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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 propose a theoretically grounded mechanism for exact control-point prediction directly informed by inertial kinematics along the trajectory, with knot placement adapted to motion and measurement availability. Within an iterated extended Kalman filter, we perform this prediction using a subset of inertial measurements. A subsequent reset step preserves trajectory consistency as the knots extend. The update …

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. However, existing simulators generally render photorealistic images before converting them into events, making large-scale reinforcement learning prohibitively slow. We propose an analytic event simulator that exploits what event cameras fundamentally measure - moving contrast edges - to synthesize event streams directly from scene geometry and ego-motion without visual rendering. Our simulator generates a …

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 generators. The debate, however, bundles three separable choices: backbone initialization, the objective applied to future observations, and whether the machinery for that future loss is kept at inference. A gap between a VLA and a WAM therefore cannot simply be attributed to any one of them. We show that decoupling these choices yields a common framework for both families, which we term Just Action Model …

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 backbones, which incur high training cost and inference latency. In this letter, we present GAWM (Geometry-Aware World Model), a compact multi-task WAM that predicts future observations in the latent space of a frozen DINOv3 encoder. GAWM compresses the features of each camera view into a small set of tokens. A lightweight predictor, conditioned on the task rather than on actions, forecasts these tokens at …

Learning controllable world dynamics from heterogeneous interaction videos is challenging because robot embodiments use incompatible action spaces, while human videos lack native control labels. We present RynnWorld-Latent, a cross-embodiment video world model that uses the 3D-grounded latent actions introduced by RynnLAM as a shared conditioning interface. This representation enables joint pretraining on human interaction videos, robot demonstrations, and simulation rollouts without requiring a common native action space. Built on a pretrained video transformer, RynnWorld-Latent combines …

Low-cost arms such as the SO-101 have become the most common entry point to robot learning, yet no released policy performs spatially constrained, language-conditioned tasks on them out of the box, and existing SO-101 benchmarks run only on physical hardware with simple tasks and few held-out objects. We introduce SO-101 Bench, a simulated benchmark for language-conditioned spatial manipulation built on an Isaac Lab digital twin of a real SO-101 setup. It has four tasks scored as five families, 138 objects in seen, unseen-instance and unseen-class splits, 916 evaluation episodes with subsets …

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. In this replay-free, single-pass lifelong imitation learning setting, sequential updates can progressively distort the representation space, making expert-based approaches particularly sensitive to routing interference, causing expert selection to degrade over time. We propose HIDRA, a structured routing framework that mitigates this issue through a hierarchical dual-attention mechanism, which decouples …

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 target laws share the conditional mechanism $P(Y|X)=Q(Y|X)$, then the intervention is identified by the pre-outcome change of measure $w(X)=dQ_X/dP_X$. For policy-controlled dynamics this ratio factors into state-occupancy and action-propensity terms. Weighted conformal calibration transports marginal coverage to the target law; with an estimated ratio $\hat w$, $P_Q\{Y \in C_{\hat w}(X)\} \ge 1-\alpha-TV(Q,\hat …

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 demonstrations. Human videos provide much broader behavioral and environmental experience, while learning from them faces a fundamental trade-off between scalable data and explicit action grounding. We introduce ThinkWorld, a VLA learning framework that grounds action reasoning in world dynamics and strengthens it through reinforcement learning with world imagination. ThinkWorld represents each action …

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 object. As robots attempt more demanding in-hand maneuvers, safety, such as not dropping the object, becomes critical, yet it is rarely measured. We study in-hand object pose reaching, a task that demands diverse and difficult grasps: moving an object to almost any position and orientation within reach of the fingers, at any wrist orientation, through long sequences of consecutive goals. We present a recipe …

Agile robots require spatiotemporal intelligence to interpret scenes, reason about interactions, and anticipate future events. Yet it remains unclear how well foundation vision models support these capabilities, particularly from a moving egocentric camera, which is a natural view for robots. To investigate this, we collect an annotated tennis dataset and train a suite of vision models on spatiotemporal tasks. Our dataset contains egocentric video synchronized with five allocentric videos, estimated global positions, labeled contact times, and annotated stroke types. We then evaluate seven …

