ニュース＆研究

arXiv:2609.33653v1 Announce Type: new Abstract: Reinforcement learning (RL) enables generalist robot policies to improve through trial-and-error interaction, yet its effectiveness is fundamentally constrained by sparse task rewards. Existing general-purpose reward models typically alleviate this issue by learning task progress from expert demonstrations, but introduce a distribution mismatch with the mixed-quality rollouts encountered during policy optimization, making their estimates unreliable on suboptimal and failed behaviors from which the policy must learn. In this work, we introduce a demonstration-free reward learning paradigm where dense reward feedback can be learned directly from sparse task outcomes and policy experience. We theoretically show that terminal task outcomes implicitly define dense success-probability feedback at intermediate timesteps, which can be recursively learned through bootstrapping. Based on this insight, we introduce eVTA$_0$, which learns success pro

arXiv:2609.33647v1 Announce Type: new Abstract: Many indoor environments in which robots operate, such as warehouses, offices, and hospitals, already have cameras installed. They observe parts of the building that the robot cannot see from where it stands, yet navigation policies, including recent vision-language-action (VLA) models, do not use them. We propose InfraVLA, an end-to-end method that adapts a pretrained navigation VLA to such static infrastructure views: a closed-circuit television (CCTV) encoder turns each external view into tokens of the input sequence. Because the views matter only at rare decision points, fine-tuning alone did not make the policy use them in our experiments; we therefore train in two stages, on demonstrations with upsampled counterfactual data and then on recovery data. We evaluate on two simulated warehouse tasks, finding an object named in the instruction and rerouting around blocked aisles, where the deciding information is often visible only to the

arXiv:2609.33575v1 Announce Type: new Abstract: Vision-Language-Action models are increasingly effective for robotic manipulation, yet most predict actions directly from current observations without explicitly modeling future scene evolution. Recent methods introduce future prediction to improve action generation, but dense future modeling often requires expensive iterative denoising, while one-step alternatives can underperform their multi-step counterparts. To reconcile efficient future modeling with strong action performance, we present SLIP-VLA, a policy learning framework that equips VLA models with a Single-Step Latent Imagination for future-aware action prediction. SLIP-VLA obtains temporally dense future latent representations with a single denoising update, and we improve the perceptual sufficiency of these representations by aligning intermediate latents with future geometric and semantic features. We further improve their control sufficiency through action-conditioned latent

arXiv:2609.33551v1 Announce Type: new Abstract: Transferring human demonstrations to dexterous robots remains challenging because differences in hand morphology and contact dynamics often cause retargeted motions to fail at producing the intended object behavior. We present \textbf{FoLD}, a framework for learning dexterous manipulation of articulated objects through explicit force guidance. FoLD compute compensatory force fields from human demonstrations together with the robot's current interaction state, yielding a force prior that promotes the demonstrated object motion. This force prior informs a residual policy that adapts retargeted hand motions to the contact requirements of the task. We evaluate FoLD on a public benchmark for articulated object manipulation, where it consistently outperforms state-of-the-art baselines across tasks and embodiments. We further validate FoLD on real dexterous robot platforms, demonstrating successful transfer of human manipulation skills to robot

arXiv:2609.33542v1 Announce Type: new Abstract: Direct torque sensing is a growing need in the robotics community to enable precise control and interactions where torque estimation from motor current is not sufficient. This paper presents a novel disk-shaped magnetoelastic torque sensor with a compact axial envelope of about 1 cm, suitable for integration in robotic joints. A four-magnetometer architecture is used to measure the field modulated by the stress affecting a narrow magnetized region while rejecting the effects of parasitic cross forces. A custom-designed magnetic shield enhances the torque sensitivity while reducing the external stray fields by a factor 7x. The device measures the torque with an accuracy of 1.34 %FS relative to the 50 Nm full scale (FS). The paper details the development of the sensor through the mechanical design, the magnetization procedure, and the experimental validation. The results demonstrate the potential of the proposed sensor for robotic applicati

