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논문

새로 나온 로봇, 피지컬 AI 논문과, 각 논문이 업계에 갖는 의미.

논문 1편
주제전체매니퓰레이션 95VLA 65내비게이션 52로봇 일반 41로봇 학습 32시뮬레이션 24인지 23휴머노이드 19보행 15안전 13Aerial 4World Action Models 4World-action model 3Aerial manipulation 2Dexterous manipulation 2Sim-to-Real Manipulation 2Social Navigation 2Vision-Language Navigation 23D Assembly 13DGS dataset 15G Simulation 1AMR Operations 1Active vision manipulation 1Adaptive MPC 1Adaptive action horizons 1Adaptive intervention 1Aerial Manipulation 1Aerial navigation 1Agricultural Robotics 1Articulation Estimation 1Autonomous Driving 1Autonomous Exploration 1Battery-aware RL 1Belief-space planning 1Benchmark for adding wrist force sensing to VLA manipulation policies 1Bimanual Manipulation 1Byzantine localization 1Canal inspection 1Co-speech Humanoid 1Compositional Manipulation 1Construction navigation 1Contact-Rich Manipulation 1Contact-rich Manipulation 1Continual reinforcement learning on top of robot foundation models 1Continuum sensing 1Controlled comparison of how to add world models to VLA robot policies 1Cross-embodiment transfer of humanoid whole-body controllers 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 1Evaluating robot world models against real executions 1Event-camera VO 1Exoskeletons 1Failure recovery 1Faster on-device inference for flow-matching vision-language-action models 1Federated 3D Perception 1Fisheye detection 1Floorplan SLAM 1Force-aware robot foundation model pretrained on 2,000 hours of human tactile-glove data 1Geometry-aware manipulation 1Grasping 1Grounding 1Humanoid Control 1Humanoid RL 1Humanoid Tool Use 1Humanoid control, generative modeling of policy weights 1Humanoid loco-manipulation 1Humanoid safety 1Humanoid whole-body control 1Humanoid whole-body training data from robot-specific video generation 1Imitation Learning 1JEPA World Models 1Lab automation 1Laboratory Manipulation 1Latent World Models 1Legged Manipulation 1LiDAR Security 1Lifelong RL 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 Optimization 1Preference Learning 1Quadruped locomotion 1Real-time VLA 1Real-to-sim 1Real-to-sim-to-real data generation for manipulation 1Reinforcement learning for industrial assembly 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 1Surgical robotics 1Tactile Exploration 1Tactile VLA 1Temporal manipulation 1Terrain traversability 1Test-time verification for vision-language-action policies 1Text-to-3D Policy 1Tool Co-Design 1Trajectory Correction 1Traversability 1Turning phone-recorded human demonstrations into per-robot post-training data by retargeting object motion 1Two Unitree G1 humanoids playing table-tennis doubles with learned collision-risk filtering 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 inference efficiency 1VLA manipulation 1VLA robustness 1VLA robustness benchmark 1Video world models 1Vision-language-action models without wrist cameras (learned foveation) 1Visual Generalization 1Visual Grounding 1Visual Reward Models 1Visuomotor Fusion 1Visuotactile manipulation 1Whole-body mobile manipulation and teleoperation 1World Models 1World models 1World-Action Models 1compliant humanoid whole-body control 1data engine converting egocentric human video into replayable bimanual dexterous robot demonstrations 1dexterous in-hand manipulation with learned world models 1efficient inference for vision-language-action robot policies 1humanoid learning from human video 1humanoid teleoperation with heavy unknown payloads 1humanoid whole-body manipulation 1large-scale tactile demonstration dataset and robot-free data collection 1open vision-language-action model with register-token memory 1post-training vision-language-action policies for industrial disassembly 1real-world reinforcement learning for robot policies 1robot foundation model training 1robot learning from human video 1tactile pretraining for vision-language-action models 1terrain-aware behavioral foundation model for humanoid whole-body control 1training-signal allocation for vision-language-action robot policies 1vision-language-action models 1world models for dexterous manipulation 1
난이도전체입문중급전문가
arXiv
Test-time verification for vision-language-action policies전문가

VeriVLA: 잠재 월드모델로 플로 기반 VLA의 행동을 실행 직전 검증하는 적응형 기법

Xueli Sun, Yuxiang Lu, Yantong Liu, Xianzhe Fan, Xi Chen, Zhe Liu, Hengshuang ZhaoThe University of Hong Kong

pi0.5 같은 로봇 AI 모델은 같은 장면에서도 샘플마다 조금씩 다른 동작을 내고 그중 일부는 실패한다. 홍콩대 연구진의 이 프리프린트는 어려운 순간에만 후보 동작을 여러 개 뽑아 작은 예측 모델로 가장 나은 것을 고르게 해 실로봇 과제 점수를 50.8%에서 65.5%로 올렸고, 검증 1회당 추가 시간은 약 0.3초였다.

VLA월드 모델
Physical Intelligence
논문 전문 읽기 (PDF)

주제별 논문

매니퓰레이션 8VLA 4World Action Models 5World-action model 3Aerial manipulation 3Dexterous manipulation 3Sim-to-Real Manipulation 3Social Navigation 3

논문은 arXiv 로봇 피드에서 가져옵니다. 요약이 아직 작성되지 않은 논문은 초록의 첫 부분을 보여줍니다.