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 devices are often hindered by bulky hardware that limits interaction to large objects and rely on explicit hand motion triggers that lack environmental context. To address these challenges, we present EgoThumb, a fully open-source, vision-driven supernumerary robotic thumb. EgoThumb features a compact, dual tendon-driven finger whose actuation is relocated to the forearm, reducing distal weight while …

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 using a control policy that operates directly on onboard visual and inertial measurements to output collective thrust and body-rate commands. The task is difficult because success lies on a thin feasible manifold: small errors in timing, position, attitude, or visual observability cause collision. Prior planning and learning methods rely on privileged state, teachers, planners, or distillation; learning …

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 Constraint-Referenced Strategy (CRS), which projects the commanded end-effector twist onto the object's joint axis, separating progress along the joint from off-constraint waste. CRS requires a joint model and a joint-following scripted controller derived from it, but no recorded demonstration or learned judge. On 74 simulated articulated objects, success registers three transfer failures as lower rates but attributes …

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 actions everywhere treats this local failure as a global learning problem. We introduce Adaptive Residual Correction (ARC), a lightweight post-training module that uses reinforcement learning (RL) to learn a residual correction on top of a frozen policy while using sparse human corrections to structure autonomous exploration. Rather than treating human corrections as imitation targets, ARC uses …

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 swing and meets the pipe at its own speed. A pendulum Kalman filter tuned from the pipe tally tracks the joint in stereo images. A six-axis arm with an open V-shaped roller head closes in at matched velocity, confirms the last millimetres by touch, aims the pin over the box when the elevator hangs off centre, and follows the block down with lateral compliance. A ResNet-18 keypoint network locates the pipe, …

Failure diagnosers for robot manipulation are increasingly vision--language models (VLMs), trained and evaluated on single-arm failures produced by perturbing a successful demonstration. Bimanual tool use adds failures of other kinds: a tool that slips out of its socket while still held, two correct gestures made at different times, and attempts that fail for two reasons at once. On a simulated bimanual tool-use task whose failure causes are read from the recorded trace, we measure what each sensing channel lets a diagnoser tell. The tool's slip is read on the tool hand; which hand was late …

In smart factory environments, passive entities such as humans and movable obstacles may interfere with autonomous robot operations, posing significant safety risks. Detecting potential conflicts between robots and entities outside their field-of-view (FoV) is therefore of paramount importance. However, conventional passive object detection systems rely on sensors such as LiDAR, radar, or cameras, which operate under direct line-of-sight (LoS) and are limited by obstacles and occlusions. To overcome these limitations, integrated sensing and communication (ISAC) enables environmental …

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 multiple views alone does not establish spatial correspondence between them. World Dreamer v5-lite is a multi-robot world-action model built around a shared world state for robot-specific action prediction. Calibrated features from a pretrained video encoder populate this state in workspace coordinates; its spatial size remains fixed as views are added. A vision-language model provides scene context and …

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 capabilities. Egocentric videos naturally provide rich context for high-level task understanding, while real-robot demonstrations with wrist observations and action annotations provide supervision for fine-grained action alignment. We present Ego-CEVR, a data-native framework for hierarchical visual representation learning that assigns distinct learning objectives to global and interaction representations. The …

Medium altitude, long endurance unmanned aerial systems such as Shahed-type strike drones are an unanswered threat in modern conflicts. Conventional air defense systems are too expensive to provide a feasible large-scale solution. Quadcopter interceptors are a cheap, battle-proven alternative, but their extremely limited flight time restricts them to low altitude targets at short range, whereas fixed-wing platforms have the endurance to reach higher altitude targets from longer distances. However, such interceptors are still operated manually. Recent developments in learning-based controllers …

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 prioritize minimal mass, performance in a vacuum, or performance in high temperatures. Electric-field induction motors consist of a set of stator electrodes which induce opposite charges onto a movable rotor surface. In earlier work, rotor surfaces for electric-field induction motors have been made of single continuum materials, which are limited in possible resistivity, permittivity and circuitry …

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 metabolic cost of walking in new users without per-user tuning, and how mechanical-power shaping affects the learned assistance. Methods: We developed MARL-Exo, a multi-agent reinforcement learning framework in which a full-body human model (304 muscle actuators; randomized anatomy, gait, and speed) and a bilateral hip-exoskeleton policy are trained concurrently in two stages. The exoskeleton observes …

