ニュース＆研究

arXiv:2609.30599v1 Announce Type: new Abstract: Collision detection is critical for ensuring the safety of planned paths. However, it imposes a non-negligible computational burden on motion planners, motivating extensive studies on collision-detection acceleration. In commonly used phase-based collision-detection methods, the broad phase employs hierarchical structures to rapidly discard object pairs that are clearly collision-free, while the subsequent narrow phase performs detailed collision checks on the remaining object pairs whose collision status cannot be determined by the broad phase. Although these methods effectively reduce the number of detailed checks through broad-phase pruning, the narrow phase is usually executed in the default order returned by the broad phase, with little explicit optimization of the check order. This leaves room for further acceleration, especially in cluttered environments where many object pairs may remain after the broad phase and the narrow phase

arXiv:2609.30594v1 Announce Type: new Abstract: For humanoids to be useful in everyday environments, they must perform a wide range of tasks that couple locomotion and manipulation. Existing approaches commonly acquire a loco-manipulation policy through reward engineering or demonstrations followed by task-specific training, making it costly to scale to new tasks. In this work, we propose a hierarchical approach to humanoid loco-manipulation that eliminates these per-task requirements. HuGo, Humanoid policy code Generation, uses a Large Language Model (LLM) to generate executable, closed-loop high-level policy code from a task description on top of a frozen low-level whole-body policy. Given the task, observation, and command specifications, the LLM constructs the task logic in code. HuGo then refines the policy from its rollouts using numerical trajectories and selected video frames to produce feedback and targeted code updates. Across five simulation tasks, using two different low-le

arXiv:2609.30570v1 Announce Type: new Abstract: In this work, we present MOCHA, the first, to our knowledge, reinforcement learning based approach to computing a family of Pareto-optimal policies across the design space of a robot using a single network. Specifically, MOCHA leverages the hypernetwork architecture to learn a network that produces specialized network parameters optimized for a given objective and parameterized robot design; we term this a multi-objective design hypernetwork (MDH). We demonstrate the capabilities of MDHs to represent a complex family of design-dependent strategies on two distinct robot morphologies, each with six design dimensions and across 2-3 objectives. Moreover, we propose an approach for efficiently producing a Design Pareto set using evolutionary search of the learned policy network, generating the optimal design-policy combination for each objective prioritization. Lastly, we provide an efficient method for computing generalist robot designs which

arXiv:2609.30560v1 Announce Type: new Abstract: Beyond collision avoidance, socially competent robot navigation requires adherence to implicit social conventions that vary across contexts, cultures, and deployment requirements. Many conventional navigation policies learn a single normative behavior, either through reinforcement learning against a fixed reward function or imitation of human demonstrations, exposing no interface for adjusting that conduct at runtime. We present a diffusion-based navigation framework whose social behavior can be tuned at deployment: a desired style is specified, such as how closely the robot passes, which side it yields to, or how much it defers to groups, and the planner adapts accordingly. Continuous style axes can be followed independently or composed, spanning a behavioral space rather than discrete, primitive-based specifications. A feasibility projection layer separates learned social behavior from kinematic feasibility and collision avoidance. A si

arXiv:2609.30554v1 Announce Type: new Abstract: Large language models (LLMs) have recently demonstrated promising capabilities as in-context policy optimizers for Reinforcement Learning (RL), enabling policy search driven by both numerical reward signals and natural language reasoning. However, deploying such methods in practice requires transmitting raw policy parameters and rewards history to cloud-based LLM APIs, exposing proprietary control strategies to third-party service providers. To address this issue, this paper introduces Privacy-Preserving Prompted Policy Search (PP-ProPS), a framework that enables LLM-guided policy optimization while keeping policy and environmental parameters confidential. PP-ProPS encodes policy parameters and reward values using secret client-side transformations before they are included in each API request, ensuring that the LLM provider observes only encoded policy parameters and scaled reward information. Furthermore, unlike Vanilla ProPS, the propos

