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Computer Science Robotics

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Monday 13 July

Robotics · Cross-listed from eess.SY

Active Noise Floor Estimation for Reliability-Optimal POMDPs: A Value-of-Noise-Information Approach

Hyung-Jin Yoon

Finite Reliability Representations (FRR) certify when a cell-constant policy is sufficient for reliable decision-making in a partially observed system with a known physical noise floor. In practice, however, sensing and execution noise can be latent and context-dependent. This paper develops a certificate-aware active disambiguation framework for an unknown physical noise parameter theta = (sigma_y, sigma_u), with the sensor-only case obtained by fixing sigma_u. We define the Value of Noise Information (VoNI) as the expected excess FRR certificate gap caused by using a reliability cover calibrated to the current estimate rather than to the realized noise parameter. We bound VoNI using action-value model mismatch and FRR radius inflation, showing that noise estimation has low decision value in sub-crossover regimes where the FRR certificate is insensitive to theta, but becomes valuable when posterior uncertainty can invalidate the current cover. A bi-level decision maker uses a posterior over theta, obtained from innovation statistics, execution residuals, or another online estimator, and triggers diagnostic probing only when uncertainty threatens the FRR certificate. We also interpret VoNI as a tractable, certificate-aware approximation to a high-level finite POMDP for latent sensing-execution regime disambiguation. Under stationary, identifiable, and persistently exciting regimes, we establish posterior consistency and convergence of the induced policy loss to the FRR approximation floor. Closed-loop UGV simulations with EKF-based innovation residuals show earlier detection of abrupt sensing-noise jumps, lower drift-tracking error, and substantially fewer probing actions than posterior-entropy exploration over 50 Monte Carlo trials.
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Robotics

Casting Everything to Online API Services? A Survey of Integrating Localized Speech Recognition Models in Robotic Systems

Sheng Li, Jing Li, Felix Schijve et al. (+2 more)

Automatic speech recognition (ASR) has become a critical component of modern robotic systems because it is one of the most natural and intuitive ways for humans to interact with robots. A commonly used method is to directly use API services online. But is that all we can do? This article provides an overview of how ASR technologies are integrated into various intelligent robots and machines. We discuss the evolution of speech recognition from established approaches to state-of-the-art deep learning models, such as OpenAI's Whisper. We also list large-scale datasets and open source toolkits that have been widely used in both industry and academia. We structure the survey around ASR model families, deployment strategies in robotics (especially ROS-based, cloud-based, and hybrid solutions), and several real-world robotic platforms. Finally, we outline the challenges of deploying robust speech recognition in robots and discuss future directions, including multimodal interaction in diverse and dynamic environments. This paper can help social robotics researchers better navigate the emerging domain of language-based natural human-robot interaction.
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All authors Sheng Li, Jing Li, Felix Schijve, Jun Hu, Emilia Barakova

Robotics

MIRA: A Modular Open-Source Micro-UAV for Indoor Research

Lucas K. de Oliveira, Felipe Tommaselli, João Aires Marsicano et al. (+5 more)

Indoor robotics research increasingly relies on micro-UAV platforms whose airframes, electronics, and control software are open to modification. Off-the-shelf platforms often lack the low-level access that such modifications require, while building a custom vehicle demands substantial engineering effort before the first flight test, leaving many laboratories working within constraints that limit the scope of their research. We present MIRA (Modular Indoor Research Architecture), an open-source micro-UAV for indoor research, built around a replicable 3D-printed PLA airframe with detachable arms and a containerized low-level software package that manages the companion-to-autopilot communication bridge via Micro XRCE-DDS. Designed as a white-box architecture, its core subsystems, including the companion computer, are individually replaceable without firmware refactoring, which supports local fabrication, crash-localized repair, and component substitution from existing laboratory inventory. We characterize MIRA through autonomous flights comprising takeoff, hovering, trajectory tracking, and landing within an optical motion-capture volume. The communication pipeline sustains a median companion-to-autopilot latency of 0.02 ms, with the external motion-capture link as the main remaining latency source, and time-domain analysis shows that structural vibration remains stable during dynamic maneuvers and below the reference level adopted in this work. All design files and software are released openly to support replication and extension by other laboratories.
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All authors Lucas K. de Oliveira, Felipe Tommaselli, João Aires Marsicano, Marco S. Tayar, Pedro A. R. Saraiva, Gianluca Capezzuto, Ricardo V. Godoy, Marcelo Becker

Robotics

A Compact Top-Loading Robot for Endovascular Interventions: Design, Control and Evaluation

Jonas Fischer, Lennart Karstensen and Franziska Mathis-Ullrich

Robot-assisted endovascular intervention can potentially reduce radiation exposure, improve surgeon ergonomics, enable telesurgery, support active assistance and autonomy, and enhance procedural precision. However, existing systems often suffer from limited procedural coverage because constrained patient-side setups, restricted flexibility, and complex instrument exchange hinder clinical workflow integration. This work presents a compact robotic system for endovascular interventions that enables continuous translational and rotational manipulation of standard endovascular instruments. The system consists of two alternating carts with pneumatically actuated membrane grippers integrated into rotating gripper gears. Its top-loading design allows rapid exchange of instruments such as guidewires and catheters without changing the robotic setup. A leader-follower control strategy enables continuous motion despite the finite stroke of each cart. The system was evaluated in motion-tracking experiments with guidewires and catheters and in an in vitro vascular phantom. The motion-tracking experiments showed generally smooth translational and rotational motion profiles. Across all tested guidewire and catheter experiments, the mean relative tracking errors were 3.6% for translational motion and 4.1% for rotational motion. In the vascular phantom, robot-assisted navigation reached the target in most trials, demonstrating the feasibility of the proposed manipulation concept under in vitro conditions. The presented robotic system demonstrates technical feasibility for continuous manipulation of standard endovascular instruments in bench-top and in vitro experiments. The compact top-loading design may ease instrument exchange and clinical workflow integration. Future work will focus on improving gripping performance, actuation speed, force feedback, and evaluation in more clinically realistic settings.
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Robotics

