplied 90.5% of revenue in the quarter that ended June 27, 2026…
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Warp Sciences emerges from stealth, to apply robotics to drug research
The Robot Report
Warp Sciences plans to create chemistry infrastructure for sovereign biotech. Source: deni AI, Adobe Stock Warp Sciences last week emerged from stealth with $215 million in funding to create infrastructure that enables biotech and…
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WorldOracle Tests Whether World Models Can Reliably Predict Real-World Executions
Robotics Business Review
Key Takeaways WorldOracle is a benchmark for action-conditioned world models (ACWMs) that scores each model’s predicted rollout against the paired real-world execution, with both starting from the same initial observations and following…
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Learning Side-by-Side Navigation for Personal Mobility Vehicles from Human Drivers
arXiv cs.RO (Robotics)
arXiv:2610.36726v1 Announce Type: new Abstract: This paper presents an approach to achieve side-by-side autonomous motion with a pair of personal mobility vehicles (PMVs). Given a global path, two PMVs plan cooperatively so as to hold a…
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TOPS: Reshaping Flow Source and Transport for Multi-Task Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.36694v1 Announce Type: new Abstract: Flow-based policies for language-conditioned multi-task manipulation commonly share a single $\textit{Gaussian}$ source prior and a common linear transport path across tasks. However…
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Rendering-Free Event Frame Simulation for Fast Reinforcement Learning of Autonomous Robot Navigation
arXiv cs.RO (Robotics)
arXiv:2610.37543v1 Announce Type: new Abstract: Event cameras offer low latency, high dynamic range, and milliwatt-level power consumption, making them ideal for agile robots such as tiny drones navigating through cluttered environments…
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Pushing Dexterity and Safety for In-Hand Object Pose Reaching That Works Remarkably Well
arXiv cs.RO (Robotics)
arXiv:2610.37652v1 Announce Type: new Abstract: Dexterous manipulation with multi-fingered hands is the next frontier of robotics, yet learned hand skills remain limited to simple grasps or basic repeated motions, such as rotating an…
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Mimetic Embodiment Transfer of Human-Humanoid Interaction from In-the-Wild Videos
arXiv cs.RO (Robotics)
arXiv:2610.36615v1 Announce Type: new Abstract: Enabling a humanoid to interact naturally with human partners requires preserving not only individual motions but also the spatial, semantic, and contact relationships underlying the…
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Calibrated for Which Policy? Conformal Uncertainty for Fixed World Models Under Intervention
arXiv cs.RO (Robotics)
arXiv:2610.35877v1 Announce Type: cross Abstract: Changing a deployment policy can invalidate a world model's uncertainty while leaving the physical transition mechanism and predictor unchanged. For one-step prediction, if source and…
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Integrated Design and Reproducible Feasibility Analysis of a Four-Wheel Rover with Packet-Commanded Imaging, LiDAR Ranging, and Learning-Assisted Target Recognition
arXiv cs.RO (Robotics)
arXiv:2610.36816v1 Announce Type: new Abstract: This study develops an integrated, reproducible design assessment for a four-wheel educational rover intended for the high-school remote-control division of the 2027 NASA Human Exploration…
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RPT*: Global Planning with Probabilistic Terminals for Target Search in Complex Environments
arXiv cs.RO (Robotics)
arXiv:2601.12701v2 Announce Type: replace Abstract: Routing problems such as Hamiltonian Path Problem (HPP), seek a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with…
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RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2605.09410v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while failed…
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Omni-IGN: Onboard Image-Goal Navigation for Drones with Omnidirectional Vision
arXiv cs.RO (Robotics)
arXiv:2610.36968v1 Announce Type: new Abstract: Image-goal navigation (ImageNav) requires an agent to reach a location specified by a goal image in an unknown environment. For drones, this task demands exploration, goal- directed…
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A generalist policy for muscle-driven control across individual musculoskeletal models
arXiv cs.RO (Robotics)
arXiv:2610.36535v1 Announce Type: new Abstract: Differences in musculoskeletal morphology challenge policy reuse across individual models. Here we present MyoAcross, a framework that combines individual musculoskeletal model construction…
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ExecDiffuser: Closing the Sample-to-Execution Gap in Diffusion Planning
arXiv cs.RO (Robotics)