arXiv:2609.33522v1 Announce Type: new Abstract: Manual visual inspection on assembly lines is a persistent manufacturing bottleneck: operator fatigue over extended shifts lowers defect-detection rates. This paper presents the design, integration, and field deployment of an AI-assisted collaborative inspection cell at the Silverline kitchen-appliance factory, developed within the AI-PRISM project. The cell couples a Universal Robots UR 10e cobot carrying a machine-vision defect-detection pipeline with a Comau Racer-5 cobot for functional tests, coordinated through ROS 2 Humble on an Ubuntu 22.04 LTS server. Multi-modal data (Basler camera imagery, TIA microphone acoustics, and SPS electrical-safety measurements) are logged locally and visualised in real time with Grafana. We report the practical deployment challenges (close-proximity safety, AI robustness under glare and reflections, ROS 2 namespace collisions across two cobots, and operating-system and dependency issues) together with

arXiv:2609.33484v1 Announce Type: new Abstract: A humanoid with 5-DoF arms cannot track generic bimanual end-effector trajectories with its arms alone; pelvis and waist motion must be recruited, but which motion, and when, is not uniquely determined. On a Unitree R1 in fixed double support, the set of dynamically valid recruitment strategies (pelvis pose and waist trajectories) for a task is a diverse continuous manifold, and a deterministic regressor trained on it mode-averages into strategies valid only 35% of the time, against 52% for a conditional variational autoencoder (CVAE) and 82% for the best of 16 CVAE samples. We introduce AMBIT: the CVAE proposes strategies from a preview of the commanded trajectory, a non-learned selector filters, ranks and verifies them, and a receding-horizon loop commits to one with hysteresis. The committed strategy is the reference of the same whole-body differential-IK QP a reactive tracker runs, which keeps authority over residual error. On 160 hel

arXiv:2609.33423v1 Announce Type: new Abstract: Large Language Models (LLMs) can contribute useful engineering knowledge to robot design, but directly generated designs may rely on implicit assumptions and provide no guarantees of feasibility or optimality. These assumptions are critical because different reasonable modeling choices can materially change which designs are predicted to be feasible or optimal. We therefore present a framework that uses LLMs to construct explicit engineering models containing physical relationships, compatibility constraints, and objectives, allowing these modeling choices to be inspected and revised before formal optimization. The model can then be updated with additional engineering, manufacturer, or system-specific information before formal multi-objective optimization provides feasibility and Pareto-optimality guarantees with respect to the finalized model and specified design space. We evaluate the framework on quadcopter and line-following robot com

arXiv:2609.33378v1 Announce Type: new Abstract: A central goal in robotics is to enable manipulation across changing tasks and environments. Vision-language-action (VLA) models provide broad manipulation capabilities but can struggle when execution requires diagnosing failures and adapting behavior. Strong agents can discover effective interventions through interaction with these policies. We propose Recursive Harness Distillation to accumulate this experience as reusable guidance across agents. A strong agent distills its experience into a playbook for a light agent, then recursively refines the playbook using the light agent's execution feedback. The resulting playbook enables agents to reuse accumulated intervention knowledge in new task instances without updating model parameters. In real-world manipulation, the harness improves success from 37.3% to 64.0%. On SimplerEnv Bridge, the light agent with the playbook achieves 66.7% success, compared with 41.7% for the GR00T-only baselin

arXiv:2609.33354v1 Announce Type: new Abstract: Sign data collection is costly, and teleoperation scales poorly, motivating reuse of large video corpora. Humanoid signing requires converting video-derived human motion into robot trajectories while preserving linguistic motion cues. Errors from fitting, human-motion repair, retargeting, robot geometry repair, and control are hard to separate from the final trajectory alone. We introduce HumanoidCSL-20K, a dataset and benchmark of 20,648 sentence-level Chinese Sign Language sequences, each with four aligned versions: the source, the repaired human motion, the direct robot reference, and the geometry-repaired robot reference. Observation-supported local human-motion repair, full-robot geometry repair, and cross-representation provenance make each transformation traceable. Paired evaluations measure human-motion continuity and content preservation, robot-reference feasibility, and physical execution. A sign-specific kinematic-reference pro

