Noticias e Investigación

arXiv:2608.25610v1 Announce Type: new Abstract: Robot policies are predominantly learned with classical parametric variants of imitation learning or RL, where training stores the agent's behavior exclusively in the policy's network parameters, putting a heavy burden on the representation learning algorithm. We propose a new navigation agent equipped with non-parametric memory which explicitly indexes prior steps leading to critical events. The advantages are twofold: first, it allows the policy to outsource some of its behavior into an explicit memory; second, it encourages a form of continual learning by allowing an agent to collect data from its testing episodes during deployment and therefore to better generalize to OOD situations. In the context of social navigation, we show that this improves the agent's capability to retain sparse, high-cost failures, such as human collisions. If the policy is trained in simulation, this also naturally addresses the sim-to-real gap, partially, by

arXiv:2608.25585v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models provide a versatile foundation for general robotic manipulation, yet they exhibit significant brittleness when confronted with novel task distributions. While In-Context Imitation Learning (ICIL) offers a training-free alternative, existing frameworks suffer from an adaptation bottleneck that hinders the effective translation of expert context to executable actions. This failure originates from superficial retrieval mechanisms and an inherent behavioral inertia that anchors the policy to its pre-trained priors. To address these limitations, we present RA-VLA, a retrieval-augmented VLA framework that integrates behavior-aligned context retrieval with a grounded execution pipeline. By enforcing faithful adherence to functional cues within a scalable architecture, RA-VLA facilitates seamless task adaptation while preserving inference efficiency. Our empirical evaluations across the LIBERO benchmark and a r

arXiv:2608.25572v1 Announce Type: new Abstract: Action-conditioned world models have become an important foundation for embodied prediction, planning, and synthetic data generation, but their errors under new task and scene distributions are often concentrated in localized spatiotemporal regions such as robot arms, manipulated objects, contact areas, and occluded objects. This paper presents ConfAL-WM, a confidence-guided active learning framework for post-training embodied world models. Built upon EVAC, we attach a lightweight confidence probe to UNet decoder features and predict dense confidence maps in the latent space. These maps are aggregated into task-, frame-, and patch-level scores, enabling both efficient data selection and localized training enhancement. Our pipeline first retrains the confidence probe and warms up EVAC with a small subset of target-domain data, then performs task-level prescreening to allocate sampling budgets, and finally applies selected-data retraining w

arXiv:2608.25547v1 Announce Type: new Abstract: To apply the techniques of embodied artificial intelligence to human-oid robots for complex manipulations, dexterous robotic hands are indispensable, which are restricted by the dexterity and tactile perception capability. In this work, we proposed a novel design of tendon-driven five-fingered hand with dis-tributed tactile perception. With a soft-rigid-hybrid structure employed, both compliance and operational force are endowed to the hand. Dual-modality tactile sensing elements are distributed on the distal and middle phalanges of all five fingers, enabling the simultaneous detection of static contact and dynamic force variations. Manipulation experiments, including counting gestures, finger-to-thumb pinching, object grasping, and bottle-grasp tactile recording, demonstrate the feasibility of the integrated actuation-perception system.

arXiv:2608.25509v1 Announce Type: new Abstract: Robotic welding is widely used in industrial manufacturing, where the welding torch is often connected to the generator through an external umbilical. With the increasing deployment of lightweight and collaborative robots, the dynamic influence of this umbilical can significantly affect the robot motion and the actuation forces. This paper proposes a constrained multibody dynamic model of a welding umbilical, represented as a serial chain of rigid bodies interconnected by passive joints with elastic and dissipative effects. Prescribed motions at the distal anchor point are introduced through holonomic kinematic constraints. The equations of motion are reduced by projecting the dynamics onto the subspace of admissible velocities, yielding an efficient formulation free of Lagrange multipliers. The reaction wrench exerted by the umbilical on the robot is explicitly recovered. A planar case study illustrates the approach.

arXiv:2608.25459v1 Announce Type: new Abstract: Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control (MPC) framework, leveraging both viability theory and data-driven methods. Obstacle avoidance is enforced through dynamically computed axis-aligned bounding boxes, providing formal safety guarantees without exhaustive offline reachability analysis. Numerical simulations on a fully actuated tilted hexarotor validate the approach, demonstrating successful navigation in cluttered environments with real-time computational performance.

arXiv:2608.25427v1 Announce Type: new Abstract: Resilient and robust odometry is crucial for autonomous systems operating in complex and dynamic environments. Existing odometry systems often struggle with severe sensory degradations and extreme conditions such as smoke, sandstorms, snow, or low-light conditions, threatening both the safety and functionality of robots. To address these challenges, we present Super Odometry, a sensor fusion framework that dynamically adapts to varying levels of environmental degradation. Super Odometry employs a hierarchical structure to integrate four core modules from lower-level to higher-level adaptability including adaptive feature selection, adaptive state direction selection, adaptive engine selection, and a novel learning- based inertial odometry. The inertial odometry, trained on over 100 hours of heterogeneous robotic platforms, captures comprehensive motion dynamics. Super Odometry elevates the inertial measurement unit (IMU) to equal importan

arXiv:2608.25405v1 Announce Type: new Abstract: Real-world humanoid tasks involve physical interaction with objects and humans, yet current controllers either reject external forces as disturbances or restrict compliance to limited body links while ignoring angular effects. We present LAC, a general whole-body controller that simultaneously realizes commanded Linear and Angular Compliance for wrenches applied to the upper body. First, we synthesize whole-body compliant responses into a large-scale augmented dataset. Sampled force and couple events are imposed on contact frames extracted from human interaction data. At each contact link, the external force and a virtual torque from the passively yielding kinematic chain drive a virtual admittance under the commanded stiffness. Subsequently, teacher-student reinforcement learning trains a single policy to track the compliant motions under external wrenches. Finally, extensive simulation and real-world experiments demonstrate whole-body c