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 not only a 3D engine to model dynamic objects in the scenes but also electromagnetic material properties, antenna configurations, wave propagation mechanisms, and coherent signal synthesis. Existing frameworks are either proprietary or overly simplified, limiting the scalability of radar raw measurements. This paper presents AuRaSim, a ray-tracing-based automotive frequency-modulated continuous wave …

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 as execution speed and motion smoothness, which need to be dynamically controlled according to task requirements. To address this, we introduce Quality-Controllable Policy (QCP), a robot policy that enables inference-time control over both individual quality attributes and their combinations. To extend the controllable quality range beyond initial demonstrations, we further propose an iterative hindsight …

Vision--Language--Action (VLA) models generate robot actions from visual observations and language instructions, but their understanding of physical dynamics remains limited. Video world models can capture scene dynamics, yet generating future videos introduces high latency into the control loop. We introduce PDRVLA, whose lightweight Physical Dynamics Module extracts physical tokens from vision--language features to condition action generation without online video generation. The module learns through direct prediction of future RGB, depth, and optical-flow features, with auxiliary …

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 unconstrained environments, overlooking spatial constraints and dynamic obstacles. Fine-tuning VLAs on obstacle-avoidance data is a straightforward solution, but collecting such data is costly, especially for dynamic scenarios, and may degrade their original task capabilities. To address these limitations, we propose VLA-Stem, a lightweight, reinforcement-learning-based safety mechanism for VLA systems. …

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 high extrinsic calibration accuracy and generalize across environments. However, they operate on rectified images with known camera intrinsics, restricting their applicability to systems whose cameras have already been individually calibrated. We present a fully automatic, target-less framework that jointly estimates camera intrinsics, radial-tangential distortion, and camera-LiDAR extrinsics from raw …

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 corrective training signals, minor execution errors rapidly compound into unrecoverable, out-of-distribution failures. To address this limitation, we propose Adaptive Failure-Informed Learning (AFIL), an end-to-end framework that leverages failure trajectories as adaptive negative guidance for diffusion- and flow-based VLA policies. AFIL uses a pretrained VLA to generate failure rollouts online, avoiding the need …

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 problem of stabilizing a prescribed periodic orbit. It is well known that, by applying the method of transverse linearization to the robot dynamics in a neighborhood of a periodic trajectory, the dynamics can be approximately described by a linear time-varying system with periodic coefficients (a periodic LTV system). The problem of orbital stabilization can therefore be reduced to stabilizing the trivial …

Human-robot collaboration requires partners to coordinate interdependent contributions toward a shared goal. Joint Action theory provides concepts for understanding this coordination, but how these concepts are instantiated and combined across empirical research remains fragmented. We conducted a systematic review following PRISMA 2020, identifying 83 empirical papers published between 2021 and 2026. Through theory-driven framework analysis, we organized the literature into nine constructs across three capacities: Representation, Prediction, and Integration. We analyze how these constructs …

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 that covers the true unsafe set at a chosen probability. Typically an unmodified planner treats the keepout as an inflated obstacle, and nothing ensures that the vehicle can stop before the keepout as it moves when sensing degrades. In narrow passages this margin and the planner's buffer close the route, and existing remedies recover reach by relaxing the coverage level. This paper conditions the …

Vision-Language-Action (VLA) policies demonstrate remarkable semantic generalization, yet remain highly vulnerable to out-of-distribution (OOD) visual shifts during execution. While existing test-time methods attempt to suppress spurious visual cues, they fundamentally overlook the rich, uncorrupted kinematic priors embedded in the policy's own training experience. We introduce Retrieve to Act (R2A), a test-time scaling framework that formulates OOD robustness purely as a geometric motion primitive retrieval problem. R2A bypasses fragile visual features by structuring successful training …

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 policies address this using memory networks such as LSTMs that are trained end-to-end with the policy to memorize such task-relevant aspects. Yet, such architectures often fail to preserve sufficient information over long horizons. In this work, we propose a network architecture based on Hadamard memory that specifically targets robot navigation. Our Local Spatial Matrix Memory (LSMM) enables RL agents to …