AutoPath: Learning Transferable Goal-Conditioned Stochastic Path Prior for Safe Navigation Without Human Demonstrations

Ziyang Zhang, Boyang Zhou, Zesong Yang et al. (+8 more)

Real-time navigation in cluttered and dynamic environments requires collision-free and dynamically feasible motion under limited perception. However, feasible navigation behaviors are inherently multimodal because multiple paths may exist around obstacles. In this paper, we formulate navigation as learning a transferable goal-conditioned stochastic path prior that models a reusable distribution over goal-aligned geometry-consistent local paths conditioned on local observations. This formulation enables structured sampling of navigation candidates, allowing multiple feasible paths to be explored through sampling without relying on robot-specific motion constraints. To this end, we introduce a goal-aligned canonical state representation that removes in-plane rotational ambiguity and normalizes local geometry with respect to the goal, enabling rotation-invariant path distribution learning. We further develop a structured prior learning framework that parameterizes local paths using a geometry-aware polar action manifold and incorporates risk-sensitive utility shaping with multi-goal distributional rollouts for stable and safety-aware planning. Extensive experiments in dense static environments and dynamic pedestrian scenarios demonstrate that the proposed method achieves consistently high success rates with competitive efficiency while enabling cross-platform transfer of a single path prior learned on differential-drive robots to quadruped platforms without retraining.
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All authors Ziyang Zhang, Boyang Zhou, Zesong Yang, Haocheng Peng, Zeming Gai, Xiao Liang, Yujun Shen, Danping Zou, Ruizhen Hu, Hujun Bao, Zhaopeng Cui

Robotics

NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception

Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang et al. (+9 more)

Differentiable simulators have advanced policy learning and model-based control across robotic tasks. Yet actuator dynamics remain underexplored and can be a major source of sim-to-real error, particularly on low-cost platforms, where the linear current-to-joint-torque approximation $\tau = K_t I$ becomes unreliable because of friction, hysteresis, backlash, and thermal effects. Accurate actuator models can also support force perception and integrated force/position control. We present NeuralActuator, which jointly predicts (i) a torque surrogate for trajectory propagation on low-cost servo platforms, (ii) external forces with a contact-probability gate for sensorless force perception, and (iii) a motor-condition score for a supervised joint, distinguishing normal from mechanically restricted operation. A twin-arm teleoperation system records robot states and actuator telemetry alongside external-force labels, yielding the Neural Actuation Dataset (NAD). The torque-surrogate head is trained through differentiable simulation from pose trajectories without ground-truth joint-torque measurements. A Transformer captures temporal dependencies while enabling real-time inference. We validate NeuralActuator on a 5-DoF OpenManipulator-X, a 6-DoF SO-101 from LeRobot, and a 7-DoF Franka Emika Panda, spanning three actuator families and costs from approximately \$500 to more than \$30{,}000. The low-cost platforms support physically plausible dynamics and force evaluation, while the offline Franka experiment provides a payload-force-estimation benchmark. We also demonstrate motor-condition estimation and improved behavior-cloning performance using NeuralActuator as a pretrained module. We release the dataset, code, and hardware configurations on the project page: https://frank-zy-dou.github.io/projects/NeuralActuator/index.html.
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All authors Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang, Heng Zhang, Minghao Guo, Yunsheng Tian, Michal Piotr Lipiec, Joshua Jacob, Chao Liu, Peter Yichen Chen, Yuri Ivanov, Wojciech Matusik

Robotics

High-level spatial Dubins airplane-based reference smoothing with low-level geometric tracking for quadrotor control

Mogens Plessen

A method for the control of quadrotors is presented. It is composed of a high-level reference smoothing step and a low-level reference tracking step. The high-level step leverages the Dubins airplane model for dimensionality reduction and reduced computational complexity, and exploits its structure for decoupling, spatial modeling and the formulation of a small linear program. The low-level step leverages a geometric tracking controller, which is based on the full quadrotor model. The method is designed for the tracking of references subject to lateral constraints along the path. An example is the tracking of references along obstacle contours. It is differentiated between two different setups. Either the high-level planning step is conducted once and offline, or, alternatively, the high-level planning step is conducted recedingly online in closed-loop over a limited spatial prediction horizon.
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Robotics

Requirement-Driven Design of Whole-Body Social Tactile Sensing via Virtual Human-Robot Interaction

Dakarai Crowder, Ruohan Zhang, Alexis E. Block et al. (+1 more)

Tactile sensing for social-physical human-robot interaction (spHRI) is designed in a hardware-driven manner, where predefined sensor configurations constrain coverage, spatial resolution, and the range of recognizable gestures. We propose a requirement-driven framework that derives sensing requirements, specifically spatial resolution and placement, directly from interaction data. Using a VR-based platform with haptic feedback, we collected high-resolution whole-body contact distributions across multiple social scenarios, from which we identified nine recurring social touch gestures. Eight gestures were selected for controlled data collection with 18 participants, yielding an open-source dataset of 5,520 trials. Analysis of contact distributions and simulated tactile encodings provides quantitative baselines for skin coverage and sensor density on a humanoid robot platform. While demonstrated on a single robot platform, the methodology is designed to be transferable to other robot morphologies, potentially enabling morphology-specific sensing requirements to be derived prior to hardware fabrication.
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All authors Dakarai Crowder, Ruohan Zhang, Alexis E. Block, Wenzhen Yuan