arXiv:2608.25395v1 Announce Type: new Abstract: Recent vision-language-action models offer a path toward robots with broader repertoires than conventional task-specific systems. Construction deployment, however, requires a precise inventory of worker activities and the capabilities needed to execute them. We present TARCAT, an occupation-grounded taxonomy derived from 91 O*NET tasks across seven high-employment construction occupations and 30 instructional videos of physical work. TARCAT defines 41 action primitives in 12 groups and three classes and provides a mechanism for composing parameterized primitive sequences into reusable skills. This human-interpretable structure can organize demonstrations, specify robot requirements, and support coding agents that retrieve and extend skill libraries. We also demonstrate selected primitives on a DOBOT CR3 arm with a CRAFT hand. TARCAT thereby provides a common vocabulary for analyzing human work and developing general-purpose construction r

arXiv:2608.25366v1 Announce Type: new Abstract: In this paper, we propose RAEM, a robust autonomous exploration framework for quadruped robots operating in multi-floor environments. Most existing ground-robot exploration approaches rely on planar traversability representations, which cannot adequately represent the overlapping structures and cross-floor connectivity of multi-floor buildings. Although tomography-based representations provide effective traversability modeling for multi-floor navigation, maintaining a global tomography map incurs substantial computational overhead for online exploration with frequent replanning. Moreover, sparse and fragmented LiDAR observations in stairwells can degrade local traversability estimation, leading to irregular viewpoint placement and temporary topological disconnections. To address these challenges, RAEM adopts a hybrid local-global traversability representation, in which a local tomography map and an explicitly categorized local 3D grid map

arXiv:2608.25284v1 Announce Type: new Abstract: Physical human-robot collaboration requires a robot to provide assistance when human intention is clear while remaining compliant when several future motions are plausible. We present an adaptive stiffness framework based on generative action-chunk sampling. Conditioned on an RGB image and external joint-torque estimates, the policy samples multiple future action chunks from an observation-conditioned prior. Variation among the sampled action chunks is used to continuously adapt joint stiffness and damping. Greater variation makes the robot more compliant to facilitate human guidance, whereas lower variation provides firmer assistance. In a real-world collaborative transport task with four possible directions, the proposed method achieved an average success rate of 0.95, compared with 0.83 for a fixed-stiffness ablation and 0.69 for a deterministic baseline. Near direction determination, variation among the sampled action chunks increased

arXiv:2608.25196v1 Announce Type: new Abstract: Learning from demonstration (LfD) methods enable non-expert end users to teach robots novel skills without explicit programming. However most evaluations of the usability of LfD with non-experts has been conducted in controlled laboratory environments with a robotics experimenter present. In this work we identify non-expert end users' key barriers when teaching robots via demonstration without live robotics expert feedback in a home environment. In our human subjects experiment we support the non-expert end users through two forms of demonstrator guidance developed in prior work: pre-training and adaptive feedback. Towards the ecological validity of the evaluation, we conduct this experimentation over multiple visits, with a population of care providers. Finally, we propose to open source the resulting LfD dataset of care providers teaching a robot assistive tasks over multiple visits to a home environment.

arXiv:2608.25192v1 Announce Type: new Abstract: We introduce CRESSim-Neo, a batched GPU simulation engine for surgical robotics and robot learning. CRESSim-Neo combines position-based simulation of rigid bodies, deformable tissues, fluids, and strands with batched rendering, surgery-specific sensing, and a GPU-resident data pipeline. The engine supports applications including tissue manipulation, fluid suction, suturing, cable-driven robots, and ultrasound image synthesis. Direct access to physics and rendering buffers enables GPU-resident robot learning and zero-copy PyTorch integration using DLPack. We demonstrate CRESSim-Neo across rigid-body, deformable-body, and fluid simulation tasks, including vision-based and surgical robot-learning scenarios. On an NVIDIA RTX 4090, the engine achieves up to 2.03 million environment steps per second for 8192 parallel CartPole environments, and scales to batched surgical scenarios involving tissue deformation, fluid interaction, and ultrasound s

arXiv:2608.25171v1 Announce Type: new Abstract: Soft pneumatic actuators offer inherent compliance and safe interaction but remain difficult to model and control because of their highly nonlinear, distributed dynamics. We present a control-oriented data-driven modeling and control framework that decomposes actuator behavior into a nonlinear static equilibrium model and a linear residual dynamics model identified using Extended Dynamic Mode Decomposition with control (EDMDc). This representation enables feedforward compensation, task-space feedback control, and local closed-loop stability analysis through an augmented linear model. Experiments achieve approximately 1 mm root mean square error (RMSE) during low-speed (approximately 10 mm/s) trajectory tracking and below 10 mm RMSE at higher speeds (approximately 100 mm/s). The framework further achieves stable tracking of highly dynamic user-generated references with peak accelerations exceeding 25 m/s^2 while simultaneously performing r

arXiv:2608.25162v1 Announce Type: new Abstract: Robotic object packing has been a core challenge for robotic deployment in logistics, industry, etc., due to the curse of dimensionality in combinatorial search and the difficulty of dealing with dynamic and contact constraints for irregularly shaped objects. Current heuristic and learning-based methods assume a limited spatial discretization resolution of space, and computation becomes extremely inefficient as discretization accuracy increases. In this work, we eliminate these assumptions by introducing SOPO-CD, a sequential optimization framework that frames object placement as a differentiable nonlinear optimization problem in a decomposed free space. We prove that placing a convex object inside a convex hull is essentially constraining the vertices of the object inside the convex hull. The constraints and their derivatives can be written in closed form and calculated within $200$ns. We implement a custom solver that achieves optimal p