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 this for a planar monoped in lunar gravity ($1.625$ m/s$^2$) using a bi-level co-design framework: a differential evolution outer loop searches over link lengths, and each candidate is evaluated on a vertical jump by either a quadratic program based task-space controller (QP-TSC) or a direct-collocation based trajectory optimization. The two controllers yield different optimal link lengths, and trajectory …

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 candidate actions and execute the best one. The benefit of selection is bounded by the selectable headroom, how much better the best candidate truly is, but the standard estimate, which executes each candidate once and keeps the best outcome, conflates candidate quality with the randomness of everything that follows. We introduce a denoised counterfactual protocol, based on bitwise-reproducible branching, …

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 investigates two passive geometric approaches to reduce the acoustic signature of a flapping membrane wing, and applies these to an exemplary wing. A significant sound source in flapping wings is the impulsive click radiated at stroke reversal, when a slack membrane snaps between two curvatures. Our first noise-reduction approach optimises the wing's venation layout, based on an analytical model of the reversal …

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 pick-and-place task with distractor objects, using one fixed training recipe per policy. Every trained model was then run on a physical SO-101 arm on a fixed set of object placements: 1,340 scored episodes in 126 blocks. ACT, trained from scratch, rose from 1 success in 40 episodes at 12 demonstrations to 37 in 40 at 100. $\pi_{0.5}$ with its action expert fine-tuned was the best policy when data was scarce (16 …

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 latency. Many state-of-the-art systems achieve high-quality detection results but fail to meet real-time constraints, limiting their practical use. To address this challenge, we propose FastBEVFusion, a simple, fast, and robust fusion system for 3D object detection. Based on modality-specific features, FastBEVFusion projects these features into semi-aligned modality-specific BEV spaces, without relying on a …

Coronary guidewire navigation during percutaneous coronary intervention requires continuous interpretation of vessel anatomy, guidewire position, and target stenosis under two-dimensional X-ray fluoroscopy. While existing approaches commonly address vessel segmentation or device localization as separate tasks, a robotic system requires a more structured perception of the coronary scene to support downstream navigation. In this work, we present a simulation-driven framework centered on a Multi-Task Coronary Perception Network (MCP-Net) for robotic guidewire navigation, integrating coronary …

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 while maintaining high localization accuracy. This raises a dilemma between exploring unknown spaces to expand coverage and exploiting visited regions to perform active loop closures. Despite numerous prior works on ground robots, aerial robots with high agility and constrained sensor suites face more significant localization drift and thereby demand dedicated active SLAM planning. Moreover, a unified …

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, the integration of continuum/soft robotic mechanisms into space manipulator designs promises to reduce stowage volume and mass, as well as to improve operational safety through the inherent mechanical compliance of soft structures. This work presents a novel state reconstruction pipeline for a hybrid soft-rigid space manipulator, in which the distal link is a tendon-driven continuum robot. The estimation …

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 optimizes manipulator geometry and actuation topology, while joint-specific lower-level searches construct feasible archives of discrete motor, gearbox, and screw configurations. A system-level coordinator selects actuator packages according to hardware mass, co-design cost, and loss-aware supply energy, and the resulting actuator masses are fed back to the robot model until a mass-consistent fixed point is …

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 navigation, and collision avoidance under limited onboard computing resources. Existing aerial ImageNav methods are built on single-view observations, requiring additional rotation and exploration to search for goal-relevant cues outside the field of view. In this paper, we present Omni-IGN, a fully onboard ImageNav system that integrates quad-fisheye perception, an attention-based reinforcement learning (RL) …

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 provide different margins against slip and contact loss. This paper uses signed friction distance to measure friction margin in force space and derives a task-adaptive margin from the force correction needed to balance pivot moment deviations in bimanual tilting. The resulting contact margins are embedded in a sequence of second-order cone programs (SOCPs), each giving a globally optimal contact force …

Real-to-Sim-to-Real (Real2Sim2Real) enables structured world representations for planning, interpretability, and safe execution. Most existing approaches rely on passive perception, which creates real2sim gaps due to imperfect observation. Inspired by how humans perceive actively through actions, we propose ActiveAlign, a framework that leverages active perception to align the Real2Sim2Real gap from interactions. ActiveAlign introduces two complementary modules: (i) ActiveAlign-Waving, which performs hand-eye calibration by exploiting active hand motions and differentiable rendering, and (ii) …