Robotics

From World Action Models to Embodied Brains: A Roadmap for Open-World Physical Intelligence

Yuanzhi Liang, Xufeng Zhan, Haibin Huang et al. (+2 more)

Artificial general intelligence ultimately requires agents that can reason and act in the physical world. Action models, vision-language-action policies, and world models have advanced this goal, while World Action Models (WAMs) are particularly promising because they connect candidate interventions with predicted consequences. However, progress remains fragmented: models use incompatible action spaces and prediction targets, datasets and tasks follow different conventions, and runtime systems expose limited interfaces for reuse and evaluation. We review the evolution toward WAMs and organize these limitations into three coupled gaps: model roles and representations, objectives and standardization, and system composition. Building on this analysis, we propose a co-evolution roadmap for physical intelligence centered on the embodied brain, a long-term model target for integrating multimodal context, comparing candidate interventions, and issuing state-transition or capability requests rather than direct actuator commands. WAMs provide promising prototypes for its predictive functions, while a physical harness grounds model outputs through tools, controllers, verification, and trace logging. Shared contracts align heterogeneous models, data, tasks, and embodiments, and closed-loop post-training converts verified interaction into reusable experience. Together, these components define a modular physical-intelligence stack for adaptive and self-improving embodied agents.
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All authors Yuanzhi Liang, Xufeng Zhan, Haibin Huang, Chi Zhang, Xuelong Li

Robotics

Automated Synthesis of Facial Mechanisms for Conversational Animatronic Robots

Zongzheng Zhang, Zi Lin, Jiawen Yang et al. (+6 more)

Animatronic faces are a central component of socially interactive robots, enabling rich nonverbal communication through facial articulation. However, state-of-the-art animatronic faces are typically tailored systems: each new facial geometry requires extensive manual mechanical redesign, making large-scale personalization prohibitively slow and costly. In this work, we pursue automated and scalable mechanical face synthesis, aiming to rapidly generate a physically realizable facial mechanism for a wide range of facial geometries. We introduce a parametric, linkage-driven mechanical face template whose topology and actuator layout are explicitly parameterized to support systematic scaling and retargeting across diverse facial morphologies. Building on this template, we propose a hierarchical automatic design algorithm that takes a single 2D portrait as input, reconstructs a target 3D face, and synthesizes a collision-free, manufacturable internal mechanism. The algorithm combines anatomy-guided feasible motion volumes, Action Unit (AU)-derived trajectory-based expressiveness objectives, and a collision-driven outer-loop refinement strategy. Beyond hardware synthesis, we argue that future mechanical faces deployed at scale must engage in bidirectional, multi-turn conversation rather than functioning solely as speaking or listening heads. To this end, we develop a dual-identity conversational facial motion synthesis framework that jointly models speaking and listening behaviors from audio, producing temporally coherent 3D facial motion suitable for physical execution. We validate our system through extensive experiments, including (i) quantitative evaluation of automatic mechanism synthesis across diverse facial geometries, (ii) comparisons against manual mechanical design, (iii) benchmarks on conversational facial motion synthesis and real-time deployment, and (iv) perceptual user studies.
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All authors Zongzheng Zhang, Zi Lin, Jiawen Yang, Ziqiao Peng, Junyan Lao, Lin Cheng, Huazhe Xu, Hang Zhao, Hao Zhao

Robotics

Self-Healing Visual Recovery for Autonomous Ground Vehicles Using Camera-Only Visual Odometry

Jakob Solberg Berntzen, Safia Fatima and Leon Moonen

Low-cost unmanned ground vehicles are often used in indoor places like warehouses, inspection corridors, and farm rows, where painted floor lines guide the robot. Line following is useful because it only needs one camera and little computing power, but it can fail when the line is blocked or turns sharply and goes out of view. Sensor-rich platforms tolerate this through hardware redundancy (LiDAR, GPS, multiple cameras), but camera-only systems must recover at runtime with no additional infrastructure. This paper presents a lightweight, two-stage recovery approach that restores guideline tracking without LiDAR, GPS, or a GPU. When the line is lost, the robot first turns in place while slowly relaxing its color checks and waiting for confirmation across multiple frames (Stage 1). If the line is still not found, monocular visual odometry moves the robot back to saved breadcrumb positions before it tries again (Stage 2). The system uses a depth-gated HSV line tracker, a YOLOv8n obstacle detector, and a visual odometry breadcrumb mapper, and it runs at 20 Hz on CPU-only hardware. The controller embeds a complete MAPE-K loop within a single 50 ms control tick, with no external adaptation manager required. The approach is evaluated across 119 fault-injected episodes on three Webots simulation courses. The method was successful in 86.6% of cases, with a median recovery time of 3.26 seconds. These results demonstrate that reliable visual recovery is feasible on camera-only UGVs within practical cost and computational limits.
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Robotics

Trajectory Planning and Certification for 3-DOF Robot Manipulators Using Real Quantifier Elimination Based on Comprehensive Gröbner Systems

