Noticias e Investigación

arXiv:2610.09455v1 Announce Type: cross Abstract: Recently, approaches that leverage human video datasets for robot policy training have become increasingly prevalent. However, most existing hand trackers regress pose from cropped frames with limited priors on hand motion and object interaction, resulting in inaccurate and physically inconsistent estimates. Moreover, the lack of physical cues, e.g., contact and force, limits the use of human videos for robot policy training. To this end, we propose RLHND, a video foundation model-based hand tracking model that jointly estimates hand pose and realistic tactile information from monocular egocentric videos. RLHND turns the pre-trained Cosmos 3 video diffusion backbone into a deterministic clip-level feature extractor via clean-latent conditioning, carrying its learned priors on hand motion and hand-object interaction into tracking. For pose estimation, RLHND (i) predicts hand poses with anatomically plausible joint angles and (ii) enables

arXiv:2610.09285v1 Announce Type: cross Abstract: Many applications of physical AI run within finite or closed physical worlds with a limited set of physical laws governing object behavior. Examples include robots working in a warehouse and agents moving around in a video game. In order to better organize, filter, and curate data for physical AI applications, we propose a new approach centered on the unique settings and physical laws of individual datasets. We train LeCuration, a small world model intended to serve as a data curation tool for a separate, larger downstream model. To build this model, we choose LeWorldModel (LeWM)as our latent encoder and predictor, adding a diffusion transformer (DiT) decoder to add visuals to autoregressive gameplay rollout. We find that the embeddings of this model can be used as an anomaly detection signal and as a content-based clustering heuristic, and that auto-regressively predicting the game state with this model allows us to qualitatively check

arXiv:2610.09195v1 Announce Type: cross Abstract: Reconstructing a physically stable human grasp from a single RGB image is challenging because physically modeling grasps is itself difficult, and the problem requires estimating not only a visually constrained hand pose but also a control target that stabilizes the grasp. Existing methods either model only visual hand geometry without considering physics, or rely on less plausible physical modeling, which limits the physical validity of the resulting grasps. In this paper, we present StableGrasp, a differentiable simulation-based optimization framework that explicitly separates the visual hand pose from the control target that determines the grasping forces. Our method jointly optimizes hand geometry and control by minimizing the kinetic energy of the grasp in a differentiable simulator, while regularizing the hand geometry to preserve visual consistency and geometric plausibility. The reconstructed grasps are substantially more stable

arXiv:2610.09068v1 Announce Type: cross Abstract: Reliable robotic disassembly requires part-level representations that distinguish genuine component geometry from scanning and reconstruction artifacts. In point clouds of hard disk drives (HDDs), structured ghost artifacts can resemble valid components locally while remaining inconsistent with the overall geometry, allowing erroneous measurements to receive plausible semantic labels. This creates an engineering information problem: semantic prediction confidence alone does not establish whether the underlying geometry is reliable. We propose \textbf{GUARD}, a geometric uncertainty-aware framework that performs point filtering and segmentation within a single forward pass by modeling the reliability of learned geometric representations. GUARD combines a multi-scale geometric transformer with a multi-bandwidth random Fourier feature Gaussian Process to estimate per-point geometric uncertainty, complemented by predictive entropy to suppre

arXiv:2610.09034v1 Announce Type: cross Abstract: Multi-agent path planning (MAPP) in continuous environments often relies on roadmaps to balance safety and search efficiency. However, traditional roadmap generation methods, such as lattice grids or standard sampling-based approaches, frequently face a trade-off between graph density and the likelihood of finding feasible, high-quality solutions. In this paper, we propose a scalable heterogeneous Graph Neural Network (GNN) framework for the automated generation and evaluation of shared multi-agent roadmaps. Our model covers the representation of waypoints, agent locations, and task locations as distinct nodes in a heterogeneous graph, allowing it to reason over global connectivity and inter-agent interactions. By training on occupation density maps aggregated and collected from expert solver trajectories, the GNN learns to identify critical points of interest and prune redundant nodes and edges. This process produces a compact, coordin