arXiv:2610.36837v1 Announce Type: new Abstract: Generative planners are often evaluated by the trajectories they can generate, although closed-loop driving ultimately depends on the single candidate committed to control. We identify this…
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Making Self-Driving Laboratories Auditable:A Unified Framework for Hybrid Actions,Measurements, and Safe Execution
arXiv cs.RO (Robotics)
arXiv:2610.36761v1 Announce Type: new Abstract: Self-driving laboratories (SDLs) are laboratory systems that couple experimental planning, automated execution, and measurement feedback in a closed loop. Integrating flexible robot control…
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GAWM: A Compact Latent World-Action Model for Multi-Task Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.37091v1 Announce Type: new Abstract: World-action models (WAMs) incorporate the prediction of future observations into robot policy learning. However, most WAMs build on billion-parameter vision-language or video-generation…
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MCP-Net: Real-Time Coronary Perception Network and Topological Analysis for Robotic Guidewire Navigation
arXiv cs.RO (Robotics)
arXiv:2610.37127v1 Announce Type: cross Abstract: Coronary guidewire navigation during percutaneous coronary intervention requires continuous interpretation of vessel anatomy, guidewire position, and target stenosis under two-dimensional…
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Multi-robot Learning-based Informative Path Planning Using Spatio-Temporal Gaussian Process Kalman Filter
arXiv cs.RO (Robotics)
arXiv:2609.05515v2 Announce Type: replace Abstract: Multi-robot informative path planning (IPP) for persistent target monitoring requires robots to reason about spatial uncertainty, temporal evolution, and practical sensing and…
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Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
arXiv cs.RO (Robotics)
arXiv:2512.23864v5 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they…
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S3KF: Spherical State-Space Kalman Filtering for Panoramic 3D Multi-Object Tracking
arXiv cs.RO (Robotics)
arXiv:2603.27534v2 Announce Type: replace Abstract: Panoramic multi-object tracking is important for industrial safety monitoring, wide-area robotic perception, and infrastructure-light deployment in large workspaces. In these settings…
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GRAFT: Geometry-Aware Residual Adaptation for Foundation Trackers
arXiv cs.RO (Robotics)
arXiv:2610.36507v1 Announce Type: new Abstract: Humanoid behavior foundation models (BFMs) provide reusable whole-body motion priors: given a kinematic reference, they generate coordinated joint commands for motion replay, teleoperation…
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Keeping Contact: Task-Adaptive Friction Margins for Bimanual Non-Prehensile Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.36961v1 Announce Type: new Abstract: Maintaining contact in non-prehensile manipulation requires more than nominal friction cone feasibility: a force barely inside the cone and one well inside it are both feasible, but they…
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Which Hand Was Late? Diagnosis for Robot Failure Recovery in Bimanual Tool Use
arXiv cs.RO (Robotics)
arXiv:2610.37533v1 Announce Type: new Abstract: Failure diagnosers for robot manipulation are increasingly vision--language models (VLMs), trained and evaluated on single-arm failures produced by perturbing a successful demonstration…
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OpenJaws: An Open Hardware UMI Framework with Stereo Localization for Generalist Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.36598v1 Announce Type: new Abstract: Handheld data-collection interfaces such as the Universal Manipulation Interface (UMI) allow manipulation demonstrations to be gathered in the wild without a robot in the loop, but the…
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Trace-WAM: Learning to Act via 3D Motion Prediction for World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.36840v1 Announce Type: new Abstract: World Action Models (WAMs) learn representations for robot control by coupling future visual prediction with action generation. Successful manipulation depends primarily on how the robot and…
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FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation
arXiv cs.RO (Robotics)
arXiv:2606.08555v3 Announce Type: replace Abstract: Force signals provide critical interaction cues for contact-rich robotic manipulation. However, existing methods mostly use force as an additional observation modality, without fully…
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Ego-CEVR: Learning Cross-Embodiment Visual Representations from Human Egocentric Videos
arXiv cs.RO (Robotics)
arXiv:2610.37509v1 Announce Type: new Abstract: As egocentric video becomes increasingly available for embodied learning, an important research question is how to turn this low-cost, scalable source of data into robot manipulation…