Yu Nakai, Akira Terui and Masahiko Mikawa

We propose an algorithm and its implementation for trajectory planning and certification for 3-DOF robot manipulators. The method uses Real Quantifier Elimination (QE) based on Comprehensive Gröbner Systems (CGS), also known as the CGS-QE method. The main advantage of the proposed method is its efficiency in trajectory planning and solution certification. This efficiency comes from the effective use of the CGS. First, for trajectory planning, we solve the inverse kinematics problem at each point along the trajectory via Gröbner basis computation. This usually requires recalculating the Gröbner basis at every point, which is time-consuming. We avoid this by computing the CGS for a parametric system. Here, the end-effector coordinates are parameters. This approach streamlines the algorithm. Second, for solution certification, the CGS-QE method certifies that an inverse kinematics solution exists at any point along the end-effector's trajectory. Our method also certifies solutions for trajectories composed of line segments and cubic natural splines. The algorithm is implemented within the computer algebra system Risa/Asir.
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Robotics

A Model for Mediating Multi-Modal Human Intent into Safe Maneuvers for UAVs

Sofia Nelson, Dalal Alrajeh, Pedro Antonio Alarcon Granadeno et al. (+1 more)

Direct human interaction with autonomous UAV systems can be enabled through modalities such as speech, gestures, and graphical interfaces. However, interpreting such inputs as directly executable commands introduces safety risks in dynamic environments. Operator requests may conflict with terrain constraints, inter-UAV separation requirements, or flight-envelope limitations. In this paper, we present a requirements-governed maneuver-response model that mediates multi-modal human intent into safe UAV maneuvers by treating operator inputs as bounded maneuver requests rather than direct commands. Requested maneuvers are mapped to constrained motion primitives and processed through a structured request-evaluate-execute pipeline. Each request is interpreted with associated confidence, validated against terrain, separation, workspace, and flight-envelope constraints, and either constrained, rejected, or executed under continuous runtime monitoring. We further formalize the approach as a requirements-based specification model in which maneuver primitives are associated with explicit preconditions, invariants, guard conditions, and postconditions governing admissibility, execution safety, and emergency handling. These requirements support runtime verification and future reactive synthesis approaches. We present an initial lab-based validation demonstrating that voice and GUI-based inputs can be reliably interpreted and safely executed as constrained maneuver requests.
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All authors Sofia Nelson, Dalal Alrajeh, Pedro Antonio Alarcon Granadeno, Jane Cleland-Huang

Robotics

Coordinated Incremental Trajectory Tracking of a Tailsitter Drone

Evangelos Ntouros and Ewoud J. J. Smeur

This paper derives an analytical differential flatness transform for a tailsitter Unmanned Aerial Vehicle (UAV) under coordinated flight conditions using a simplified aerodynamic model. The proposed framework is formulated exclusively using rotation matrices, avoiding the ambiguities inherent to Euler angle representations. The method extends the applicability of an existing state-of-the-art differential flatness-based controller to flight regimes involving a significant vertical velocity component, where the previous approach becomes inapplicable. The proposed framework is validated experimentally with trajectories that highlight its advantages in these regimes.
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Robotics · Cross-listed from cs.CV

Event-RGB Adaptive Tracking for Nighttime Highway Perception

Haidong Wang, Hengxing Cai, Wanlei Li et al. (+2 more)

Intelligent Transportation Systems deployed on highways predominantly rely on conventional RGB cameras for traffic perception and vehicle tracking. However, highway environments present unique challenges: the absence of artificial lighting infrastructure, combined with high vehicle velocities, results in severely degraded perception performance under low-light conditions. Specifically, nighttime scenarios suffer from motion blur, insufficient exposure, and poor signal-to-noise ratios, which catastrophically impair the reliability of RGB-based sensing systems. To address these limitations, we propose a novel Joint Event-RGB Adaptive Tracking (JEAT) framework. Unlike existing multi-sensor trackers constrained by rigid, hard-coded prioritization, JEAT merges asynchronous event streams and RGB frames into a unified joint data association optimization. By employing an Adaptive Extended Kalman Filter to continuously estimate measurement noise via NIS statistics, the framework dynamically weights and fuses both modalities, optimally harnessing event streams during dark or high-speed motion while leveraging RGB frames under bright or static conditions. Furthermore, given the absence of publicly available datasets tailored for event-based highway perception with diverse environmental conditions, we present SEHN, a large-scale synthetic dataset generated using the CARLA simulator. Our dataset encompasses diverse environmental conditions (daytime, nighttime, nighttime with out artificial lighting) and varying traffic densities, providing synchronized RGB imagery and event streams to facilitate multi-modal fusion research. Our code and datasets will be available at https://github.com/haidongwang96/SEHN.
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All authors Haidong Wang, Hengxing Cai, Wanlei Li, Xiaogang Xiong, Renxin Zhong

Robotics

Xiaomi-Robotics-U0: Unified Embodied Synthesis with World Foundation Model

Xinghang Li, Jun Guo, Qiwei Li et al. (+21 more)