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 monitor diagnose and repair corrupted inputs without access to its internals? We test a structured surrogate that separates periodic gait from sensor-dependent corrections to guide input repair around a frozen locomotion policy. On simulated Go2, offline diagnosis raises walking success from 259/640 to 429/640 episodes; online repair reaches 382/640, with no triggers in 64 held-out fault-free episodes. A …

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 task-relevant objects evolve, whereas future-video prediction must also reconstruct the appearance and background of the entire scene. We therefore propose Trace-WAM, which augments video-action learning with future 3D motion prediction as an auxiliary objective. This objective supervises temporal point correspondence together with image-plane displacement and depth change, directly describing the …

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 mismatch as the sample-to-execution gap and show that improving proposal quality alone can worsen the executed decision. Here, we introduce ExecDiffuser, a recurrent proposal-to-execution framework that couples candidate generation, trajectory selection, and subsequent replanning through shared execution semantics. Intent-Guided Diffusion Proposal (IGD) assigns hypothesis responsibility and shapes …

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 learning for perceptive humanoid locomotion: the critic exploits privileged simulator signals during training, whereas the deployable actor operates solely from onboard perception. We argue that the key is not exposing privileged information to the actor, but learning a deployable approximation of it to narrow the information gap between training and deployment. We present HC2Robot, a deployable perceptive …

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 time or action heads trained from scratch that do not fully utilize the pretrained backbone. We introduce Tokenizing Actions as Video Patches in a Shared Transformer Policy (TAPESTRY), a world action model that repurposes a pretrained video diffusion transformer into a robotic policy without requiring video generation at inference. Our key idea is to treat robot actions as single-patch tokens in the video …

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 Rover Challenge. The architecture combines commercial differential drive control, independently sprung wheel carriers, separate drive and task batteries, and a Raspberry Pi-based subsystem that executes received imaging and ranging commands. The analysis reconciles component lists with dimensioned computer-aided design views, derives mobility and electrical constraints, and connects sensor geometry to …

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. This remarkable ability has inspired the development of bio-inspired magnetic navigation (BIMN), which seeks to mimic these animals to develop robust and frugal navigation methods. BIMN exploits the Earth's magnetic field, sometimes described as ''Nature's GPS'', as a natural navigation infrastructure, providing a potential alternative to vulnerable satellite navigation systems. However, unlike …

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 remain constrained by a persistent trade-off among anthropomorphic kinematic complexity, mechanical robustness, load capacity and control simplicity, limiting dexterous manipulation in unstructured environments. Here we present Torch-Hand, a fully articulated humanoid dexterous hand that replicates the joint structure and motion hierarchy of the human hand with 21 degrees of freedom (DOF), comprising a …

We fine-tuned a separate $\pi_{0.5}$ policy for each of the five tasks in the MetaFine Open Competition, with a task-specific training mixture and number of actions executed per prediction. Training started from the official demonstrations and expert procedures. Local evaluation exposed recurring grasping, pushing, and insertion failures. We addressed them by revising the demonstrated motions and by adding expert continuations from states the policy reached, while keeping nominal demonstrations in training. Checkpoints were compared on every instruction, so that a gain on one instruction …

Self-driving laboratories (SDLs) are laboratory systems that couple experimental planning, automated execution, and measurement feedback in a closed loop. Integrating flexible robot control with the typed application programming interfaces (APIs) and continuous measurements exposed by laboratory instruments remains an execution-interface challenge. To address this challenge, we propose a traceable framework comprising four components: LAM (Lab Action Model), OpenSDL, Safe-SDL, and L3-Bench. LAM is a proposed measurement-conditioned policy architecture that extends vision-language-action …

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 social formation that lets the passengers hold a conversation, while keeping the ride safe and smooth. Each vehicle runs its own sampling-based model-predictive planner; the planners exchange nothing but the odometry each vehicle could observe of the other, and the joint decision is expressed as a pair of utility matrices over pairs of candidate trajectories, resolved by a common rule. The behavioural …

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 platforms, base motion and support compliance can change the force and motion realised at the workpiece. How these non-rigid base effects manifest during sustained contact remains insufficiently characterised. This paper investigates non-rigid base effects in mobile robot manipulators through a sanding case study combining exploratory simulation with experiments on two lightweight, unactuated wheeled …