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Robotic Agentic Platform for Intelligent Electric Vehicle Disassembly
arXiv cs.RO (Robotics)
arXiv:2603.18520v2 Announce Type: replace Abstract: Electric vehicles (EV) create an urgent need for scalable battery recycling, yet disassembly of EV battery packs remains largely manual due to high design variability. We present our…
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Electric-Field Induction Motor with Discrete Circuit Elements and Improved Rotor Dynamics
arXiv cs.RO (Robotics)
arXiv:2610.37452v1 Announce Type: new Abstract: Electric-field-based actuators and machines lead the design space at the nanoscale and in biological systems, while having the potential to be used in favorable macroscale applications which…
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Structure-Actuation Co-Design of All-Electric Heavy-Duty Robotic Manipulators
arXiv cs.RO (Robotics)
arXiv:2610.36996v1 Announce Type: new Abstract: This paper presents a mixed discrete-continuous multiobjective bilevel framework for the structure-actuation co-design of all-electric heavy-duty robotic manipulators. The upper level…
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Acoustic Signature Optimisation for Bioinspired Flapping-Wing Micro Aerial Vehicles
arXiv cs.RO (Robotics)
arXiv:2610.37190v1 Announce Type: new Abstract: Flapping-wing micro air vehicles are prized for quiet flight, yet the few existing measurements show engineered wings to be 15-30 dB louder than the animals they imitate. This paper…
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A Bi-level Co-design Framework for Lunar Monoped with 2D Jump and Landing Control
arXiv cs.RO (Robotics)
arXiv:2610.37199v1 Announce Type: new Abstract: Legged robots for lunar exploration must be designed for low gravity, where reduced contact forces and long flight phases make leg morphology and controller choice interdependent. We study…
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How Much Can Best-of-N Help a World Action Model? Measuring Selectable Headroom and Realizing It in Closed Loop
arXiv cs.RO (Robotics)
arXiv:2610.37196v1 Announce Type: new Abstract: World action models (WAMs) predict the visual consequences of the actions they generate, which makes test-time selection a natural way to improve a fixed policy: imagine the futures of…
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MO-Playground: Massively Parallelized Multi-Objective Reinforcement Learning for Robotics
arXiv cs.RO (Robotics)
arXiv:2603.09237v2 Announce Type: replace Abstract: Multi-objective reinforcement learning (MORL) is a powerful tool to learn Pareto-optimal policy families across conflicting objectives. However, unlike traditional RL algorithms, existing…
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Leveraging Distributed Sensing and Hyperdimensional Computing for Non-Line-of-Sight Passive Object Sensing
arXiv cs.RO (Robotics)
arXiv:2610.37519v1 Announce Type: new Abstract: In smart factory environments, passive entities such as humans and movable obstacles may interfere with autonomous robot operations, posing significant safety risks. Detecting potential…
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RoboSTD: Zero-Shot Single-to-Dual Transfer via Sagittal Mirroring for Bimanual Learning
arXiv cs.RO (Robotics)
arXiv:2610.36685v1 Announce Type: new Abstract: Bimanual robot manipulation plays an important role in real-world robotic applications, but the high cost of collecting bimanual demonstrations limits the scalable development of bimanual…
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KEPT: Conformal Keepouts Kept in Planning for Enclosed-Space Navigation in Degraded Sensing
arXiv cs.RO (Robotics)
arXiv:2610.37217v1 Announce Type: new Abstract: Autonomous vehicles in enclosed spaces such as tunnels and mines rely on range maps that smoke, dust and fog make inaccurate. Conformal prediction calibrates a keepout around the mapped walls…
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Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2606.03385v2 Announce Type: replace Abstract: In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable efficient…
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A Singularity Avoiding Track Model for Race Car Optimization
arXiv cs.RO (Robotics)
arXiv:2610.36430v1 Announce Type: new Abstract: A track fitting pipeline is presented that converts a measured racetrack point cloud into a closed, $C^4$ differentiable, three-dimensional surface model suitable for high-fidelity Modelica…
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Generalizable Target-Less Joint Intrinsic-Extrinsic Camera-LiDAR Calibration using Deep Pixel-Point Correspondences
arXiv cs.RO (Robotics)
arXiv:2610.37350v1 Announce Type: new Abstract: Accurate camera-LiDAR calibration is an essential prerequisite for robust multi-modal perception in robotics. Recent target-less methods based on learned pixel-point correspondences achieve…
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Polarity--Time Interaction and Multi-Level Reliability for Event-Based Spacecraft Pose Estimation
arXiv cs.RO (Robotics)