Recent foundation image and video generation models offer strong generalization and controllability, but their direct application to embodied scenarios is limited by requirements for multi-view consistency, geometric coherence, and robot embodiment constraints. Existing methods typically adapt foundation models with limited robot data, often sacrificing visual knowledge acquired during large-scale pre-training. We present Xiaomi-Robotics-U0, a 38-billion-parameter multimodal autoregressive model for unified embodied synthesis. It treats embodied generation as an extension of foundation image and video generation and jointly optimizes text-to-image generation, image editing, embodied scene generation, embodied transfer, and embodied video generation. This unified framework preserves the generalization of the pre-trained world foundation model while adapting it to embodied settings. Xiaomi-Robotics-U0 is the first model to support high-quality multi-view scene generation across multiple robot embodiments and to introduce structured, controllable embodied transfer for fine-grained editing while preserving multi-view consistency and interaction dynamics. It achieves state-of-the-art results on single-step and sequential generation tasks, outperforming GPT-Image-2.0 in human evaluations of embodied scene generation and transfer, ranking first on World Arena for embodied video generation, and improving the out-of-distribution success rate of pi_0.5 from 36.9% to 63.2% on challenging real-world manipulation tasks. These results show that foundation world models can serve both as embodied world models and scalable data engines for embodied intelligence. Code and checkpoints are available at https://robotics.xiaomi.com/xiaomi-robotics-u0.html.
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All authors Xinghang Li, Jun Guo, Qiwei Li, Long Qian, Hang Lai, Yueze Wang, Hongyu Yan, Jiahang Cao, Xi Chen, Jingen Qu, Jiaxi Song, Nan Sun, Hanye Zhao, Futeng Liu, Wanli Peng, Heyun Wang, Yunhong Wang, Caoyu Xia, Jack Zhao, Diyun Xiang, Hangjun Ye, Heng Qu, Huaping Liu, Jason Li

Robotics

DA-Nav: Direction-Aware City-Scale Vision-Language Navigation

Ye Yuan, Kehan Chen, Xinqiang Yu et al. (+7 more)

City-scale outdoor navigation is currently hindered by the heavy reliance on dense maps or costly navigation supervision. In this work, we introduce a novel paradigm for leveraging directional instructions from commercial navigation tools (e.g., Google Maps). To bridge the gap between commercial instructions and executable navigation actions, while mitigating long-horizon error accumulation through robust trajectory recovery, we propose DA-Nav, a Direction-Aware vision-language Navigation framework that reformulates navigation as a discrete spatial grounding problem on the egocentric 2D image plane. To achieve trajectory recovery, DA-Nav employs a Chain-of-Thought (CoT) reasoning process encompassing deviation assessment, action prediction, and target grid selection. We further introduce ReDA, a dataset that provides direction-aware instructions and recovery trajectories to enhance spatial grounding and support CoT recovery reasoning. Extensive experiments in CARLA demonstrate that DA-Nav achieves a high success rate of 56.16% in unseen urban environments, outperforming existing State-of-The-Art (SoTA) methods while maintaining a substantially stronger recovery capability. Furthermore, without fine-tuning, DA-Nav seamlessly adapts to both quadruped and humanoid robots, enabling stable kilometer-scale closed-loop outdoor navigation in complex real world environments.
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All authors Ye Yuan, Kehan Chen, Xinqiang Yu, Wentao Xu, Heng Wang, Libo Huang, Chuanguang Yang, Yan Huang, Jiawei He, Zhulin An

Robotics

Breaking the 15% Barrier: A Real-World Data-Driven System for Proactive Social Robot Triggered by User Nonverbal Cues

Yuga Yano, Yuki Okafuji, Ryo Miyoshi et al. (+2 more)

Service robots in retail stores increasingly rely on cascaded speech pipelines (STT-LLM-TTS), yet many customer-robot interactions are initiated or guided by nonverbal behaviors such as approaching, waving, pointing, or showing items. This paper studies such cues in a real-world store deployment with a teleoperated humanoid robot and shows that a non-negligible portion of robot turns are triggered by nonverbal behaviors rather than spoken input, revealing a limitation of audio-only dialogue systems. In a 6-day in-the-wild deployment, 15.3% of robot utterances were initiated by users' nonverbal behaviors rather than spoken input. Based on an analysis of observed customer behaviors, we define a set of frequent, service-relevant nonverbal cues and develop a real-time multi-person, multi-label recognizer that runs online from video. We then propose a dialogue framework that conditions LLM-based utterance generation on recognized nonverbal cue tokens, and optionally leverages a vision-language model when items are shown, enabling proactive robot responses without hand-crafted rules. We evaluate the approach offline on nonverbal-triggered turns and demonstrate an online prototype that reacts to users' nonverbal cues in real time.
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All authors Yuga Yano, Yuki Okafuji, Ryo Miyoshi, Sanae Yamashita, Yoshiki Ohira

Robotics · Cross-listed from cs.GR

IBPA: Real-time Free-form Manifold Mesh Reconstruction via Incremental Ball Pivoting with Integrated Hole Detection

Mauhing Yip, Mohit Singh, Kostas Alexis et al. (+2 more)

Both Remotely Operated underwater Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) are frequently deployed to acquire geometric bathymetric data. However, it is often discovered post-survey that the acquired data coverage is incomplete. Given the high operational cost associated with underwater deployments, it is essential to incrementally visualize surface coverage in real-time to support informed decision-making by both the operators of ROVs and the AUVs during data collection. In addition, traditional incremental surface reconstruction methods, such as Digital Terrain Models (DTMs), are inherently limited in expressiveness: they represent surfaces as height fields, allows only one elevation value per $(x, y)$ coordinate and thus cannot capture overhangs or vertical structures. To overcome these limitations, we adapt the original Ball Pivoting Algorithm (BPA) into an incremental, real-time, and free-form surface reconstruction method, referred to as Incremental BPA (IBPA). Our method incrementally constructs an orientable, manifold mesh from streaming point cloud data without imposing assumptions regarding point cloud overlap or spatial distribution. Furthermore, we introduce a hole detection mechanism that identifies and highlights incomplete mesh regions. Compared to existing approaches, our method supports more complex surface topologies without prior structural assumptions. The source code of our reference implementation is available: https://github.com/Mauhing/Incremental-BPA
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All authors Mauhing Yip, Mohit Singh, Kostas Alexis, Christian Schellewald, Annette Stahl

Robotics

SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning

Evelyn D'Elia, Weishu Zhan, Giulio Turrisi et al. (+5 more)

