33 articles tagged #robotics
arXiv:2607.25047v1 Announce Type: cross Abstract: Extended Reality (XR) is increasingly used in human-robot interaction to communicate robot intent, planned motion, reachability, and state. We argue that XR should also be understood as a mediation layer for situated human control in human-robot team
arXiv:2607.19190v1 Announce Type: cross Abstract: Real-to-sim conversion for robotic interaction with objects remains labor-intensive because it requires more than visual reconstruction: a streamlined real2sim process must recover scene geometries and object states, infer physical parameters, and as
arXiv:2606.06491v2 Announce Type: replace-cross Abstract: Robot manipulation alternates between low-risk transit phases that call for fast execution and high-risk contact stages that demand slow, precise motion. Yet existing Vision-Language-Action models (VLAs) only inherit a single fixed speed from
arXiv:2607.15065v1 Announce Type: cross Abstract: Predictive world models enable robots to plan by imagining the outcomes of their actions, but their value for control hinges on generating many rollouts quickly. This creates a bottleneck for diffusion-based world models: multistep sampling makes eac
arXiv:2607.13624v1 Announce Type: cross 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 remains a challenging task, requiring the integration of languag
arXiv:2607.13479v1 Announce Type: cross Abstract: Estimating the full shape of a deformable object is especially challenging when vision is unavailable: in the dark, inside an opaque bag, behind the manipulating hand, or under heavy self-occlusion. Touch is the natural sensor in these settings, but
arXiv:2607.13553v1 Announce Type: cross Abstract: Autonomous robotic navigation in nonstationary time-varying fluid flows remains a fundamental challenge due to partial observability and the unpredictability of realistic environments. While classical optimal control frameworks employed in robotics r
arXiv:2607.07775v1 Announce Type: new Abstract: The human body is at the center of a growing family of technologies designed to tightly and persistently couple biological and digital systems. Robotic prostheses are a representative example of this tight coupling. Also referred to as bionic limbs, ro
arXiv:2510.18999v3 Announce Type: replace-cross Abstract: Reconstructing signed distance functions (SDFs) from point cloud data benefits many robot autonomy capabilities, including localization, mapping, motion planning, and control. Methods that support online and large-scale SDF reconstruction oft
arXiv:2607.08436v1 Announce Type: cross Abstract: Egocentric human data offers scalable supervision for robot manipulation. However, behavior cloning entangles transferable content like objects, scenes, and task semantics, with non-transferable factors like human morphology, head motion, and behavio
arXiv:2607.00272v1 Announce Type: cross Abstract: Traditional robot programming is challenging: it requires orchestrating multimodal perception, managing physical contact dynamics, and handling diverse configurations and execution failures. We introduce ASPIRE (Agentic Skill Programming through Iter
arXiv:2606.31320v1 Announce Type: new Abstract: Safe online reinforcement learning requires policies to respect safety constraints while maintaining smooth optimization dynamics. Existing approaches typically rely on either strict safety enforcement via action interventions, which introduce disconti
arXiv:2606.29898v1 Announce Type: cross Abstract: Real-world evaluation is the gold standard for robot policies because it tests them against the physical conditions and deployment challenges they are ultimately designed to handle. However, real-world evaluation is also the bottleneck for iterating
arXiv:2605.03065v4 Announce Type: replace Abstract: Generative control policies (GCPs), such as diffusion- and flow-based control policies, have emerged as effective parameterizations for robot learning. This work introduces Off-policy Generative Policy Optimization (OGPO), a sample-efficient algori
arXiv:2606.17054v1 Announce Type: cross Abstract: Humans can grasp objects effortlessly, whereas multi-fingered robots are far from this level of generality. We argue that the most natural source of robot grasping data is from humans, who pick up thousands of objects every day. We present HUG, a flo
arXiv:2606.19920v1 Announce Type: cross Abstract: Distributed optimization is a highly scalable and structurally transparent technique to solve multi-agent robotics problems; however, such methods often suffer from the need for highly-specialized, problem-specific hyperparameter tunings. In this wor