arXiv:2610.36625v1 Announce Type: cross Abstract: Sparse event responses produce uneven keypoint errors whose effects on spacecraft pose depend on correspondence geometry and the reliability of successive observations. We present a…
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Investigating Active Sampling for Hardness Classification with Vision-Based Tactile Sensors
arXiv cs.RO (Robotics)
arXiv:2505.13231v2 Announce Type: replace Abstract: Hardness is one of the most important object properties that humans and robots perceive through touch. This paper investigates active sampling strategies for sample-efficient hardness…
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From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation
arXiv cs.RO (Robotics)
arXiv:2606.30749v2 Announce Type: replace Abstract: Large-scale dexterous grasp datasets encode rich priors over hand-object interaction, but their use has largely been confined to grasp generation and pick-and-place manipulation. We study…
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When Black-Box Robot Policies Fail: Online Sensor Diagnosis and Repair with a Transparent Surrogate
arXiv cs.RO (Robotics)
arXiv:2610.36852v1 Announce Type: new Abstract: Robot foundation models may generalize across tasks and embodiments, but their actions still depend on sensors that can fail. When the policy is frozen or inaccessible, can an external…
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Retrieve to Act: Motion Primitive Graph Retrieval for Robust VLA Execution
arXiv cs.RO (Robotics)
arXiv:2610.37215v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies demonstrate remarkable semantic generalization, yet remain highly vulnerable to out-of-distribution (OOD) visual shifts during execution. While existing…
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World Dreamer v5-lite: A Multi-Robot World Action Model with One Dreamer
arXiv cs.RO (Robotics)
arXiv:2610.37518v1 Announce Type: new Abstract: Multi-robot control requires integrating distributed camera views while predicting separate action sequences. Most vision-language-action and world-action models target one robot. Combining…
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CARD: Contact-Anchored Retargeting for Dexterous Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.36539v1 Announce Type: new Abstract: Humans are dexterous, but traditional data collection paradigms such as teleoperation, kinesthetic teaching, and wearable exoskeletons force humans to act through the robot embodiment…
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A fully articulated humanoid dexterous hand with human-level joint structure enabled by linkage-based actuation
arXiv cs.RO (Robotics)
arXiv:2610.36789v1 Announce Type: new Abstract: Humanoid dexterous hands are a core component of embodied intelligence, enabling robots to translate high-level intent into rich and adaptive physical interaction. However, existing designs…
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RynnWorld-Latent: A Cross-Embodiment World Model Conditioned on Universal Latent Actions
arXiv cs.RO (Robotics)
arXiv:2610.36791v1 Announce Type: new Abstract: Learning controllable world dynamics from heterogeneous interaction videos is challenging because robot embodiments use incompatible action spaces, while human videos lack native control…
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Predict the Swing, Match the Speed: Robotic Pipe Stabbing With Learned Stereo Vision and Residual Reinforcement Learning
arXiv cs.RO (Robotics)
arXiv:2610.37535v1 Announce Type: new Abstract: A joint of pipe run into the hole swings from the elevator over the well and strikes a fixed stabbing guide at whatever speed the swing has. StabBot, a robotic stabbing system, predicts the…
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When, Where, and What to Correct: Human-Guided Adaptive Residual Correction for Robot Policies
arXiv cs.RO (Robotics)
arXiv:2610.37547v1 Announce Type: new Abstract: Imitation policies that reliably execute most of a manipulation trajectory can still fail in localized regions requiring last-mile precision. Updating the full policy or exploring residual…
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FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
arXiv cs.RO (Robotics)
arXiv:2606.13102v4 Announce Type: replace Abstract: Despite the success of vision-based generalist robotic policies, existing tactile-based policies remain tied to fixed embodiments and sensor setups. This is because tactile signals are…
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LOPAL: Local Performance-Aware Active Learning from Imperfect Demonstrations
arXiv cs.RO (Robotics)
arXiv:2606.16888v2 Announce Type: replace Abstract: Learning from Demonstration (LfD) enables intuitive robot skill acquisition by allowing robots to learn directly from human task demonstrations. However, current methods often fail to…
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SVIn+: Multi-Modal Framework for Robust Underwater State Estimation using 3D Sonar, Visual-Inertial, Water-Pressure, and DVL
arXiv cs.RO (Robotics)
