MEKAWIRE
研究

論文

ロボティクスとフィジカルAIの最新論文と、それぞれが産業にもたらす意味。

論文1本
テーマすべてManipulation 27VLA 22Perception 12Robotics 11Navigation 10Humanoid 9Learning 8Safety 5World Action Models 4Simulation 3Aerial manipulation 2Dexterous manipulation 2Sim-to-Real Manipulation 2Social Navigation 2Vision-Language Navigation 2World models 2World-action model 23D Assembly 13DGS dataset 15G Simulation 1AMR Operations 1Active vision manipulation 1Adaptive MPC 1Adaptive action horizons 1Adaptive intervention 1Aerial 1Aerial Manipulation 1Aerial navigation 1Agricultural Robotics 1Articulation Estimation 1Autonomous Driving 1Autonomous Exploration 1Battery-aware RL 1Belief-space planning 1Bimanual Manipulation 1Byzantine localization 1Canal inspection 1Co-speech Humanoid 1Compositional Manipulation 1Construction navigation 1Contact-Rich Manipulation 1Contact-rich Manipulation 1Continuum sensing 1Curriculum RL 1Dexterous Manipulation 1Distributed Manipulation 1Distribution Shift 1Driving Simulation 1Efficient VIO 1Egocentric data 1Egocentric video 1Embodied Agents 1Embodied policy 1Empowerment MPC 1Endoscopic navigation 1Endovascular robotics 1Event-camera VO 1Exoskeletons 1Failure recovery 1Federated 3D Perception 1Fisheye detection 1Floorplan SLAM 1Geometry-aware manipulation 1Grasping 1Grounding 1Humanoid Control 1Humanoid RL 1Humanoid Tool Use 1Humanoid control 1Humanoid loco-manipulation 1Humanoid safety 1Imitation Learning 1JEPA World Models 1Lab automation 1Laboratory Manipulation 1Latent World Models 1Legged Manipulation 1LiDAR Security 1Lifelong RL 1Locomotion 1MAPF 1MAV guidance 1Manipulation LfD 1Manipulation Safety 1Marine simulation 1Memory-centric VLA 1Miniature Locomotion 1Mining Perception 1Mobile manipulation 1Model-based RL 1Monocular SSC 1Motion Planning 1Multi-Agent RL 1Multi-Robot Exploration 1Multi-Robot Manipulation 1Multi-UAV Exploration 1Multi-UAV State Estimation 1Multi-agent RL 1Multi-agent motion planning 1Multi-camera odometry 1Multi-fidelity RL 1Multi-robot manipulation 1Multi-skill Manipulation 1Multi-view perception 1Multimodal simulation 1Navigation & Mapping 1Object Pose Estimation 1Object Search 1Panoramic 3D Detection 1Panoramic segmentation 1Pedestrian tracking 1PersonNav 1Planning 1Policy 1Policy Optimization 1Preference Learning 1Quadruped locomotion 1Real-time VLA 1Real-to-sim 1Representation alignment 1Robot-Use Agents 1Runtime Verification 1Safe Generative Planning 1Safe RL-MPC 1Safe VLA 1Safety monitoring 1Safety-critical control 1Sim-to-real Navigation 1Sim-to-real manipulation 1Simulation geometry 1Skill Discovery 1Social navigation 1Soft Pneumatic Actuators 1Soft manipulation 1Sonar SLAM 1Streaming 3D reconstruction 1Submovement decomposition 1Surgical robotics 1Tactile 1Tactile Exploration 1Tactile VLA 1Temporal manipulation 1Terrain traversability 1Text-to-3D Policy 1Tool Co-Design 1Trajectory Correction 1Traversability 1UAV Navigation 1UAV Swarms 1UAV traffic monitoring 1Underwater Robotics 1Underwater active mapping 1Underwater perception 1Unified world-action model 1VLA Conditioning 1VLA Defense 1VLA Robustness 1VLA evaluation 1VLA manipulation 1VLA robustness 1Video world models 1Visual Generalization 1Visual Grounding 1Visual Reward Models 1Visuomotor Fusion 1Visuotactile manipulation 1World Models 1World-Action Models 1
難易度指定なし入門中級上級
arXiv
Manipulation Safety中級

事前学習済みVLAを移動する危険物から守る複数リンク安全フィルタ、衝突率を65.62%から27.27%に削減

Yatharth Agarwal, Vijay Raghunathan

本研究は事前学習済みのVLAポリシーを再学習なしで保護する実行時安全フィルタを提案した。グリッパ、手首、前腕を5個の楕円体で覆い、リセット時にRGB-Dから推定した危険物楕円体と疎なオプティカルフロー追跡により、移動する危険物との衝突を65.62%から27.27%へ低減し、安全なタスク成功率を29.35%から50.43%に引き上げた。エッジ環境ではバリア計算がp99で2.2ms、π0.5ポリシー呼び出しをiGPUで177.3msに短縮し、実機でも接触回数を減らした。本論文は査読前のプレプリントである。

VLA
論文全文を読む（PDF）

テーマ別ページ

マニピュレーション 8VLA 4World Action Models 5Aerial manipulation 3Dexterous manipulation 3Sim-to-Real Manipulation 3Social Navigation 3

論文は arXiv のロボティクス分野から取得しています。当社の要約が未作成の場合は、要旨の冒頭を表示します。