Reinforcement learning (RL) algorithms classically suffer from poor sample efficiency. In robotics, a recent line of work has emerged addressing this problem by encoding physics priors in the learning process. However, most of these approaches are validated on well-defined, low-dimensional benchmark systems rather than high-dimensional robots with complex nonlinear dynamics. In this paper, we introduce SKooP (Symmetric Koopman Predictions), an approach combining the advantages of morphological symmetries with those of a Koopman model learned via autoencoder to enhance policy learning. SKooP learns a Koopman model of the system dynamics alongside the policy. The resulting Koopman predictions are used as privileged observations for the critic, allowing the agent to learn based on smoother, more informative features. We also incorporate group symmetries into the actor, critic, encoder and decoder networks to produce a highly equivariant policy. The SKooP approach is validated via in-depth analysis of the learned Koopman models and symmetric policies to showcase how each of these influences the agent's performance. We also show that the learned policies are transferable to different simulation environments. Our results show that SKooP consistently reduces convergence time and increases the learned reward for multiple challenging bipedal locomotion tasks on a quadruped robot. Project page: https://evelyd.github.io/SymmetricKoopmanPredictions
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All authors Evelyn D'Elia, Weishu Zhan, Giulio Turrisi, Giulio Romualdi, Giuseppe L'Erario, Raffaello Camoriano, Wei Pan, Daniele Pucci

Robotics

WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $LDL^\top$ Factorization

Henrik Hose, Se Hwan Jeon, Charles Khazoom et al. (+2 more)

This paper introduces numerical optimizations for maximizing throughput on GPU when solving large batches (10,000 to over 100,000) of sequential quadratic programming (SQP) iterations, where all problems have the same structure. The optimizations are implemented in a toolbox WarpMPC for model-predictive control (MPC) in JAX and Warp. Based on the insight that all MPC problem instances in a batch share the same sparsity in time, cost, and constraints, we propose unrolling sparse linear factorizations and solves, which dominate alternating direction method of multipliers (ADMM) solver runtime. We avoid memory access bottlenecks and wasting computations via optimized memory layout, padding-reducing segmentation of the unrolled factorization, and dependency level scheduled backsolves, additionally accelerating sensitivity computation. We achieve throughputs of 8,000 to 250,000 SQP iterations per second on nonlinear cartpole, quadrotor, and humanoid robot benchmarks, outperforming baselines by 3$\times$ to 25$\times$. We illustrate practical usefulness by synthesizing a dataset and training a neural network approximation of an MPC in under 4 minutes that stabilizes a nano quadrotor in hardware experiments.
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All authors Henrik Hose, Se Hwan Jeon, Charles Khazoom, Sangbae Kim, Sebastian Trimpe

Robotics

ERR@HRI 3.0 Challenge: Multimodal Detection of Errors and Anticipation in Human-Robot Interactions

Maria Teresa Parreira, Micol Spitale, Maia Stiber et al. (+5 more)

As robots become increasingly integrated into human environments, their ability to detect and respond to errors remains critical for maintaining user trust and interaction quality. While recent advances in machine learning have improved error detection capabilities, most approaches are limited to specific contexts, controlled settings, or pre-extracted features, limiting their generalizability and applicability to real-world conditions. To address this challenge, the third edition of the ERR@HRI Challenge (ERR@HRI 3.0) provided researchers with two complementary datasets that enable end-to-end innovation in methods for both detecting and preventing errors in human-robot interaction. The challenge offered raw, non-anonymized video data from naturalistic settings: (1) the Bystander Affect Detection (BAD) dataset, containing webcam recordings of 45 participants' spontaneous reactions to robot and human failure scenarios; and (2) the Bad Idea dataset, featuring 29 participants' anticipatory facial responses while predicting action outcomes before failures occur. Both datasets were collected via crowdsourcing, capturing the inherent variability of real-world conditions. This naturalistic variability, while challenging, provides an authentic testbed for developing robust error detection systems. Participants developed multimodal machine learning models for bystander reaction detection (Track 1) and anticipatory outcome prediction (Track 2), with an optional cross-dataset generalization track (Track 3). Three teams submitted valid models, all of which surpassed our convolutional neural network baselines. This paper describes the datasets, tasks, baselines, and results of ERR@HRI 3.0, and discusses implications for building generalizable, context-aware, and anticipatory error detection systems for human-robot interaction.
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All authors Maria Teresa Parreira, Micol Spitale, Maia Stiber, Shiye Cao, Amama Mahmood, Chien-Ming Huang, Hatice Gunes, Wendy Ju

Robotics

See like a Robot: Robot-Centric Pointmaps for VLA Models

Byungkun Lee, Dongyoon Hwang, Dongjin Kim et al. (+4 more)

Vision-language-action (VLA) models require 3D spatial reasoning, yet RGB observations encode robot-object geometry only implicitly. Lifting depth with camera intrinsics makes this geometry explicit as dense, image-aligned pointmaps, but their camera-frame coordinates depend on camera placement. We propose SeeR-VLA, which transforms pointmaps into a robot-centric frame with an end-effector origin and robot-base-aligned axes. An encoder initialized from pretrained RGB weights extracts pointmap features, which are added to corresponding RGB tokens without increasing the token count. Across 24 RoboCasa tasks and four real-world tasks, SeeR-VLA improves average success over RGB-only $\pi_{0.5}$ by 6.4 and 32.5 percentage points, respectively. It also exceeds the strongest evaluated 3D-augmented baseline, PointVLA, by 3.5 and 23.7 percentage points, respectively. Beyond these gains, our ablations clarify how coordinate choices affect VLA performance, showing that end-effector centering is most effective with robot-base-aligned axes. The benefits grow as training viewpoints diversify, highlighting the importance of using robot-frame pointmaps when learning from diverse camera configurations.
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All authors Byungkun Lee, Dongyoon Hwang, Dongjin Kim, Hojoon Lee, Hyunseung Kim, Jaegul Choo, Minho Park