arXiv:2610.36454v1 Announce Type: new Abstract: As expansion and scalability in underwater oper- ations becomes more important and challenging, autonomous underwater vehicles (AUVs) become more relevant and the necessity for reliable…
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On Shaky Ground: Characterising Non-Rigid Base Effects in Mobile Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.36725v1 Announce Type: new Abstract: Mobile robot manipulators extend contact-task capability beyond the workspace of fixed robot installations, but their bases must also sustain the forces generated by the task. On lightweight…
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Bridging Exploration and Loss of Plasticity in On-Policy Reinforcement Learning
arXiv cs.RO (Robotics)
arXiv:2610.36309v1 Announce Type: cross Abstract: Deep reinforcement learning (RL) algorithms have been observed to lose the ability to adaptively learn from new data, a phenomenon termed Loss of Plasticity (LoP). While many metrics have…
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SWIM: Learning What Matters from Behaviors for JEPA World Models
arXiv cs.RO (Robotics)
arXiv:2610.36662v1 Announce Type: new Abstract: Joint-embedding predictive architectures (JEPAs) enable world models to plan from images by predicting future embeddings. However, their visual prediction objectives do not explicitly…
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State estimation for a hybrid rigid-continuum space manipulator system
arXiv cs.RO (Robotics)
arXiv:2610.37043v1 Announce Type: new Abstract: Spacecraft-mounted robotic manipulators can support long-term operability of orbiting assets by conducting tasks such as on-orbit assembly, repair, upgrade, and refueling. In this context…
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TAPESTRY: A Single Backbone for Video Generation and Robot Control
arXiv cs.RO (Robotics)
arXiv:2610.36823v1 Announce Type: new Abstract: Pretrained video generation models encode rich priors about physical interactions, but leveraging them for robot control typically requires either resource-intensive video generation at test…
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Tokens of Motion: Primitive Motion Learning for Human-Humanoid Skill Transfer
arXiv cs.RO (Robotics)
arXiv:2610.37330v1 Announce Type: new Abstract: Vision-language-action (VLA) models provide a promising paradigm for scalable robotic manipulation, yet their reliance on success-only behavioral cloning leaves them brittle; lacking…
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Perceiving and Predicting Dynamic Sports: Spatiotemporal Intelligence in Vision Models for Egocentric Tennis Video
arXiv cs.RO (Robotics)
arXiv:2610.37619v1 Announce Type: cross Abstract: Agile robots require spatiotemporal intelligence to interpret scenes, reason about interactions, and anticipate future events. Yet it remains unclear how well foundation vision models…
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Gradient flow of magnetic inclination and intensity as a GPS-free guidance mechanism
arXiv cs.RO (Robotics)
arXiv:2610.36812v1 Announce Type: new Abstract: It is well established that some animals, such as sea turtles, sense the Earth's magnetic field and use it as a primary cue for long-distance navigation across the vast and featureless ocean…
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Rollback: Experience Backtracking in World Models for Policy Improvement
arXiv cs.RO (Robotics)
arXiv:2610.36068v1 Announce Type: new Abstract: Action-conditioned world models offer a scalable alternative to costly real-world interaction for improving robot policies. However, existing world-model-based methods largely treat world…
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Closed-Loop Aware Planning via Imitation-Free Speed Scoring for End-to-End Autonomous Driving
arXiv cs.RO (Robotics)
arXiv:2610.36079v1 Announce Type: new Abstract: End-to-end autonomous driving has predominantly relied on open-loop imitation learning for training, which presents two limitations. First, expert demonstrations show only one behavior per…
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Multi-Agent Reinforcement Learning of Co-Adaptive Hip Exoskeleton Control (MARL-Exo) for Metabolic Energy Reduction
arXiv cs.RO (Robotics)
arXiv:2610.37441v1 Announce Type: new Abstract: Objective: This study aims to determine whether a hip-exoskeleton policy trained in simulation, by co-adapting with a musculoskeletal human model under a metabolic-energy reward, reduces the…
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RESPLE2: Inertial-Informed Recursive Non-Uniform Spline Estimation for Multi-Sensor Odometry with Global Refinement
arXiv cs.RO (Robotics)
arXiv:2610.37602v1 Announce Type: new Abstract: We present RESPLE2, a recursive multi-sensor state estimation framework using non-uniform B-splines for 6-DoF motion representation. By exploiting the knot-clamping boundary property, we…
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Learning Quality-Controllable Robot Policies with Iterative Hindsight Relabeling
arXiv cs.RO (Robotics)
