Neue Studien zu Robotik und Physical AI, jeweils mit ihrer Bedeutung für die Branche.
Teaching humanoids loco-manipulation skills, such as carrying diverse objects, via visual imitation is a promising path toward generalist robots. However, collecting diverse, high-quality interaction videos, such as clips that clearly show a person's full body and unoccluded interactions with objects, poses a practical barrier to scaling this approach.
Robotic foundation models offer a promising path toward general-purpose humanoid robot control, often through hierarchical architectures. However, their effectiveness depends on the command interface between the planner and the controller, which must support accurate execution while remaining easy to predict, and ideally allow new behaviors to be composed from prior ones.
Generative modeling is widely used for producing diverse objects from complex, multimodal distributions. However, its expressivity does not, in general, come with formal guarantees that the generated objects satisfy hard constraints or requirements.
Constrained Reinforcement Learning has recently gained increasing attention in the field of Safe Autonomous Driving, where the general mechanism is to maximize the expected reward while keeping the overall action risk bounded. In this way, the safety issues arising in AD can be mitigated through constrained actions.
Real-world robot learning is constrained by the cost of collecting experience and evaluating candidate behaviors. Video generation models offer a scalable foundation for visual simulators that predict action outcomes before physical execution.
We study robotic in-context learning (ICL), an emerging paradigm that enables robots to infer and execute tasks from visual demonstrations. Despite its growing promise, the problem itself remains under-defined: a visual demonstration simultaneously conveys action trajectories, object semantics, manipulation affordances, spatial relations, and task goals, making it unclear what information the robot is actually expected to follow.
Das Preprint stellt Direct Experience World-Model Optimization (DEWO) vor, ein Post-Deployment-Lernverfahren für World-Action Models, das neben Aktionsimitation auch visuelle Vorhersagen aus beobachteten Interaktionsverläufen aktualisiert. In fünf DexJoCo-Aufgaben verbessert DEWO den durchschnittlichen Erfolg über alle drei getesteten WAM-Formulierungen; auf echten Roboterplattformen steigt der Erfolg in Zellen mit mindestens einem anfänglichen Erfolg von 51,0 % auf 71,7 %. Damit wird Weltmodellierung zu einem aktiven Teil der Anpassung nach dem Einsatz.
Robust and reliable perception is essential for autonomous robots operating in real-world environments, particularly in long-term missions where environmental conditions may change significantly over time. Although recent advances in Visual Foundation Models (VFMs) have improved open-vocabulary semantic segmentation, these models can still suffer from domain shift, which can significantly degrade performance if they are not adapted to the current environment.
Behavior Foundation Models (BFMs) give humanoids a promptable policy over a latent behavior space, enabling one single vector to represent a motion to imitate, a pose to reach, or a reward to maximize. Forward-Backward representations successfully produce such spaces, but at the cost of hundreds of GPU-hours for a single robot.
Das Paper stellt Self-Compensating VLA vor, eine Methode zur Deployment-Zeit-Anpassung von Vision-Language-Action-Policies, die sich ohne Belohnungen oder Labels an Ausführungsfehler des Roboters anpasst. Sie nutzt die Differenz zwischen kommandierter und tatsächlich ausgeführter Bewegung als Selbstüberwachungssignal. In Simulation (RoboStress) und auf zwei realen Roboterarmen erzielt die Methode deutlich höhere Erfolgsraten als Baselines und Trainingszeit-Robustheitsverfahren; es handelt sich um ein Preprint.
Embodied systems must make knowledge acquired during one encounter usable in another despite changes in viewpoint, motion, and illumination. Yet aggregate cross-video accuracy conflates failures of local perception with failures to preserve observation identity, establish correspondence, and compose evidence, obscuring whether local video understanding actually transfers.
We propose a QCQP-representable IMU pre-integration factor that enables certifiable estimation with pre-integrated inertial measurements. To the best of our knowledge, this is the first work to directly incorporate IMU pre-integration into certifiable estimation.
While contact-rich manipulation requires deliberate regulation of interaction forces, recent approaches to robot manipulation learning predominantly represent actions as target positions or poses. Even methods that incorporate force sensing either use it solely as an observation or, when predicting forces as part of the output, rely on a hybrid force controller.
Large language models (LLMs) are increasingly used as high-level planners in robot navigation, but their outputs may become unreliable when instructions are ambiguous, unsupported by the environment, or semantically inconsistent. This paper presents a Risk-Aware Semantic Grounding framework for trustworthy LLM-based robot planning.
Vision-language models can coordinate long-horizon robot manipulation, yet successful task reasoning still depends on whether local physical interactions produce the intended effects. We study how repeated interaction can improve this capability without updating the base model.
Grinding and sanding are fundamental processes in industrial robotic surface finishing. However, physical trials are expensive and consume workpieces, making reproducible experiments difficult.
Robots deployed in the physical world must be able to improve beyond their initial training as they encounter new situations and failures. For this improvement to scale across tasks, it must make effective use of experience without requiring human demonstration of each correction.
Diffusion and flow-matching Vision-Language-Action (VLA) policies generate action chunks through iterative denoising, incurring substantial inference latency that severely limits real-time robotic control. Existing acceleration methods treat an action chunk as a monolithic computational unit, ignoring a crucial physical reality of receding-horizon control: actions are generated jointly but consumed sequentially, resulting in inherently heterogeneous execution urgencies.
Video-based policy learning is particularly promising, as it illustrates target behaviors without requiring action annotations or embodiment-matched demonstrations. A central challenge is deciding what information should be transferred from the video to the robot.
When interacting with an unfamiliar deformable material, a robot lacks prior knowledge of its physical properties and how it will respond to applied forces and motion. Rapid online identification is therefore essential for reliable manipulation.
Die Studien stammen aus den Robotik-Feeds von arXiv. Solange unsere Zusammenfassung fehlt, erscheinen die ersten Zeilen des Abstracts.