arXiv:2609.30543v1 Announce Type: new Abstract: As robots transition from structured factory settings into homes, they are required to interact with an ever-increasing variety of objects. Many tasks require grasping, and often it is not sufficient to just pick up the target object. Consider a task like "pouring coffee" --- to facilitate the subsequent pouring, the robot should grasp the mug by its handle. Existing learning-based approaches for grasping either find robust and collision-free grasps that are largely agnostic to the task (e.g., picking up the mug by its rim), or leverage foundation models to propose task-appropriate grasp locations that lack fine-grained physical grounding (e.g., reaching for and missing the handle). In this work, we bridge these approaches with a real-to-sim-to-real framework. Based on a single RGB-D observation, we construct a digital twin of the environment, query a large foundation model to propose grasps that align with the object's affordances and ta

arXiv:2609.30530v1 Announce Type: new Abstract: We demonstrate a jumping robot that reaches high (7.6 m) and fast (190 ms stance time) jumps from a single long leg driven by a direct-drive transmission, without elastic energy storage. At 281 g, it achieves the highest jump yet reported for an electrically actuated, spring-free system. The leg uses a new fabric-wrap transmission that provides a variable mechanical advantage, keeping a small electric motor near its peak power output through the stroke while bracing the long, lightweight leg against buckling. A balancing module at the top of the leg uses small propellers to control the leg's orientation on the ground and in the air, where the long leg provides a large moment arm for the control torques. The robot is validated outdoors with vertical jumps, attitude control on the ground and in flight, and tilted jumps.

arXiv:2609.30523v1 Announce Type: new Abstract: Large language model (LLM)-powered multi-robot systems are vulnerable to semantic manipulation: an accepted false world-state claim can trigger a fleet-wide behavioral cascade, causing unnecessary replanning, increased path costs, congestion, or apparent mission infeasibility. Conditioning on a successful manipulation, we propose an active verification framework that contains its downstream effects before they propagate across the fleet. A dedicated verification module generates a structured Verify-Adapt-Hold plan: selected robots inspect consequential regions, a limited subset provisionally adapts when necessary, and the remaining robots retain their trusted plans. We evaluate the framework in a multi-robot transportation environment using injected false obstacle claims across different impacts and team sizes. Evaluation measures cascade containment, Sum-of-Costs, makespan, and coverage ratio. Results show that treating post-compromise v

arXiv:2609.30521v1 Announce Type: new Abstract: Aerial manipulation in outdoor environments remains challenging due to the simultaneous requirements of reliable state estimation, stable aerial motion, and precise manipulation under external disturbances. In this work, we present a real-world outdoor aerial manipulation framework that integrates imitation learning, onboard LiDAR-inertial state estimation, and whole-body model predictive control. A Diffusion Policy is trained from manipulation demonstrations to generate desired end-effector motions from onboard observations. These learned commands are executed by a whole-body MPC that jointly coordinates the aerial platform and manipulator to realize the desired end-effector trajectory. To eliminate reliance on external motion-capture infrastructure, the platform employs onboard LiDAR-inertial odometry for state estimation during outdoor operation. We validate the complete framework on a physical aerial manipulator and demonstrate succes

arXiv:2609.30506v1 Announce Type: new Abstract: Humanoid hands require tactile feedback across the whole finger, not just the fingertip, to grasp and manipulate objects properly. Vision and proprioception alone cannot reliably provide this information, particularly when the hand's own fingers occlude the camera's view of the grasp. We present a low-cost tactile array for a humanoid finger, made from Velostat and conductive tape. The fingertip carries seven contact points including a 2x3 matrix wrapped across its front, left, and right faces, and a separate contact point at the tip. The proximal and middle phalanges each carry a single front-facing contact line. We measure the sensor's hysteresis and recovery time after release, through repeated loading and press-release tests. We also test a compliant, 3D-printed contact structure with a gap and a bump, inspired by similar designs in prior work, and show it cuts recovery time by 74% compared to a flush-contact baseline. We then show th