arXiv:2610.37393v1 Announce Type: new Abstract: Robot policy evaluation often relies on a binary success signal for task completion. In real-world deployment, however, desired execution behaviors are also defined by quality attributes such…
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Compatibility and future-proof testing for multi-agent systems
arXiv cs.RO (Robotics)
arXiv:2610.36289v1 Announce Type: cross Abstract: Independently developed autonomous agents, such as autonomous vehicles, must guarantee joint compatibility, such as safety and task-completion requirements, when they operate in a shared…
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E0.5: From Reconstructive to Future-Predictive 3D Foundations for Robotic World-Action Modeling
arXiv cs.RO (Robotics)
arXiv:2610.36011v1 Announce Type: new Abstract: World-action models (WAMs) offer a promising framework for embodied intelligence, yet mainstream approaches remain centered on video foundation models or vision-language models. Even when…
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VLA-Stem: A Lightweight Safety Mechanism for Vision-Language-Action Models via Reinforcement Learning
arXiv cs.RO (Robotics)
arXiv:2610.37378v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models integrate high-level reasoning with low-level action execution for end-to-end robotic control. However, most VLA models target static manipulation in…
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cuArms: GPU-Accelerated Conflict-Based Planning for Multi-Arm Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.36250v1 Announce Type: new Abstract: Multi-arm manipulation has the potential to dramatically improve the throughput, efficiency, and dexterity of many manipulation tasks. Recent work coordinates multiple robot arms in a shared…
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ASPEN: Adaptive Semantic Reasoning via Command Persistence Prediction for Efficient Navigation VLAs
arXiv cs.RO (Robotics)
arXiv:2610.36285v1 Announce Type: new Abstract: Navigation vision-language-action (VLA) policies repeatedly invoke costly semantic reasoning even when the next command remains unchanged. Command reuse can reduce computation but risks…
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Semantic-Geometric Task Representations for Bimanual Manipulation from Human Demonstrations to Robot Action Planning
arXiv cs.RO (Robotics)
arXiv:2601.11460v3 Announce Type: replace Abstract: Learning structured task representations from human demonstrations is essential for bimanual manipulation, where action ordering, object involvement, and interaction geometry vary…
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Ground Sample Distance Constrained k-Coverage Viewpoint Planning via Set Multi-Cover Formulation
arXiv cs.RO (Robotics)
arXiv:2610.36450v1 Announce Type: new Abstract: Drone-based 3D reconstruction and inspection require viewpoints that satisfy image-quality constraints while observing each surface region multiple times, which overlap-based planning…
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A Trainable CPG Framework for Quadruped Locomotion
arXiv cs.RO (Robotics)
arXiv:2610.36537v1 Announce Type: new Abstract: We present CPG-ENN, a trainable quadruped locomotion framework that combines explicit neural coordination with learned motion realization. A symmetry-based eight-neuron central pattern…
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Remember Where You Walk: Learning Spatial Memory for End-to-End Legged Robot Exploration
arXiv cs.RO (Robotics)
arXiv:2610.37203v1 Announce Type: new Abstract: Humanoids and other legged robots operating in complex environments must remember information that leaves their field of view and only becomes relevant much later. Reinforcement learning…
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SG^2SLAM: Spatial Geometry-Informed 3D Gaussian Splatting SLAM for Monocular Outdoor Navigation
arXiv cs.RO (Robotics)
arXiv:2610.36312v1 Announce Type: new Abstract: Monocular outdoor navigation requires robust camera motion estimation and a dense, navigable map, where 3D Gaussian Splatting SLAM serves this task through an explicit differentiable…
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Goal2Pixel: Grounding Goals to Pixels for Vision-Language Navigation
arXiv cs.RO (Robotics)
arXiv:2606.01621v3 Announce Type: replace-cross Abstract: Vision-language models (VLMs) have become a common foundation for vision-and-language navigation in continuous environments (VLN-CE). Yet most VLM-based methods cast navigation as…
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Kinematic Constraint-Referenced Evaluation for Articulated Object Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.37550v1 Announce Type: new Abstract: Manipulation policies are evaluated predominantly by binary task success, which cannot tell whether the commanded gesture is the one the object's kinematics admit. We introduce…
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EgoThumb: A Vision-Driven Supernumerary Robotic Thumb for Autonomous Grasp and Holding Assistance
arXiv cs.RO (Robotics)
