Noticias e Investigación

arXiv:2609.25994v1 Announce Type: new Abstract: Providing safe and effective mobility assistance plays a crucial role in restoring independence and enhancing the quality of life for individuals with motor impairments. In this context, robotic walking assistive devices have recently emerged as promising solutions to provide physically compliant interaction while ensuring user safety and support. This paper presents a novel control framework for an omnidirectional Walking Assistive Robot (I-WANDER) that integrates a Control Barrier Function (CBF) formulation into a Model Predictive Control (MPC) scheme to explicitly enforce collision-avoidance safety constraints while optimizing for energy efficiency and smooth human-robot collaboration. The method was experimentally evaluated with 12 healthy participants performing two different walking tasks using both the proposed CBF-based MPC controller (CB-MPC) and a variable admittance controller (AC). The first task involved structured navigation

arXiv:2609.25969v1 Announce Type: new Abstract: Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations. We present LOOP (Latent-recurrent Occupancy rollOut Policy), a local avoidance policy that connects sparse waypoint guidance to a frozen locomotion controller at 50 Hz. From occupancy and ego-velocity histories, a recurrent predictor forecasts future occupancy over a 1 s horizon by warping the current map with learned flow and visibility gates. These maps guide velocity selection through map-derived features and geometric risk estimates, providing an explicit interface for inspecting and replacing predictions. In encounter-synchronised Isaac Lab evaluations, LOOP achieves 57.1% head-on success at obstacle speeds of 2.5-3.2 m/s, exceeding a retrained reactive baseline by 8.2 percentage points. Comparisons with a rollout-free BEV policy show smaller, scenario-dependent gains from the prediction branch, including impro

arXiv:2609.25961v1 Announce Type: new Abstract: Generative visual models offer a foundation for learning representations of physical dynamics, yet their extension to continuous control raises a fundamental question: do visual prediction and action generation require separate computational pathways? Existing approaches usually introduce trainable action heads or separate action experts to bridge low-dimensional states and high-dimensional visual representations. In this work, we explore whether the visual backbone's existing capacity can also support control when actions are expressed in a compatible representation. Thus, we introduce PatchWAM (Patch World-Action Model), which treats continuous actions as another type of patch through a fixed mapping called Action-as-Patch. This allows a single model to predict both how the robot should move and what the scene may look like afterward. Visual prediction and action generation become parts of the same generative process, without a dedicate

arXiv:2609.25942v1 Announce Type: new Abstract: Robots operating around pedestrians often reason over a finite set of predicted human futures. Repeated online updates can concentrate this limited prediction budget on dominant destinations and leave plausible alternatives underrepresented or absent, removing those alternatives from the finite representation available to downstream decision making. We introduce Destination Support Restoration (DSR), a causal post-selection operator that repairs destination support without retraining the host predictor or increasing the maintained set size. At a repair step, DSR evaluates a temporary destination-stratified candidate bank from the observed prefix, converts candidate evidence into integer target counts, protects representatives of active modes, and reallocates redundant surplus hypotheses to deficient modes. The maintained and returned sets retain exactly $N$ hypotheses, and DSR replaces at most $\lceil\rho N\rceil$ entries. Protected repre

arXiv:2609.25932v1 Announce Type: new Abstract: 2D point cloud registration arises in laser odometry and Simultaneous Localization and Mapping (SLAM) for mobile robots. Iterative Closest Point (ICP) is one of the most widely used approaches. Still, its iterative procedure recomputes correspondences via nearest-neighbor search at every iteration, whereas correspondence-free alternatives focus on scan-to-map alignment. This paper proposes a 2D point cloud registration approach based on unsigned distance maps, precomputing the Euclidean distance to the nearest reference point, along with its spatial derivatives, over a discrete grid, replacing the per-iteration search with O(1) lookups. Moreover, point-to-point and point-to-plane error formulations are derived on the SE(2) manifold and solved via Gauss-Newton optimization. On a synthetic benchmark and the real-world IILABS 3D dataset, the precomputed point-to-point variant outperforms its analytical counterparts, achieving competitive las