arXiv:2609.30479v1 Announce Type: new Abstract: Soft robots have attracted much attention for their safe human-robot interaction and flexibility, but the typical continuum structure and nonlinear material behavior make the kinematics modelling complex, especially in non-static motions. In this work, we proposed an LSTM-based pressure predictive control (PPC) for the motion control of a vertebraic soft robotic tail and the coordination with a quadruped robot. The PPC consists of an inverse kinematics (IK) model, a forward kinematics (FK) model and a pressure compensation (P-comp) model, and achieves non-static and quasi-static motion control of the tail. Compared with the IK-only model, the average RMSE of the PPC's simulation trajectories reduces by 69.8%, when executing target trajectories. In the coordinated motions of the soft tail quadruped, using a prediction data set to train the PPC enables next-moment action prediction and reduces computation time by 60.9%, which enhances the r

arXiv:2609.30462v1 Announce Type: new Abstract: Policies trained with imitation learning can accumulate errors over time, causing the robot to drift outside the training distribution. Existing methods mitigate this covariate shift by collecting additional data where the policy fails or is likely to fail. The first places the robot in unsafe conditions and the second requires choosing an appropriate noise distribution to collect new expert demonstrations under that noise. We propose Policy-Calibrated DAgger, a method that makes use of the properties of recent generative policies to estimate the policy's noise offline by using its own predicted action distribution. We measure a diffusion policy's spread of predicted actions at observations along the expert trajectory and measure its closed-loop error relative to a recorded trajectory. To address issues with measuring error in a multimodal action space, we guide the policy towards the trajectory during closed-loop control through partial

arXiv:2609.30461v1 Announce Type: new Abstract: Off-road traversability is direction-dependent and vehicle specific, yet most global maps assign a single isotropic cost to each location. Existing learned estimators are also commonly trained independently for each vehicle; this preserves vehicle-specific behavior but prevents vehicles from sharing common terrain representations. DGT-MAP addresses both limitations through a self-supervised framework that learns global, directional, and vehicle-conditioned traversability costmaps from RGB-D observations and locomotion signals. A shared multi-task backbone learns common terrain features across training vehicles while vehicle-specific prediction heads preserve platform-dependent responses. At inference, DGT-MAP produces a heading-indexed costmap that can be used by a direction-aware planner. We evaluate DGT-MAP in simulation by integrating it into a Hybrid A* navigation stack and measuring downstream task success on challenging terrains, in

arXiv:2609.30460v1 Announce Type: new Abstract: High-level robotic supervisors coordinate capabilities whose reported outcomes determine the robot's next action. Reactive synthesis can generate such supervisors with formal guarantees, but deployment requires more than proving a Generalized Reactivity (1) (GR(1)) specification realizable. Designers must encode failure-prone capabilities, choose liveness assumptions that match retry intent, audit strategies, and translate them into robot software. We present an open-source pipeline for Robot Operating System (ROS) 2 Flexible Behavior Engine (FlexBE) supervisors that generates capability-based GR(1) specifications, analyzes assumptions before synthesis, audits strategies, reduces states with a behavior-preservation proof, and emits executable state machines. Across four case studies (six comparisons), including hardware on two quadcopter platforms, we compare enumerated and one-hot encodings and two liveness formulations. Under the tested

arXiv:2609.30459v1 Announce Type: new Abstract: Perception in robotics and XR fundamentally relies on good state estimation. Visual-inertial odometry (VIO) and Simultaneous Localization and Mapping (VI-SLAM) are proven ways of achieving this goal in a cost-effective and accurate manner. Efficiency in these systems allows for smaller, cooler, and lighter devices. GPU acceleration is a natural approach for reducing latency, thanks to their wide availability in platforms like embedded computers, mobile phones, and XR headsets. However, previous works in the literature have limited themselves to the use of CUDA for this task, significantly reducing deployment options to a single vendor. We instead leverage the vendor-agnostic Vulkan API, originally designed for the strict performance requirements of 3D graphics applications. In this work, we present VkVIO, the first, to the best of our knowledge, cross-platform GPU-accelerated VIO method. We provide state-of-the-art accuracy with causal es