Noticias e Investigación

arXiv:2610.04609v1 Announce Type: new Abstract: Hierarchical control architectures are widely used to decompose complex control problems into interacting control levels and are particularly important in robotics, where planning, whole-body motion, and lower-level control must be coordinated across different levels of abstraction and time scales. Their overall closed-loop performance, however, depends strongly on parameters distributed across the hierarchy, such that tuning controllers on different levels independently may neglect relevant cross-layer interactions. We propose a contextual Bayesian optimization framework for joint parameter learning in hierarchical control systems. Rather than modeling closed-loop performance only as a scalar black-box function, we retain separate observations of task performance, realization quality, and control effort. A correlated multi-output Gaussian process models these performance components, while their known aggregation into the overall closed-l

arXiv:2610.04607v1 Announce Type: new Abstract: Robots need to anticipate how their actions will change the world, since manipulation success hinges on the resulting contacts and object motions. However, existing Vision-Language-Action (VLA) policies that predict future observations from shared features leave the forecast decoupled from the actions the policy will actually execute, and impose no physical constraints on how the scene may evolve. We introduce ForeAct3D, a framework for policy-grounded future world modeling within VLA policies. Learnable geometric queries decode depth, semantic segmentation, and camera pose from the policy representation into current and future semantic 3D scene states, and the future queries are conditioned on the policy-generated action chunk to ground the forecast in the planned interaction. A physical-consistency closure relates the two states through background staticity and instance-level rigidity, and anchors the wrist-camera pose to end-effector k

arXiv:2610.04565v1 Announce Type: new Abstract: Engaging K-12 students in authentic scientific research remains a significant challenge, particularly at the intersection of environmental science and robotics. We introduce the Jar Jar ROV, a low-cost, open-source Remotely Operated Vehicle (ROV) platform designed for citizen science-based water quality monitoring by middle school students. This paper presents the design of the platform and the results of a large-scale deployment with over 100 students across a US state who built, programmed, and deployed the ROVs in local lakes. The educational framework yielded high student engagement in hands-on activities, with ROV construction earning a perfect average score from mentors. Scientifically, the program established a grassroots monitoring network, generating nearly eleven thousand validated measurements of temperature, pH, dissolved oxygen, and turbidity. However, our evaluation identified a critical "engagement gap," with student intere

arXiv:2610.04551v1 Announce Type: new Abstract: Multiple LiDAR-inertial odometry methods have been widely applied in robotic applications owing to their enhanced accuracy and reliability. However, adopting multiple LiDAR systems can be challenging due to the discrepancies in measurement noise across different LiDARs. Existing methods have typically overlooked the noise discrepancies, which can significantly affect accuracy. In this paper, we propose Noise-aware Multiple LiDAR-Inertial Odometry (NM-LIO) that addresses the noise discrepancies. We integrate a noise model to quantify the measurement noise of each LiDAR. Additionally, we estimate the uncertainty of the residuals based on the measurement noise, allowing the measurement model to capture the noise discrepancies. Our proposed method is evaluated on a public multiple LiDAR dataset and compared with state-of-the-art methods. The experimental results demonstrate that the proposed method can accurately estimate the odometry in vari

arXiv:2610.04540v1 Announce Type: new Abstract: We introduce DreamFormer, a model-based agent that acquires language-conditioned, multi-task skills by imitating expert demonstrations within the latent imagination of a learned world model. DreamFormer first learns a task-agnostic Transformer world model from unstructured play data, then acquires task-specific behaviors by optimizing an intrinsic reward that aligns agent-generated rollouts with expert demonstrations in latent space. Since the policy is trained on-policy inside imagination, it is exposed to its own errors during training, mitigating the covariate shift inherent to offline behavioral cloning. To make long-horizon imagination affordable, DreamFormer encodes a high-resolution multi-view robotic observation into a single input token, avoiding both spatial downsampling and the multi-token representations used by prior Transformer world models. On the long-horizon CALVIN benchmark, DreamFormer outperforms LUMOS, the comparable