arXiv:2610.10534v1 Announce Type: new Abstract: End-to-end robot policies trained through imitation learning remain constrained by limited data diversity, making reliable zero-shot deployment in real-world settings challenging. Shared-autonomy methods enable human correction through teleoperation, but specialized hardware and operator training hinder deployment at scale. Other approaches incorporate human guidance as additional policy inputs, often requiring architectural changes and dedicated training for steerability, which limits their applicability across policies. We present RoboPrompt, a general-purpose, lightweight robot policy steering system that enables users to guide policy behavior through intuitive, sparse inputs, including drawn traces, target points, and coarse directional instructions. RoboPrompt decouples human-intention translation from the underlying policy: a reusable module converts human guidance into action drafts, which are refined through the diffusion or flow-

arXiv:2610.10528v1 Announce Type: new Abstract: Real-time robot control demands enough visual history to infer motion and task progress, but processing that history can delay action. We present Long-WAM, a model-system framework for scaling the context of causal world-action models under real-time control constraints. Our central finding is that access to history is not the same as using it: longer histories pay off far more when the video foundation is pretrained autoregressively (AR). We first learn causal prediction from robot and egocentric videos without action labels, then preserve this history-to-future structure during world-action adaptation. On RoboCasa GR-1, increasing context from 0.0 to 19.2 seconds raises success from 63.3% to 78.7%, whereas a bidirectionally pretrained initialization shows no net gain; robot-domain AR pretraining further raises peak success on GR-1 and LIBERO-Long. Long-WAM also achieves the best results among compared methods on LIBERO-Long, RoboTwin 2.

arXiv:2610.10510v1 Announce Type: new Abstract: Tactile sim-to-real learning must bridge simulated contact and device-specific sensor responses while preserving information needed for control. We propose a factorized tactile representation and control framework that maps normal force and contact patch to an effective contact response recoverable from sensor readings. The response is separated into contact geometry, force distribution, and temporal contact change, with representation-specific encoding and randomization. A Tactile Gated Policy preserves these representations separately through control and operates over all mask configurations without retraining. We evaluate the approach through response reconstruction, spatial alignment, force regulation, and contact-rich adversarial peg insertion in simulation and the real world, enabling the utility and transfer reliability of different tactile representations to be assessed independently. The approach achieves <1 mm contact localizati

arXiv:2610.10489v1 Announce Type: new Abstract: Despite recent advances in humanoid locomotion, controllers optimized for command tracking and robustness tend to produce mechanical gaits, whereas controllers tied to human motion data often fail to generalize to commands outside the data distribution. This work introduces a learning framework that balances these competing objectives to synthesize real-time steerable, robust, and biomimetic locomotion policies from human data. Using an in-house curated locomotion dataset covering diverse speeds and directions, we first learn a natural locomotion prior policy through a teacher-student distillation process. Specifically, we train a full-body reference-conditioned policy with Reinforcement Learning (RL), then distill it into a lightweight prior policy conditioned solely on proprioception and a planar torso-velocity steering command. Next, we fine-tune the prior policy with multi-task RL to expand command coverage and robustness beyond the d

arXiv:2610.10479v1 Announce Type: new Abstract: A simulation of a real robot workspace must preserve task-relevant interactions, while policies developed in it must operate on observations available to the real robot. Yet scene reconstruction and policy development are often treated separately. We present Agentic Real-to-Sim-to-Real (Agentic RSR), a framework that links scene reconstruction, policy development, and real-robot execution through the same manipulation task. Given a workspace video, a task description, and a known robot model, an agent recovers metric scale, iteratively refines the scene using visual feedback, and checks task-relevant interactions in MuJoCo. A coding agent then develops an executable policy, progressing from privileged object poses to visual observations and randomized simulation. The policy can interleave multiple observations and actions within one invocation, while the agent uses execution feedback to continue, retry, or revise its approach. A shared ta