arXiv:2610.37582v1 Announce Type: new Abstract: Supernumerary robotic fingers augment human dexterity by enabling a single hand to perform complex "hold-and-manipulate" tasks that typically require bimanual coordination. However, existing…
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Vision-Language-Action or World-Action? Just Action Models
arXiv cs.RO (Robotics)
arXiv:2610.37219v1 Announce Type: cross Abstract: The vision-language-action (VLA) and world-action model (WAM) communities debate whether control policies should inherit pretrained knowledge from vision-language models or from visual…
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CLEAR-IR: Clarity-Enhanced Active Reconstruction of Infrared Imagery
arXiv cs.RO (Robotics)
arXiv:2510.04883v3 Announce Type: replace Abstract: This paper presents CLEAR-IR (Clarity Enhanced Active Reconstruction of Infrared Imagery), a novel framework for enabling robust robotic perception in dark environments using active…
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Semantic World Models
arXiv cs.RO (Robotics)
arXiv:2510.19818v2 Announce Type: replace-cross Abstract: Planning with world models offers a powerful paradigm for robotic control. Conventional approaches train a model to predict future frames conditioned on current frames and actions…
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RAVEN: A Unified Active SLAM System for Rapid Autonomous Visual Exploration with Aerial Robots under Localization Uncertainty
arXiv cs.RO (Robotics)
arXiv:2610.37111v1 Announce Type: new Abstract: Active simultaneous localization and mapping (SLAM) addresses the problem of planning robot motion to build complete and accurate maps of unknown environments through efficient exploration…
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Quaternion Approximate Networks for Enhanced Image Classification and Oriented Object Detection
arXiv cs.RO (Robotics)
arXiv:2509.05512v2 Announce Type: replace-cross Abstract: This paper introduces Quaternion Approximate Networks (QUAN), a novel deep learning framework that leverages quaternion algebra for rotation equivariant image classification and…
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AWARE: Action-Entropy-Weighted and Attention-Guided Retrieval of Observation Evidence for Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2602.18020v3 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models combine multimodal perception with robotic control, demonstrating remarkable potential for generalizable manipulation. Yet, enhancing their…
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Camera-to-Quadruped Robot Pose Estimation from Sequential Images
arXiv cs.RO (Robotics)
arXiv:2610.36599v1 Announce Type: new Abstract: Quadruped robots are increasingly deployed in hazardous environments such as disaster response and facility inspection, where external-camera monitoring is essential for safe operation. This…
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ActiveAlign: Aligning Egocentric Manipulation via Active Perception
arXiv cs.RO (Robotics)
arXiv:2610.36859v1 Announce Type: new Abstract: Real-to-Sim-to-Real (Real2Sim2Real) enables structured world representations for planning, interpretability, and safe execution. Most existing approaches rely on passive perception, which…
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FastBEVFusion: Simple Multi-Modal Fusion for 3D Object Detection at 50 FPS
arXiv cs.RO (Robotics)
arXiv:2610.37153v1 Announce Type: cross Abstract: Reliable real-time 3D object detection based on LiDAR and camera data is critical for safety in autonomous driving, where systems must accurately perceive their surroundings with minimal…
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From 12 to 200 Demonstrations: How ACT, Diffusion Policy, SmolVLA and $\pi_{0.5}$ Scale on a Low-Cost Arm
arXiv cs.RO (Robotics)
arXiv:2610.37170v1 Announce Type: new Abstract: We trained four widely used imitation-learning policies, ACT, Diffusion Policy, SmolVLA and $\pi_{0.5}$, on nested subsets of 12, 25, 50, 100 and 200 teleoperated demonstrations of one…
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Program-Level Adversarial Co-Adaptive Self-Play for Robotic Security
arXiv cs.RO (Robotics)
arXiv:2610.36143v1 Announce Type: new Abstract: Coding agents can adapt robotic software by revising executable programs, but successful responses to an evolving opponent may not remain effective. We present a framework for program-level…
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PDRVLA: A Vision-Language-Action Model with Physical Dynamics Representations
arXiv cs.RO (Robotics)
arXiv:2610.37381v1 Announce Type: new Abstract: Vision--Language--Action (VLA) models generate robot actions from visual observations and language instructions, but their understanding of physical dynamics remains limited. Video world…
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AuRaSim: A Ray-Tracing Based Automotive FMCW Radar Simulator for Dynamic Scenarios
arXiv cs.RO (Robotics)
arXiv:2610.37403v1 Announce Type: new Abstract: Modern simulators can generate synthetic camera and LiDAR data with accurate annotations for downstream tasks. In contrast, automotive radar simulation remains less mature because it requires…