arXiv:2610.04536v1 Announce Type: new Abstract: Underwater manipulation couples visual decisions, contact forces and a thruster-controlled floating base. We introduce WasserMan, to our knowledge the first multi-task simulation benchmark for visuomotor learning of floating-base underwater contact manipulation. It provides ten expert-solvable tasks, two vehicle-arm platforms, a bimanual configuration and underwater dynamics. Nine tasks have learned-policy evaluations. We compare ACT, diffusion policies (DP) and behavioral cloning on six tasks, with three training runs and equal sampled-window budgets. Pretrained SmolVLA adds evaluations on three tasks. In the tested settings, removing integral action can prevent completion, while changing action interfaces can reduce learned-policy success despite successful expert replay. Currents produce task-dependent changes in completion and actuation effort. Versioned tasks, demonstrations and per-episode evidence support a protocol separating expe

arXiv:2610.04406v1 Announce Type: new Abstract: Safe robot control often requires combining long-horizon performance optimization with hard state and input constraints, but existing approaches tend to address this tradeoff partially. Sampling-based model predictive control (MPC) methods such as model predictive path integral (MPPI) are effective in handling nonlinear and nonconvex environments, yet their finite-sample rollouts and unconstrained weighted-average update can return an unsafe control. Deterministic nonlinear MPC can explicitly incorporate constraints, but its real-time safety and performance depends strongly on warm starts and local convergence. Hamilton--Jacobi reachability (HJR) provides rigorous safety certificates, but offline value-function computation remains practical only for reduced-order models. We propose ReSQ-MPPI, a reachability-informed generation--refinement architecture that combines these complementary strengths. An HJR value function computed offline for

arXiv:2610.04391v1 Announce Type: new Abstract: Vision-language-action policies may predict a transferable manipulation strategy yet fail to realize it reliably on the encountered object: objects compatible with the same grasp differ in geometry and compliance, and visual feedback degrades under closure occlusion. AgenticTactileVLA is presented as an execution-time supervisor that shifts part of object-specific adaptation from prediction to physical interaction. A fixed VLA provides the approach and hand targets; the supervisor decides whether to remain transparent, refine finger flexion, retain or release the corrected configuration, return control to the VLA for retry, or select a compliant hand-control regime. It uses finger-position and motor-effort feedback as proprioceptive contact evidence and requires neither tactile sensors nor VLA retraining. On a Unitree G1 with a BrainCo Revo2 hand, a randomized matched-block evaluation on five objects held out from VLA training yields 61.3

arXiv:2610.04372v1 Announce Type: new Abstract: Transferring visual representations pretrained on human videos to robot manipulation requires learning reliable correspondences between human and robot demonstrations. However, paired demonstrations can differ in execution rate and in the proportion of non-key frames that do not directly reflect task progress. Frames at the same relative timestamp may therefore represent different task stages, which can cause correspondence learning to fail. To address these issues, we propose Frame-Level Temporal Alignment (FLTA), a framework that uses two temporal priors to adapt visual encoders pretrained on human videos for robot manipulation. It learns shared task-progress representations without frame-level correspondence annotations, allowing frames at different relative temporal positions to match. A global progress prior combines normalized temporal positions with visual similarity to construct a soft correspondence target. A local temporal order

arXiv:2610.04366v1 Announce Type: new Abstract: Reliable safety evaluation of autonomous vehicles (AVs) is essential to improving road safety, yet it depends critically on realistic simulation of rare crashes. Existing crash scenario generation methods can increase collision occurrence, but often fail to realistically reproduce how crashes evolve before impact or the distribution of crash types observed in the real world. Here, we present CrashSim, a human behavior-informed crash scenario generation framework that uses real-world crash priors to guide generative multi-agent traffic simulation for more reliable AV safety evaluation. These priors capture how real-world crashes evolve before impact and how different crash types are distributed, allowing limited crash data to guide realistic and scalable scenario generation across naturalistic driving contexts. We evaluate CrashSim against competing methods, showing that it more closely reproduces real-world pre-impact behavior, collision

