Noticias e Investigación

arXiv:2610.34740v1 Announce Type: new Abstract: Humanoid robots are moving from laboratory platforms toward connected fleets that share workspaces, infrastructure, tasks, and knowledge with other robots and humans. As deployments grow, the operation and improvement of each humanoid depend on information exchanged across the network. However, existing research has largely studied humanoids as individual systems. This survey examines networked humanoid intelligence through four functions of information exchange: communication, coordination, collaboration, and social intelligence with human interaction. We first establish the foundations of networked humanoid systems, define the question addressed by each function, and connect them through a common factory scenario. We review the literature along six dimensions: interaction architecture, exchanged information, physical coupling, operating timescale, system scale, and embodiment. We separate results obtained with physical and simulated hum

arXiv:2610.34717v1 Announce Type: new Abstract: Vision--language--action (VLA) models increasingly run on edge devices aboard robots, where inference latency constrains closed-loop robot control. However, it remains unclear how to design VLA models, their inference software and edge hardware so that robots can run VLA inference in real time. Most VLA models report only task success, while prior studies cover limited action-generation strategies, divide inference into at most three stages, and lack comparisons of inference optimizations on the same models.benchmarking 18 open VLA models across released and alternative backends on NVIDIA Jetson AGX Thor and AMD Ryzen AI Max+ PRO 395, with a seven-stage inference breakdown. Our study reveals three insights. First, action-generation strategy matters more than model size. It dominates 14 of 19 Jetson configurations, latency varies by $82\times$ on Jetson and $157\times$ on AMD, and parameter count explains at most 15% of latency variance. M

arXiv:2610.34708v1 Announce Type: new Abstract: This study compares two implemented intra-aisle robotic-picking configurations through discrete-event simulation. Without an onboard tote lift, two level-captive shuttles serve the two tested levels; with the lift, one shuttle remains on its horizontal level and its onboard mechanism moves the order tote to allow picks from the adjacent upper level. Thirty configuration-task-size experiments (n = 1-15 locations; ten replications each) yield 300 replication-level cycle-time observations. Two-sided Welch tests are applied to the replication means, with Holm adjustment across the 15 comparisons. The onboard-tote-lift configuration has longer mean cycle time at all tested task sizes. At n = 15, the means are 299.477 and 333.231 s/cycle, respectively: a 33.753 s increase (11.27%). The corresponding cycle-time-derived item rates are 180.314 and 162.050 items/h (-10.13%). These rates are calculated as 3600n divided by the scenario-mean cycle tim

arXiv:2610.34674v1 Announce Type: new Abstract: Safe household navigation requires robots to regulate clearance and speed according to what an obstacle is and how close it is, without unnecessary conservatism. Yet existing evaluations do not test whether semantic safety distinctions are reflected in continuous motion. To that end, we introduce OSMA-Bench, an Obstacle-Conditioned Safe Motion Adaptation Benchmark built on spatially matched scenario sets that differ only in obstacle type. We also propose the \emph{Semantic Sensitivity Index} (SSI), which measures whether clearance and distance-dependent speed and smoothness follow the caution ordering of obstacles. Evaluating VLM-based and vision-language-action (VLA) policies on the benchmark, we find that neither consistently adapts its motion to obstacle safety, even with explicit safety prompts. Our analysis shows that the policies can correctly distinguish obstacles by safety relevance but fail to reflect this distinction in the moti

arXiv:2610.34650v1 Announce Type: new Abstract: Assistive agents in shared-control settings face a dual challenge: acting proactively to align with the human's intentions while remaining legible enough for the human to comprehend and fluently respond in real time. We present Dream2Assist, a model-based reinforcement learning framework for tightly-coupled shared decision making that addresses both sides of this challenge. Our approach extends a recurrent state-space world model with intent inference, enabling an assistive policy trained via fictitious co-play to anticipate and support discrete human objectives without overriding human agency. Beyond the computational framework, we describe the full deployment pipeline needed to translate a world-model-based policy into a safe, human-centered system in a resource-efficient way. Crucially, we address the sim-to-real-human gap via policy down-selection and reward restructuring within an iterative human-machine interface design. We validate