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, reliably executing multiple tasks with distinct motion requirements remains challenging for a shared policy. We introduce $\textbf{TOPS}$ ($\textbf{T}$ask-$\textbf{O}$riented $\textbf{P}$riors and $\textbf{S}$chedules), which adapts the flow source prior and interpolation schedule to each task without modifying the network architecture. TOPS first constructs multimodal task sources from reverse-mapped expert …

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 policy learning. Meanwhile, existing single-arm manipulation data are difficult to directly transfer to bimanual systems due to the Single-to-Dual gap in action spaces, coordination requirements, and arm-side spatial preference. To address this issue, we propose RoboSTD, a zero-shot Single-to-Dual data construction method for bimanual robot learning. RoboSTD first applies sagittal-plane mirroring to …

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 offers a promising approach to developing versatile bioinspired robotic systems. However, translating a desired shape into a feasible robotic configuration remains challenging. Existing cable-driven modular soft robots rely on computationally expensive physics-based modeling and combinatorial search for inverse design, making it difficult to efficiently reproduce diverse target shapes. To address this …

Joint-embedding predictive architectures (JEPAs) enable world models to plan from images by predicting future embeddings. However, their visual prediction objectives do not explicitly incorporate task-relevant state information, so the physical state that determines task progress may not be reliably captured in the latent space. Supervising world models with simulator state can make planning more informative, but it requires deciding which state features matter. Features are typically selected by hand or weighted uniformly, and a uniform weighting gives every standardized state feature equal …

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 reliability-aware framework connecting polarity--time localization, geometric recovery, event--CAD refinement, and trajectory optimization. A three-branch representation combines positive events, negative events, and recent-event timing through cross-branch attention and gating, followed by spatiotemporal aggregation. An ordered semantic-point head estimates relative correspondence precision for geometrically …

World Action Models (WAMs) leverage pretrained video generative models for robotic control by jointly predicting future visual observations and actions. The visual prediction objective plays a key role in adapting pretrained video representations to the target robot domain. Yet standard visual prediction inherited from video pretraining treats all visual regions uniformly, despite their differing relevance to robotic control. We therefore investigate the spatial allocation of visual supervision in WAMs and show that focusing supervision on dynamic regions can substantially improve policy …

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 interaction (i.e., hugging, dancing, hand-shaking, etc.). Furthermore, a practical solution should generalize across various humanoid embodiments with distinct morphologies and kinematic constraints. To tackle this challenge, we propose HumiTransfer, a mimetic embodiment transfer framework that converts in-the-wild human-human interaction videos into physically plausible human-humanoid interactions. HumiTransfer …

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 setting is challenging because quadrupeds are articulated systems with time-varying leg joints, leg symmetry, and frequent self-occlusions, which make keypoint correspondence ambiguous. Moreover, no public benchmark exists, making quantitative comparison difficult. To address these challenges, we propose QuadPose, which estimates the full-body 18-DoF pose (6-DoF base pose + 12-DoF joint angles) from …

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 quality of the resulting action labels is bounded by the accuracy of vision-based localization. Existing systems recover end-effector pose from monocular visual-inertial odometry, which is subject to scale ambiguity and drift, or delegate tracking to closed-source modules and external infrastructure that reintroduce cost and setup burden. We present OpenJaws, a fully open hardware and software framework for …

Humanoid locomotion in confined spaces requires continuous height adaptation across multiple locomotion modes, yet most existing approaches remain limited to height-adjustable bipedal walking. We present REACH, an RL-based hierarchical framework that enables a Unitree G1 humanoid to traverse height-constrained environments through variable-height bipedal walking and crawling. The learned policies regulate body height over complementary command ranges of 1.27--0.50m in bipedal locomotion and 0.50--0.20m in crawling, extending traversal beyond the clearance limits of crouched walking. To …

Humans are dexterous, but traditional data collection paradigms such as teleoperation, kinesthetic teaching, and wearable exoskeletons force humans to act through the robot embodiment, bottlenecking their dexterity. Retargeting can avoid this. However, existing methods purely translate kinematics and ignore the real-world contact dynamics essential for task success. We present CARD: Contact-Anchored Retargeting for Dexterous Manipulation, a simulator and object-free framework that retargets human demonstrations to robot actions by explicitly preserving contact force targets. CARD unifies …