arXiv:2610.04363v1 Announce Type: new Abstract: Learning contact-rich dexterous manipulation from human demonstrations provides a scalable source of interaction data, yet transferring such skills to robots remains challenging due to unreliable human--robot correspondence. Existing human-to-robot transfer methods typically rely on visual appearance or motion similarity, which may associate similar motions with different contact states and force patterns. Tactile dynamics provide interaction-aware cues to distinguish manipulation processes with similar motions but different contact states. We introduce tactile-guided optimal transport (TacOT), a framework for human-to-robot contact-rich manipulation. TacOT leverages action--tactile dynamic time warping to identify human--robot demonstration correspondences with consistent interaction dynamics and uses these correspondences to guide soft optimal transport alignment in a shared policy representation space. This enables human demonstrations

arXiv:2610.04342v1 Announce Type: new Abstract: Inter-robot communication is a key enabling technology in cooperative robotics applications. While wireless communication is ubiquitous, simple, and effective, it has inherent limitations: the receiving robot cannot easily localise the source of an incoming signal, clock synchronisation is challenging, and signals are broadcast to all nearby devices rather than targeted recipients. Optical communication provides a complementary channel that is inherently directional and spatially localised, directly addressing these limitations. Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with high temporal resolution, high dynamic range, and low latency, making them well-suited as receivers for high-rate optical communication in cooperative robotic systems. In this paper, we propose the Asynchronous Tracking and Optical Communication (ATOC) system, which integrates LED smart-beacon modulation, event-ba

arXiv:2610.04266v1 Announce Type: new Abstract: This paper presents a conformal-seeded hybrid strategy for solving inverse kinematics of offset, redundant 7-DoF robot arms of the humanoid class. Analytical inverse kinematics (AIK) provides closed-form solutions with very low computational cost. However, for offset kinematic structures, the exact closed-form solution is generally unavailable, and practical AIK must rely on an approximate or simplified kinematic model. In contrast, numerical inverse kinematics (NIK) can achieve high-precision solutions on the full kinematic model. However, its convergence is highly sensitive to initialization. To overcome these limitations, we propose a two-stage hybrid inverse kinematics framework with conformal-calibrated seed selection. First, an approximate analytical model efficiently enumerates a finite set of candidate joint solutions. Second, we rank these candidates using a lightweight learned predictor of post-refinement difficulty, wrapped by

arXiv:2610.04255v1 Announce Type: new Abstract: Robotic manipulation often requires inferring task-relevant states from past interactions when the current observation alone is insufficient to determine the appropriate action. Despite progress in benchmarking memory-augmented vision-language-action (VLA) models, application-oriented tasks requiring history-dependent semantic inference remain underrepresented. We introduce GiT (Grounded in Time), a dataset and benchmark for grounding manipulation decisions in past events across biolaboratory, household, and industrial scenarios. It includes real-robot and Universal Manipulation Interface (UMI) style demonstrations covering 18 bimanual tasks, together with simulation data and a ManiSkill-based evaluation suite covering nine tasks. Fine-grained subtask annotations and annotated counterfactual task pairs, in which similar current observations require different actions depending on prior events, support policy learning and targeted evaluatio

arXiv:2610.04240v1 Announce Type: new Abstract: For ground robots operating in outdoor environments, understanding the properties of the underlying terrain is essential for ensuring reliable operation. In most perception-based studies, this problem is formulated as categorical classification with a fixed number of classes defined during training. We propose an approach that enables new surface classes to be added as trainable vectors, which can subsequently be used to address higher-level tasks. By employing a learning paradigm based on predicting the robot's next state in time and using attention blocks, we improved classification accuracy to 98.56% on the Belyaev-Kushnarev dataset and 94.8% on BorealTC.