arXiv:2610.34649v1 Announce Type: new Abstract: Recent advances in vision-language-action (VLA) and world-action models (WAMs) have significantly improved robotic manipulation, yet deploying robots in the open world demands a higher level of autonomy beyond executing predefined tasks. Robot agents offer a promising paradigm for this transition, integrating task discovery, contextual reasoning, physical execution, and adaptive recovery into a closed interaction loop. However, existing benchmarks largely evaluate isolated capabilities, failing to capture the complexity of open-world robot autonomy. We introduce RobotAgentBench (RAB), a comprehensive benchmark for evaluating robot agents in realistic, open-world household environments. Through an agent-assisted, human-in-the-loop real-to-sim pipeline, RAB constructs 50 diverse household layouts with interactive objects and physically grounded tasks, encompassing 90 atomic tasks, 18 short-horizon tasks, 8 long-horizon tasks, and 4 open-end

arXiv:2610.34593v1 Announce Type: new Abstract: World Action Models (WAMs) combine future-video prediction with robot action learning, yet improvements in task success alone do not reveal how predictive supervision manifests in execution behavior or whether its benefits persist under task and environmental shifts. We conduct controlled future-video prediction loss ablations within FastWAM and OpenWAM, keeping model architecture, initialization, robot training data, and training steps fixed within each model family. Under clean conditions on seen tasks, predictive supervision increases success rates by 24.38 and 72.91 percentage points, respectively. Trajectory clustering further reveals higher success rates within several coarse trajectory clusters, including cases where cluster frequencies change little, indicating that the gains are not solely reflected in changes in the prevalence of trajectory patterns. However, these benefits do not consistently persist under distribution shifts:

arXiv:2610.34583v1 Announce Type: new Abstract: A robot searching for the source of an odor must eventually answer a deceptively hard question: have I arrived? Near the source, concentration gradients flatten, turbulence makes the signal intermittent, and a small robot often lacks the positional accuracy to map the plume. Here, we describe a lightweight remedy inspired by a World War II statistics conundrum: the German tank problem. To approximate enemy armament production, Allied analysts developed an estimator based on serial numbers from captured tanks. Analogously, we use the same procedure over sampled chemical sensor readings from a robot to create estimates for the peak concentration of an odor plume, and therefore the odor's source. Treating each sensor reading as an observation, our unbiased estimator needs only a running maximum and a sample counter. An exact confidence bound turns both numbers into a principled rule that the robot or UAV can use to determine whether to keep

arXiv:2610.34534v1 Announce Type: new Abstract: Social robots must coordinate speech and movement while interpreting multimodal human input. We present a multimodal framework that integrates speech, vision, and touch to generate contextually appropriate robot speech and movement. We evaluated the framework in virtual reality with 18 participants across five social interaction scenarios, comparing its performance against a human-teleoperated baseline. Although participants rated the autonomous system above the neutral midpoint for both naturalness and social appropriateness, the teleoperated baseline received significantly higher ratings on both measures. Behavioral coding and qualitative feedback revealed that conversational timing, clarification of ambiguous requests, and spatial coordination were important factors contributing to this performance gap. These findings highlight key challenges in developing autonomous robots capable of natural, multimodal social interaction.

arXiv:2610.34527v2 Announce Type: replace Abstract: We introduce LLM4Robot-Bench, a hierarchical, matched Sim-Real benchmark for evaluating physical interaction capabilities in contact-rich manipulation. Its 16 household tasks span three cumulative levels: contact selection and geometric alignment (L1), force regulation within sustained contact (L2), and coordinated contact reconfiguration and force regulation (L3). Each task is instantiated in physically and visually matched simulated and real-world environments, with shared task definitions and success criteria. We evaluate GPT-6 Astra zero-shot with three trials per task in each environment. Real-world success rates decline from 80.0% at L1 to 47.6% at L2 and 0.0% at L3, with corresponding simulation rates of 66.7%, 47.6%, and 0.0%. Ten of the 16 tasks have identical success counts across environments; the remaining six differ by one success out of three trials. Across both environments, recurring difficulties in spatial reasoning,