arXiv:2610.10472v1 Announce Type: new Abstract: Throwing objects that generate aerodynamic lift can greatly extend robot throwing beyond ballistic flight. A returning boomerang is a challenging example because its flight depends strongly on the release velocity, attitude, and spin, while robotic manipulators cannot readily reproduce the rapid motions used in human throwing. We present a model-based framework for robotic boomerang throwing centered on the release state. We identify the boomerang flight dynamics in stages to predict how flight changes across design variations. To systematically design the robot throwing motion, we screen candidate parameters according to how strongly and consistently they control release spin under uncertain contact conditions. These models are then used to design the throwing motion and boomerang for a 6-DoF manipulator with limited joint speeds. To our knowledge, this is the first robotic manipulator to generate a returning boomerang flight. In the dem

arXiv:2610.10470v1 Announce Type: new Abstract: Quadruped robots can traverse low obstacles, but many 2D planning pipelines still model obstacles as binary occupied regions and rely on sampling-based search that can be inefficient under a limited budget. We propose a perception-assisted height-adaptive planning framework based on CMP-IRRT*, a Channel Mamba PointNet-guided Informed RRT* planner. Given a calibrated top-view RGB observation, the perception module estimates obstacle regions and converts depth predictions into a ground-relative height map. The planner then performs height-conditioned collision checking, treating high obstacles as blocked while allowing low obstacles to be traversed, and uses the CMP guide to bias sampling toward promising regions while retaining standard free-space and informed sampling fallbacks. Experiments on 2D planning benchmarks show that CMP-IRRT* reduces explored nodes and iterations compared with classical and neural-guided baselines, and a control

arXiv:2610.10465v1 Announce Type: new Abstract: Real-time whole-body controllers for legged robots typically plan through a fixed nominal model and degrade when the deployed dynamics change. Adaptive methods typically require a model structure that contact dynamics do not provide, or they need offline training for each anticipated condition. We present Look-back and Look-ahead Adaptive Model Predictive Path Integral control (LLA-MPPI). The method converts whole-body adaptation into selection over a bank of GPU-batched contact simulators with different physical or structural parameters. Windowed prediction errors select the simulator that best explains recent motion. A whole-body MPPI planner optimizes controls through the selected model. The framework requires no offline training, and its selected hypotheses are physically interpretable. Across four simulated tasks, it achieves 97.5% success while the strongest baseline reaches 74% and an oracle with the true model reaches 98.5%. Hardw

arXiv:2610.10462v1 Announce Type: new Abstract: We present FoldBack, a self-correcting masked generative policy for long-horizon garment folding. Existing long-trajectory policies may continue after a missed or slipped grasp even when the garment has not reached the intended configuration. We structure FoldBack's recovery mechanisms around three inference-time decisions: when to refine and verify, how to roll back, and where and how to retry. FoldBack aligns refinement and grasp verification with pick-and-place events, returns the robot to a retryable pre-grasp configuration while preserving successful grasps, and selectively regenerates the failed segment and selected future actions while avoiding previous failed grasp locations. To our knowledge, FoldBack is the first editable full-trajectory policy to unify these decisions, enabling failed interactions to be detected, undone, and repaired before execution continues, without recovery demonstrations or base-policy retraining. Across 3

arXiv:2610.10453v1 Announce Type: new Abstract: Flow-based policies provide an expressive framework for continuous robot control, but their iterative ODE integration incurs substantial inference cost. Naively reducing the integration budget can severely degrade control, since policies optimized under full-step execution are not explicitly constrained to remain reliable under coarse numerical integration. We refer to this mismatch as the few-step discretization gap. To address this problem, we introduce RFPO, a flow-policy optimization framework for reliable few-step execution. Reward-aware online Reflow rectifies student-induced transport paths during on-policy learning, making the resulting policy more robust to coarse integration. A frozen Gaussian PPO controller supplies complementary action-space supervision at full and intermediate integration budgets, while the deployed policy remains a single flow student executed with one Euler step. Across Unitree Go2, Boston Dynamics Spot, Un