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 generator (CPG) supplies gait rhythms, while a pretrained, leg-shared execution neural network (ENN) maps rhythmic signals and trajectory parameters to joint-angle references without online inverse kinematics. A single feedback policy modulates six physically interpretable trajectory variables. The controller tracks planar velocity and yaw-rate commands across walk, trot, pace, bound, and pronk without …

Differences in musculoskeletal morphology challenge policy reuse across individual models. Here we present MyoAcross, a framework that combines individual musculoskeletal model construction, morphology-conditioned policy learning and virtual model augmentation to enable muscle-driven reference-motion tracking without individual fine-tuning. Across 31 held-out individual models, MyoAcross achieves 99.24% completion and reduces tracking error by 22.60% relative to an unconditioned multilayer perceptron. Policy reuse extends to models of 22 held-out individuals constructed from single-image …

Recently, LLM-based autonomous agents have shown strong capabilities in iteratively generating, evaluating, and refining executable solutions. In robotic manipulation, Code-as-Policy lets these agents search over modular and editable robot programs. However, effective program search requires physical understanding: agents must understand how objects can be manipulated, how scene geometry constrains actions, and why interactions succeed or fail. Existing methods rely mainly on execution feedback for program refinement, often leaving these physical questions unresolved. We introduce RoboAuto, a …

Humanoid behavior foundation models (BFMs) provide reusable whole-body motion priors: given a kinematic reference, they generate coordinated joint commands for motion replay, teleoperation, and VLA control. However, trained primarily on flat-ground motion, BFMs lack an explicit mechanism to adapt foot placement, swing clearance, and contact timing to local terrain. Many terrain-aware BFM approaches address this limitation by retraining or fine-tuning the tracker together with perception, incurring substantial data and computation costs while coupling ordinary tracking to the perception …

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 autonomy more critical. A fundamental challenge in any autonomous underwater operation, from control to safe navigation and mapping, is state estimation; a notorious hard problem to address, especially in low visibility conditions. In this paper, we tackle this problem, by presenting SVIn+, a multi-sensor framework for robust state estimation of AUVs equipped with an IMU, cameras, a water-pressure sensor, a …

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 tracking policies for whole-body motions typically have limited information about the desired future motion, preventing them from performing controlled deviations to achieve long-term task success; such information is particularly relevant when a controller must prepare for transitions between behaviors. We address these challenges using concise motion representations that can be generated by a high-level …

Drone-based 3D reconstruction and inspection require viewpoints that satisfy image-quality constraints while observing each surface region multiple times, which overlap-based planning heuristics do not guarantee. We study ground sample distance (GSD)-constrained $k$-coverage viewpoint selection for structures represented by surface voxels. Candidate viewpoints are generated along outward surface directions, screened with distance, viewing-angle, field-of-view, and occlusion tests, and augmented for voxels with insufficient visibility. Selection is then posed as set multi-cover with per-voxel …

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 race-car optimization. The surface is a Monge patch, parametrised by a curvilinear arc-length coordinate measured along the minimum-curvature line (MCL) and a signed lateral offset, with a height polynomial of user-selectable degree capturing the cross-sectional elevation profile. The choice of MCL as the reference line is deliberate since anchoring the same surface on the geometric centre-line can cause …

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 reference line and the sideways offset from that line. Together they give the position, orientation and angular velocity of a single frame_b connector. All road geometry reaches the joint as a small set of periodic piecewise-quintic splines, so one component can represent any circuit whose splines have been fitted beforehand. The road constraint is closed with d'Alembert's principle. The two generalized …

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 parameterization and closed-form projection. However, typically, the geometry is recovered by associating 2D pixels with 3D points, so a modular SLAM system absorbs tracking error into the map, leading to cascading degradation. To address these gaps, we present SG^2SLAM, which couples streaming spatial geometry with a ray-conditioned 3DGS kernel. Streaming spatial geometry replaces the per- frame …

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 been shown to correlate with it, the causal mechanisms and the geometric conditions from which it can arise have not been clearly identified. We analyze LoP in Proximal Policy Optimization with isotropic Gaussian policies, the state-of-the-art formulation for many continuous action spaces in RL. We report multiple metrics which characterize the effect that the policy standard deviation $\sigma$ has on LoP, …