arXiv:2610.34519v1 Announce Type: new Abstract: Vision-language-action (VLA) models are increasingly used for robot manipulation because they map camera images and a language instruction directly to actions. Robots that cannot be tethered to a workstation, such as mobile manipulators and humanoids, must run them on onboard embedded boards, where the prefill latency of the language backbone grows with the hundreds of visual tokens processed at every control step. To meet real-time limits, training-free accelerators recompute only a subset of the visual tokens and skip the rest, either by pruning them or by reusing their cached key-value (KV) states. The two options save nearly the same computation, yet existing methods apply only one of them to every skipped token. Through a token-level diagnostic, we show that which option keeps the action closer to full recomputation depends on the token's drift, the change in its shallow-layer value since its cache was computed. On both backbones tes

arXiv:2610.34453v1 Announce Type: new Abstract: Large-scale vision, language, and video pretraining has substantially improved the perception and generalization capabilities of robotic manipulation models, but action generation for complex dexterous manipulation remains constrained by the scarcity of robot demonstrations. Limited robot demonstrations must be used to learn both action representations and task-conditioned action distributions, making it difficult to adequately learn action representations and, in turn, limiting the ability of downstream generative models to generate complex dexterous actions. To address this limitation, we propose ARPG (Action Representation Pretraining and Generation), which explicitly separates action representation learning from action generation: we first pretrain an action representation encoder on large-scale human manipulation data. We then freeze the encoder and train a compact generative backbone (130M parameters) to learn task-conditioned actio

arXiv:2610.34452v1 Announce Type: new Abstract: Simulation enables robot-learning experiments at scale, but acquiring physics-informed digital twins often requires human manipulation and manual annotation of recorded interactions. To reduce this reliance on human effort, we present AuRA, a system that automates robot interaction and data preparation for digital-twin reconstruction. AuRA combines execution-aware grasp selection, gripper-motion measurements derived from robot states, and registered pre-interaction geometry and appearance priors. These choices enable autonomous collection, avoid reliance on visual gripper tracking, and recover object information obscured by the robot. Across 13 deformable objects, AuRA reduces active human labor and wall-clock collection time per successfully reconstructed asset by 88.5% and 55.4%, respectively. Relative to the human-collected PhysTwin baseline, AuRA improves seven of nine metrics for future prediction under known gripper motion, includin

arXiv:2610.34370v1 Announce Type: new Abstract: In this paper, we propose ThinkLocoManip, an agentic harness for legged loco-manipulation designed to tackle complex, long-horizon tasks in large-scale environments. Existing approaches typically follow either direct action generation or a plan-then-act paradigm, both of which can struggle with the generalization and error-recovery capabilities required for extended task execution. In contrast, ThinkLocoManip adopts an interleaved reasoning-and-acting paradigm, allowing the agent to continuously reason about its current state, execute actions, observe their outcomes, and adapt its strategy accordingly. Building on this paradigm, our agentic harness orchestrates a suite of specialized tools for perception, navigation, manipulation, and locomotion, enabling flexible composition of heterogeneous capabilities. Unlike existing robotic agentic harnesses, ThinkLocoManip explicitly incorporates locomotion as a tool domain for agent reasoning and

arXiv:2610.34356v1 Announce Type: new Abstract: Scaling vision-language-action (VLA) models is constrained by scarce action-labeled demonstrations and incompatible control spaces across robot embodiments. We present RynnVLA-Latent, a framework that turns heterogeneous interaction videos into scalable supervision for robot policy pretraining. At its core, RynnLAM learns continuous, 3D-grounded latent actions from visual transitions without requiring native robot controls. By combining residual future-feature prediction, camera-compensated 3D-flow supervision, and camera-motion decoupling, RynnLAM encourages representations that capture control-relevant motion rather than appearance changes alone. We apply RynnLAM to 30.1K hours of human, robot, and simulation videos, producing 745.52M latent-action descriptors. RynnVLA-Latent then learns to predict latent-action chunks from visual observations and language through flow matching, before adapting its pretrained backbone and action expert