arXiv:2609.25917v1 Announce Type: new Abstract: In this work, we propose a communication-free framework for vision-based formation control of fully actuated underwater robots subject to sensing constraints, collision-avoidance requirements, and input saturations. Recentered barrier Lyapunov functions encode sensing and collision-avoidance constraints, while command-filtered backstepping extends the design to the second-order vehicle dynamics. The resulting control objective is enforced through a quadratic program that explicitly accounts for actuator limits. Conservative sensing domains provide margins from the physical limits and are adaptively relaxed when necessary, allowing temporary violation of the conservative bounds. The proposed approach is validated through realistic Software-in-the-Loop (SITL) simulations in Gazebo.

arXiv:2609.25905v1 Announce Type: new Abstract: This paper presents a modular control barrier function (CBF) framework for safe free-flying robotic spacecraft operations during tumbling target capture. Motivated by latest ESA guidelines for safe close proximity operations, safety zones and requirements are translated into dedicated CBFs. The 13-DoF system is decomposed into translational, attitude, and robotic subsystems, each equipped with a safety filter that minimally modifies nominal control inputs in a lightweight quadratic program. The filters enforce a conical approach corridor, collision avoidance zone, attitude line-of-sight pointing, angular velocity limits, robotic joint limits, link-base collision avoidance, and actuator constraints. Dynamic coupling between subsystems is handled by treating upstream safe control commands as known interconnection inputs in the downstream safety filters, preserving modularity while supporting system-level safety. The framework is validated i

arXiv:2609.25898v1 Announce Type: new Abstract: Aerial-ground cooperation requires real-time UAV--UGV relative-state information. Instead of maintaining global estimates for both robots, direct control in a UGV-attached non-inertial frame avoids reliance on global localization. Vision-based relative pose estimation with a passive marker offers a low-cost and effective solution. However, a fixed camera may lose sight of the moving UGV when the required UAV attitude conflicts with the field-of-view (FOV) constraint. To address this, we propose COPA, a robust active-perception framework for global-state-free aerial-ground cooperation. We use a single-axis gimbal to decouple the camera optical axis from the UAV pitch attitude. We derive an active-perception model that relates UAV motion, gimbal angle, and UGV motion to the target image-plane state.A Temporal Convolutional Network (TCN) predicts short-horizon UGV acceleration and angular velocity from recent motion history without global-st

arXiv:2609.25887v1 Announce Type: new Abstract: How should a robot learn to manipulate objects so fragile that sub-Newton contact forces can cause irreversible damage? Existing visuo-tactile policy learning typically treats tactile sensing as an additional policy input. In direct-contact force-sensitive manipulation, however, the bottleneck can arise earlier, during data collection: manual gripper control is too delayed and coarse-grained to reliably maintain the narrow force range required for stable grasping. We therefore use a deterministic 25 Hz tactile reflex controller as a collection-time teacher, producing demonstrations with controller-shaped grasping behavior for tactile-free policy learning. On Action Chunking with Transformers (ACT), policies trained from reflex-shaped demonstrations recover the teacher's grasping profile and achieve 95% stable grasps on the nominal plastic-cup task, substantially outperforming visually screened manual demonstrations. The same intervention

arXiv:2609.25813v1 Announce Type: new Abstract: This short report documents our entry to the COMFORT Localization Benchmark (IROS 2026), evaluated on the GrandTour dataset recorded with the Boxi payload. It extends MOLA-LO into a LiDAR-inertial system that also ingests IMU and, optionally, legged kinematic odometry. We describe the architecture, the streams consumed, the local protocol that selected the submitted configuration, and the measurements backing our real-time claim.