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Understanding Human-Robot Collaboration through Joint Action
arXiv cs.RO (Robotics)
arXiv:2610.37298v1 Announce Type: cross Abstract: Human-robot collaboration requires partners to coordinate interdependent contributions toward a shared goal. Joint Action theory provides concepts for understanding this coordination, but…
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From Language to Navigation Goals: A Vision-Language Approach for Semantic Navigation of Mobile Robots Using RGB-D Perception
arXiv cs.RO (Robotics)
arXiv:2607.13624v2 Announce Type: replace Abstract: Natural language interaction provides an intuitive way for non-expert users to communicate with robotic platforms. However, transforming user requests into executable navigation actions…
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REACH: An RL-based Hierarchical Humanoid Crawling Framework for Adaptable Confined Space Traversal
arXiv cs.RO (Robotics)
arXiv:2610.36546v1 Announce Type: new Abstract: Humanoid locomotion in confined spaces requires continuous height adaptation across multiple locomotion modes, yet most existing approaches remain limited to height-adjustable bipedal…
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From Biological Curves to Soft Modular Robots: Learning-Based Inverse Design with Uncertainty-Guided Refinement
arXiv cs.RO (Robotics)
arXiv:2610.36681v1 Announce Type: new Abstract: Animals exhibit diverse shape-changing behaviors, from the undulatory swimming of eels to the arching movements of inchworms. Reproducing these biological shapes with modular soft robots…
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Learning Visuomotor Quadrotor Flight Through Dynamic Narrow Gaps via Differentiable Simulation
arXiv cs.RO (Robotics)
arXiv:2610.37557v1 Announce Type: new Abstract: Threading a quadrotor through a moving narrow gap is a demanding test of agile flight, requiring centimeter-level spatial alignment and precise temporal execution. We address this challenge…
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A 2-DOF MultiBody Track Joint for Race Car Optimization
arXiv cs.RO (Robotics)
arXiv:2610.36407v1 Announce Type: new Abstract: TrackJoint is a Modelica MultiBody component that turns a three-dimensional road surface into a joint with two degrees of freedom. The two joint coordinates are the distance travelled along a…
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Whole-Body Humanoid Control via Stochastic Motion Tokenization
arXiv cs.RO (Robotics)
arXiv:2610.36452v1 Announce Type: new Abstract: While velocity-commanded RL policies are effective for controlling quadrupeds, they are a limited interface for humanoids that need to perform complex whole-body motions. Furthermore, RL…
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HC2Robot: Hyper-Connection Transformers with Predicted Foresight for Multi-Terrain Humanoid Parkour
arXiv cs.RO (Robotics)
arXiv:2610.36825v1 Announce Type: new Abstract: Humanoid parkour requires robots to reason about future footholds and whole-body motions over highly discontinuous terrain. We revisit the information asymmetry in asymmetric actor-critic…
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Learning Multi-Phase Robot Loco-Manipulation via Phase-Conditioned Policy Optimization
arXiv cs.RO (Robotics)
arXiv:2610.36270v1 Announce Type: new Abstract: Complex whole-body loco-manipulation requires executing diverse maneuvers, such as crouching, grasping, and locomotion, within a single long-horizon task. While performing simple…
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HIDRA: Hierarchical Dual-Routing Attention for Replay-Free Lifelong Imitation Learning
arXiv cs.RO (Robotics)
arXiv:2610.36374v1 Announce Type: new Abstract: Robotic agents operating in real-world environments must adapt continuously from a stream of multimodal demonstrations, often under constraints that preclude storing or revisiting past data…
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ThinkWorld: World Imagination Reinforces Chain-of-Dynamics Reasoning
arXiv cs.RO (Robotics)
arXiv:2610.37666v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have made substantial progress in robotic manipulation, but their generalization remains constrained by the diversity and coverage of action-labeled robot…
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RoboAuto: Autonomous Robot Program Search through Multi-Level Physical Understanding
arXiv cs.RO (Robotics)
arXiv:2610.36533v1 Announce Type: new Abstract: Recently, LLM-based autonomous agents have shown strong capabilities in iteratively generating, evaluating, and refining executable solutions. In robotic manipulation, Code-as-Policy lets…
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Spiking Neuromorphic Control for Periodic Orbits Stabilization in Underactuated Robots: A Greedy Lyapunov-Based Approach
arXiv cs.RO (Robotics)
arXiv:2610.37310v1 Announce Type: new Abstract: This work investigates the use of event-based spiking controllers, implemented as spiking neural networks, for trajectory tracking in underactuated robots. Specifically, we address the…