arXiv:2606.18363v1 Announce Type: cross Abstract: Language models trained on large-scale vision-language data have demonstrated strong potential for embodied agents. Harnessing models through embodied tools use offers a promising alternative to end-to-end vision-language-action systems by combining
arXiv:2606.15514v1 Announce Type: cross Abstract: Robotic systems perceive the world through multiple input modalities -- including visual camera streams and natural language instructions -- and must select appropriate actions based on these signals. However, assuming the permanent availability of a
arXiv:2606.10208v1 Announce Type: cross Abstract: Demand for older-adult and patient care is growing rapidly as populations age worldwide. Foundation models are increasingly being integrated into robots and interactive agents, with the promise of more flexible communication and personalized assistan
arXiv:2606.06245v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) policies remain brittle in long-horizon and high-uncertainty control, where one-pass action decoding provides limited inference-time deliberation. Explicit chain-of-thought can increase reasoning depth, but introduces tok
arXiv:2605.29254v1 Announce Type: cross Abstract: Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic actuation capa
arXiv:2511.04758v2 Announce Type: replace-cross Abstract: Bimanual and humanoid robots are appealing because of their human-like ability to leverage multiple arms to efficiently complete tasks. However, controlling multiple arms at once is computationally challenging due to the growth in the hybrid
arXiv:2307.06240v2 Announce Type: replace-cross Abstract: The Drone Swarm Search project is an environment, based on \textsc{PettingZoo}, that is to be used in conjunction with multi-agent (or single-agent) reinforcement learning algorithms. It is an environment in which the agents (drones), have to
arXiv:2605.15153v1 Announce Type: cross Abstract: We present Pelican-Unified 1.0, the first embodied foundation model trained according to the principle of unification. Pelican-Unified 1.0 uses a single VLM as a unified understanding module, mapping scenes, instructions, visual contexts, and action
arXiv:2601.18569v2 Announce Type: replace-cross Abstract: In this letter, we propose an Attention-Based Neural-Augmented Kalman Filter (AttenNKF) for state estimation in legged robots. Foot slip is a major source of estimation error: when slip occurs, kinematic measurements violate the no-slip assum
arXiv:2605.00078v1 Announce Type: cross Abstract: Visual-Language-Action models (VLAs) have advanced generalist robot control by mapping multimodal observations and language instructions directly to actions, but sparse action supervision often encourages shortcut mappings rather than representations
arXiv:2504.14602v2 Announce Type: replace-cross Abstract: The natural interaction and control performance of lower limb rehabilitation robots are closely linked to biomechanical information from various human locomotion activities. Multidimensional human motion data significantly deepen the understa
arXiv:2604.25897v1 Announce Type: cross Abstract: Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse contact realizations. Risk-sensitive POMDPs address
Tesla's planned capex for 2026 is three times higher than what the company has historically spent. Its CFO said, as a result, Tesla will have a negative free cash flow the rest of the year.
Humans have been building ping-pong playing robots for decades, such as Omron's FORPHEUS that challenged amateur competitors at CES 2017. What sets Ace apart from the rest is that the robot, which was developed by Sony's AI division, is the first that can hold its own against top-ranked human player
arXiv:2604.18463v1 Announce Type: cross Abstract: Large language models are increasingly used as planners for robotic systems, yet how safely they plan remains an open question. To evaluate safe planning systematically, we introduce DESPITE, a benchmark of 12,279 tasks spanning physical and normativ
arXiv:2604.09303v1 Announce Type: cross Abstract: This paper presents an online intention prediction framework for estimating the goal state of autonomous systems in real time, even when intention is time-varying, and system dynamics or objectives include unknown parameters. The problem is formulate
arXiv:2604.04374v1 Announce Type: cross Abstract: The rapid advancement of robotics, spanning expanded capabilities, more intuitive interaction, and more integration into real-world workflows, is reshaping what it means for humans and robots to coexist. Beyond sharing physical space, this coexistenc