Robotics

Towards Human-level Dexterous Teleoperation

Puhao Li, Zeyuan Chen, Yingying Wu et al. (+9 more)

Humans routinely wield tools, swap grasps, and reposition objects within a single hand, seamlessly orchestrating contact transitions that span translation, reorientation, and finger gaiting. Endowing robot dexterous hands with this level of in-hand dexterity through teleoperation requires precise control of object motion via dynamic hand-object contact, yet current teleoperation systems remain far from this capability. To bridge this gap, we take a major step towards human-level dexterous teleoperation by introducing TeleDexter, a hand-object co-tracking controller that maps operator intent into learned, low-level contact execution. The controller is trained on consecutive co-tracking subgoals derived from human reference motions, utilizing a hybrid reward that couples sparse subgoal objectives with dense tracking rewards to enable learning across diverse interaction modalities rather than frame-wise trajectory imitation. The entire pipeline requires only single-stage RL and, with random action masking and domain randomization, transfers zero-shot to the real robot. We evaluate TeleDexter on seven challenging dexterous teleoperation tasks spanning object reorientation and long-horizon tool use across two dexterous hands, achieving a 75% average success rate where all baselines consistently fail. Furthermore, the collected demonstrations successfully train autonomous policies via behavioral cloning, marking a concrete step towards human-level dexterous teleoperation.
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All authors Puhao Li, Zeyuan Chen, Yingying Wu, Pengkun Wei, Yuyang Li, Tianyu Wang, Jiaxiao Shi, Mingrui Yu, Baoxiong Jia, Song-chun Zhu, Tengyu Liu, Siyuan Huang

Robotics

EDAR: Learning Environment-Dependent Action Representations for Robotic Manipulation

Yuecheng Xu, Tong Yang, Jingkai Jia et al. (+3 more)

Learning effective action representations is critical for robotic manipulation, where raw control trajectories are often noisy, redundant, and difficult to model directly. Existing methods mainly encode the structure of the action stream itself, treating the role of actions in the environment as implicit. Yet manipulation is about changing the world: the same action segment can induce different outcomes under different scene contexts, making action semantics inherently environment-dependent. We propose EDAR, an Environment-Dependent Action Representation that grounds action tokens in both executable control structure and expected visual consequences. By coupling motor commands with their environment-conditioned effects, EDAR encourages the learned action space to capture interaction semantics rather than merely command-level patterns. Experiments on simulated and real-robot manipulation benchmarks demonstrate that EDAR improves downstream policy learning, especially in long-horizon manipulation. These results highlight the importance of grounding action representations in executable control structure and environment-conditioned visual change.
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All authors Yuecheng Xu, Tong Yang, Jingkai Jia, Chi Zhang, Xuelong Li, Wenqiang Zhang

Robotics

WALA Learning Executable Latent Actions from Action-Labeled Demonstrations and Action-Free Videos

Jiahao Liu, Yupeng Zheng, Zhongpu Xia et al. (+10 more)

Human videos provide rich information about object manipulation at a scale difficult to reproduce with robots, but often lack action annotations that can directly supervise robot policies. Realizing this potential requires distinguishing interaction-relevant changes from static appearance and connecting the learned interaction knowledge to executable robot actions. We present WALA, a framework named for World- and Action-supervised Latent Actions. Its semantic-geometric latent action model (LAM) learns latent actions by encoding and predicting semantic and geometric changes, emphasizing interactions over static appearance while retaining spatial detail. During robot policy training, the LAM encoder and decoder provide guidance through distillation and visual prediction, respectively. Together with robot action supervision, these signals shape policy-generated latent actions to support world prediction and capture the information needed to directly generate executable robot actions. Because LAM supervision requires no action labels, WALA enables co-training on action-labeled robot demonstrations and task-relevant action-free videos. In simulation experiments, our method achieves 92.33% average success on RoboTwin and 75.2% on RoboCasa-GR1-Tabletop, exceeding the previous state of the art on RoboCasa by 5.0 percentage points. WALA also shows strong real-robot performance, further enhanced by task-relevant action-free human videos that improve data efficiency and support target-task zero-shot and few-shot transfer.
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All authors Jiahao Liu, Yupeng Zheng, Zhongpu Xia, Shuai Tian, Huangrui Li, Yuhang Zheng, Ning Ma, ShangQing Zhou, Xiaotian Liu, Jing Li, Yixian Li, Haoran Li, Dongbin Zhao

Robotics

From Sketch Prior to Trajectories: A Mission-Oriented Coordinated Navigation Framework for Indoor UAV Swarm

Xinhang Xu, Ruiyang Liu, Haotian Jin et al. (+4 more)