arXiv:2609.25785v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have emerged as general-purpose robotic manipulation policies. However, in dexterous hand manipulation, contact forces are typically provided as separate states or force-specific representations, making it difficult to explicitly represent the spatial correspondence between force and their corresponding visual locations. In this work, we propose VisForce, which visually grounds the current and desired forces at their corresponding fingertip locations. VisForce renders current and desired visual force cues on the current wrist image and a task-specific goal image, and combines the two representations through goal-conditioned cross-attention to generate force-aware actions. We evaluate VisForce using a real UR10 robot equipped with an RH56F1 dexterous hand through force-conditioned grasping and three multi-stage manipulation tasks. In force-conditioned grasping experiments, VisForce exhibited a consistent

arXiv:2609.25756v1 Announce Type: new Abstract: Precision medical robotics demands adaptive decision-making under strict safety, interpretability, and execution constraints. Although recent Vision-Language-Action (VLA) models show strong multimodal reasoning ability, their continuous action generation paradigm is not well suited for precision medical tasks, where reliable closed-loop operation may also depend on non-action system function calls. To address this gap, we propose MedVLA, a hierarchical framework that couples high-level multimodal reasoning with low-level function-constrained execution. We further introduce a scalable multi-agent pipeline to generate skill-oriented chain-of-thought(CoT) data for structured training. Built on different multimodal large-model backbones, MedVLA consistently improves performance after fine-tuning, demonstrating the effectiveness of the proposed framework across model variants. Under identical initial conditions, we perform 100 closed-loop flex

arXiv:2609.25754v1 Announce Type: new Abstract: Humanoid motion tracking policies rely on dense frame-by-frame references, limiting their use as high-level motion controllers for planning and interactive motion generation. We study \emph{Sparse Timed Keyframe Motion Tracking}, where a policy receives only sparse future keyframes and their desired arrival times, and must execute stable whole-body motions that reach successive goals. We propose \textbf{PLAT}, a three-stage sparse timed keyframe motion tracking policy learning framework with \textbf{P}rivileged \textbf{LA}tent \textbf{T}ransition learning. PLAT bridges dense motion tracking and sparse goal-conditioned control by exploiting dense goal sequences as privileged supervision during training while requiring only sparse timed keyframe commands at deployment. A pretrained dense tracking expert first provides robust motion priors. A privileged latent prior is then learned through DAgger-style imitation, followed by latent residual

arXiv:2609.25750v1 Announce Type: new Abstract: Manipulation requires both broad scene awareness and detailed local feedback, yet conventional camera rigs provide them through separate front and wrist cameras. We present Fisheye-VLA, a visual interface that brings these capabilities together using a single passive fisheye. A global view preserves the workspace, while local perspective crops direct detail toward the interaction. The key design question is where this local visual budget should go. We answer it through a controlled re-rendering study, comparing alternative crop directions on the same recorded observations. The study finds that end-effector-centered views capture most of the estimated benefit of a much larger candidate pool, motivating a compact allocation around both hands. Our interface uses calibrated end-effector projection and motion lead to track the crops, while a shared ray encoding preserves their spatial meaning as they move. Integrated with a pretrained VLA, it

arXiv:2609.25746v1 Announce Type: new Abstract: ICP-based 3D Gaussian Splatting (3DGS) SLAM tracks in real time by registering incoming frames against map Gaussians, using each primitive's covariance for both rendering and registration. These two uses place conflicting demands on one covariance. The mapper shapes it to minimize photometric error, often flattening it against surfaces, while robust registration typically benefits from measurement uncertainty. We propose a dual-covariance parameterization. Each Gaussian keeps a single mean but holds two covariances: a rendering covariance optimized by the mapper, and a tracking covariance derived from an RGB-D sensor noise model. We further use the tracking covariances as Gaussian anchors for image corners, providing constraints in directions where depth geometry is weak. We evaluate on TUM RGB-D, ScanNet, Replica, and two outdoor sequences recorded with a RealSense D435i on wheeled and handheld platforms. We achieve robust tracking perfo