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 environment. Existing methods require a centrally designed specification, or interaction mechanism before any agent is deployed. However, such centralized design is unrealistic when agent designs are confidential to their developers, and it is not flexible enough to accommodate future agent designs. We study a bi-level structure in which a regulator coordinates developers by publishing seed agents, and each …

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 missing instruction-dependent turns or stops. We introduce ASPEN, an event-triggered scheduler based on command persistence prediction: estimating whether the frozen base policy would reissue its previous command. A lightweight multimodal predictor combines temporal observations, language instructions, execution history, and cached VLA confidence. At eligible command boundaries, sufficient predicted …

Complex whole-body loco-manipulation requires executing diverse maneuvers, such as crouching, grasping, and locomotion, within a single long-horizon task. While performing simple pick-and-place behaviors is well-established, scaling to complex, long-horizon tasks remains difficult. Currently, this challenge is addressed by relying on human motion data and correspondingly humanoid platforms, which limits platform independence and introduces substantial data processing overhead. Instead, we extend proximal policy optimization (PPO) to train a single policy for multi-phase tasks across diverse …

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 workcell by allocating and scheduling tasks for greater parallelism, jointly planning multi-arm motions, or directly learning multi-arm policies. So far, these approaches are either too slow, rely on domain-specific assumptions, or scale poorly with the number of robots and task horizon. Thus, we introduce cuArms, a conflict-based planner co-designed with GPU parallelism that efficiently decomposes the …

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 adversarial co-adaptive self-play in which coding agents generate attacks and defenses from tested opponent code and mission feedback, without model fine-tuning. Environment-specific interfaces support external programs for autonomous driving and SDK-level defenses for humanoid locomotion. Two eight-generation case studies reveal concrete software responses: a driving defender introduces direct-actuation …

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 scenario, so the model cannot learn alternative valid behaviors and, in turn, cannot adapt to user-specified preferences at test time. Second, noise or ambiguity in these demonstrations can produce inconsistent, unreliable supervision for the end-to-end models. Driving is inherently multi-modal: multiple different behaviors can be valid responses to the same scene, and this diversity arises largely from …

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 models as forward-only surrogates of the physical environment, leaving untapped a capability no physical environment affords: rewinding to past decision points to explore counterfactual futures. We introduce Rollback, a policy improvement paradigm that turns world models from passive simulators into counterfactual engines: it rolls back to critical decision points, branches into alternative actions, and …

General-purpose embodied intelligence requires robots to coordinate diverse skills over long horizons, track task progress, and recover from failures. Specialist policies alone do not ensure task-level reliability, while powerful multimodal agents rely on costly reasoning and external experience that compact models struggle to reproduce. We introduce OmniBrain-0, a lightweight unified embodied agent that coordinates manipulation and navigation through a shared high-level decision model, integrating task understanding, planning, progress tracking, and feedback-driven recovery. Our progressive …

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 geometric features extracted by 3D models such as VGGT are incorporated, they are typically passed into a video model or VLM that serves as the primary backbone, leaving 3D geometry as an auxiliary input or prediction target rather than the native foundation for world modeling. We present E0.5, a geometry-native world-action model built directly on 3D foundation models. E0.5 introduces two key innovations. …

Image quality assessment (IQA) underpins embodied imaging pipelines by judging whether visual quality satisfies downstream tasks, yet most existing methods learn task-agnostic scores aligned with generic human ratings on static benchmarks. This objective mismatches embodied and interactive settings, where image adequacy depends on task goals, context, and action requirements that shape an agent's decisions. We argue that IQA should shift from score regression to goal-conditioned judgment defined by embodied task utility. To this end, we propose an MLLM-based embodied IQA agent framework that …

Combining aerial thrust with spring-loaded hopping makes monopedal quadcopters promising for locomotion over complex terrain, but heuristic proportional-integral-derivative (PID) tuning limits coordination between active thrust and passive contact dynamics. We present a direct estimated-state-to-motor Proximal Policy Optimization (PPO) policy that commands four motors without an explicit hopping state machine or low-level attitude PID. Its reward combines Energy-Manifold Shaping for mass-normalized vertical-energy tracking and apex-state anchoring with Efficiency Shaping, which uses a …