UAV swarm for applications, such as indoor inspection, security patrol, and logistics delivery, are often mission-oriented rather than exploration-oriented. In these tasks, UAVs are required to visit task-relevant regions in a prescribed sequence, and such region-level mission information can often be obtained from pre-deployment sketch-map priors, such as floor plans, CAD layouts, or evacuation diagrams. Although these tasks are executed in three-dimensional space, UAVs usually fly within a specific altitude layer or a nearly fixed altitude range on each floor, making mission-level region transitions mainly governed by planar connectivity. Based on these observations, this paper proposes a mission-oriented coordinated navigation framework that exploits sketch-map priors for multi-UAV indoor operations. Onboard observations are used to perform topological alignment, and the aligned prior is fused with online observations to construct a mission-oriented traversability representation. A layered 2D–3D coordinated navigation framework is further developed, where 2D guided path planning generates mission-oriented guide paths and guide-driven 3D trajectory optimization produces dynamically feasible and collision-free trajectories. Simulation and real-world experiments validate the effectiveness of the proposed framework in structured multi-room indoor environments and further demonstrate its coordinated navigation capability under both communication-available and communication-loss conditions. Multi-floor simulation results show the scalability of the system to layered indoor structures.
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All authors Xinhang Xu, Ruiyang Liu, Haotian Jin, Yi Wang, Hongming Shen, Jianping Li, Lihua Xie

Robotics

A Glimpse into Long-term Physical Coexistence with Intelligent Robots

Weiqi Jin, Peijun Tang, Kuncheng Luo et al. (+5 more)

Long-term physical coexistence with intelligent robots requires more than capable robot policies. A persistent robotic assistant must support diverse user-facing interfaces, maintain long-horizon memory of people and preferences, coordinate across robot embodiments, and translate human intent into safe physical execution. We introduce PHILIA, a multi-robot agent built around a robot gateway abstraction. PHILIA retains the rich interaction and tool ecosystem of OpenClaw while exposing robot-local runtimes, onboard perception, navigation, speaker, and robot policies through a unified capability interface. This design decouples low-frequency, high-semantic agent reasoning from high-frequency, low-level robot execution, enabling plug-and-play integration of user interfaces, robot embodiments, and policy backends. As a result, the user experience becomes compositional: advances in user interfaces, robot embodiments, robot policies, navigation, or interaction algorithms can improve the overall experience without redesigning the system. We validate the architecture on Astribot S1 robots while designing the robot gateway contract to support future heterogeneous robot platforms through a shared capability interface for observation, task execution, navigation, speech playback, status monitoring, and task cancellation. We present representative use cases in which agent memory and scene understanding are grounded in robot actions. These span interactive household scenarios, ranging from simple organization to challenging long-horizon and dexterous service tasks, such as packing a backpack and lifting a garbage bag. We highlight the human-robot interaction flow, where contextual understanding of user intent and preferences, together with human-in-the-loop confirmation or adjustment during execution, is essential for effective assistance.
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All authors Weiqi Jin, Peijun Tang, Kuncheng Luo, Baifu Huang, Binyan Sun, Haotian Yang, Shangjin Xie, Jianan Wang

Robotics

CR-Solver: GPU-Accelerated Kinematics Solver for Tendon-driven Continuum Robots

Heqing Yang, Yang Yi, Linqing Zhong et al. (+2 more)

Continuum robots provide intrinsic compliance, high dexterity, and safe physical interaction, enabling navigation and manipulation in confined and unstructured environments. Despite recent advances in sensing and control, heightening the need for precise motion generation, most widely used planning libraries are grounded in rigid-body assumptions, creating a critical gap for fast and practical tools for continuum robots. To address this, we present CR-Solver, a two-stage, optimization-based solver for the motion generation of tendon-driven continuum robots. Our method unifies inverse kinematics, path following, and trajectory planning within a single constrained nonlinear optimization framework. Leveraging GPU-accelerated parallel optimization, CR-Solver delivers fast, accurate, and constraint-aware solutions. We validate our approach on three tasks, demonstrating significant speedups over traditional CPU-based solvers while achieving a consistently high success rate above 95% and millimeter-level accuracy. The solver is implemented in pure Python, reducing the barrier to adoption and offering a practical, extensible foundation for continuum robots' high-performance motion planning.
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All authors Heqing Yang, Yang Yi, Linqing Zhong, Linjiang Huang, Si Liu

Robotics

Towards Predictive, Aligned, and Scalable Robot Learning

Peijun Tang, Shangjin Xie, Baifu Huang et al. (+6 more)

Learning, at its core, extends beyond memorization to the ability to reason and solve novel problems by navigating a space of possibilities. We introduce Lumo-2, a latent world-action model that generates actions by reasoning over world dynamics in latent space. The learned latent world dynamics capture physically grounded visual transitions, naturally encoding future possibilities and providing a unified substrate for cross-modal alignment. This formulation enables predictive reasoning akin to world modelling while remaining lightweight and focused on physical dynamics relevant to control. Central to our approach is the hypothesis that action generation quality is governed by the geometry of the latent space. We observe that standard reconstruction-based action tokenization objectives induce representations biased toward low-level signal fidelity, leading to misalignment between reconstruction quality and downstream control performance. To address this limitation, we propose a multi-stage modality pre-alignment strategy in which action representations are progressively aligned with latent world dynamics, vision, and language. This process enforces cross-modal consistency, promotes abstraction, and induces a structured latent space for predictive reasoning. We provide a systematic empirical study of latent world modelling and modality alignment, analyzing their roles in scaling laws and out-of-distribution generalization. Results show that Lumo-2 consistently outperforms strong vision-language-action (VLA) and world-action model (WAM) baselines, with gains on challenging real-world tasks requiring temporal reasoning, physical understanding, or high control complexity, including long-horizon and dexterous manipulation. These findings suggest that structured multimodal alignment and predictive reasoning are fundamental principles for advancing embodied intelligence.
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All authors Peijun Tang, Shangjin Xie, Baifu Huang, Binyan Sun, Haotian Yang, Kuncheng Luo, Weiqi Jin, Shilin Fang, Jianan Wang