arXiv:2609.33311v1 Announce Type: new Abstract: Humanoid robots are increasingly expected to serve as embodied social agents that communicate naturally with humans through face-to-face interaction. During such communication, humanoid robots require body behaviors that are synchronized with speech, affectively expressive, and suitable for real-time execution. However, existing co-speech methods are primarily developed for digital humans and lack joint support for affective control and low-latency continuous generation on physical embodiments. To bridge this gap, we present SocialHumanoid, a system for expressive humanoid behavior via one-step co-speech motion generation. Given response speech and a specified affective condition, SocialHumanoid generates each full-body motion window in a single forward pass and connects successive windows through motion-history conditioning. The generated human motion is further converted online into embodiment-compatible robot references and tracked by

arXiv:2609.33310v1 Announce Type: new Abstract: Whole-body compliant control is essential for deploying heavy humanoids under high payload in human-centric environments. Most prior force-aware learning-based pipelines focus on end-effector resistance, per-link upper-body springs, or end-effector stiffness modulation, leaving arbitrary-site perturbations on heavy platforms with lower-body engagement largely unaddressed. We close this gap with CompliantWBC comprising: (1) A base policy trained with RL to maximize compliance-fidelity reward, guided by a multi-site whole-body impedance reference controller, extending classical Cartesian impedance to any controlled link; (2) A bounded residual policy that edits the per-link impedance equilibrium over a frozen base, correcting the coarse but structured wrench estimate supplied by a force encoder co-trained behind a gradient barrier; (3) A Phong-weighted force-origin sampler with an axis-decoupled pelvis anchor induces lower-body-inclusive co

arXiv:2609.33299v1 Announce Type: new Abstract: World Action Models (WAMs) are becoming increasingly important and useful for embodied intelligence, as they enable robots to anticipate the consequences of candidate actions before interacting with the physical environment. However, underwater robots are usually subject to passive dynamics, such as inertia, buoyancy, hydrodynamic drag, and persistent drift, which can continue to affect the vehicle even after an action is completed. Existing WAMs, which primarily predict action-conditioned visual observations, are not explicitly designed to capture such passive motion dynamics. In this paper, we present AquaWAM, the first World Action Model designed for underwater embodied agents. Instead of predicting future images, AquaWAM models both action-conditioned and passive physical dynamics, including the thruster dead band, the inertial glide that outlasts each command, and ambient currents. Specifically, it senses through the DVL, IMU, pressu

arXiv:2609.33269v1 Announce Type: new Abstract: World Action Models (WAMs) jointly generate video and robot actions through iterative diffusion and perform strongly in robotic manipulation. However, their prohibitive compute and memory costs pose substantial deployment challenges. Post-training quantization (PTQ) can reduce these costs, but existing PTQ methods such as smoothing and rotation are insufficient to maintain the precision of action generation. To overcome this limitation, we propose Q-WAM, a new 4-bit weight-activation quantization for WAMs that preserves the actions the model generates. Specifically, we introduce the \textit{Action Observability Gramian (AOG)}, which measures how much rounding errors in each weighted combination of a layer's input channels change the final action through all denoising steps. We also develop Action-Subspace Protection (ASP), which keeps the few most action-sensitive channel combinations in a tiny 16-bit low-rank branch and quantizes the com

arXiv:2609.33258v1 Announce Type: new Abstract: Recent task-driven and just-in-time 3D Scene Graph (3DSG) methods reduce per-task representations by constructing or activating only task-relevant information. Yet sparse per-task working sets do not bound onboard memory usage over a robot's lifetime: as tasks change, payloads accumulated for earlier tasks may become irrelevant to the current task but can be useful again in future tasks. Over repeated task switches and expanding environments, retaining such reusable payloads causes local memory to grow, whereas discarding them entirely can lead to costly repeated construction of the same payloads later. We introduce PORTER, which decouples persistence from residency: lightweight anchors remain in the limited memory of the edge robot while heavy object payloads migrate between the edge and the cloud. Relevance alone is insufficient for deciding residency because multiple relevant payloads may provide redundant information. We therefore dec