ニュース＆研究

arXiv:2609.30428v1 Announce Type: new Abstract: Foundation models provide robots with the ability to interpret natural language and reason about environmental context, yet most language-conditioned policies assume that goals are well-specified and that task-relevant information is provided upfront via a prior map. Operating in unfamiliar environments with underspecified tasks entails high contextual uncertainty: the robot must jointly infer what constitutes task success, what constitutes relevant information, and where (or whether) that information exists. We address these limitations via CLUE (Closed-Loop contextual Uncertainty rEsolution), a framework for actively resolving contextual uncertainty given underspecified tasks in natural language. CLUE uses an LLM-derived policy to hypothesize task-relevant concepts and potential plans. It then uses a language-embedded map, which is constructed online, to ground these hypotheses into actions. The policy sequentially evaluates hypotheses

arXiv:2609.30404v1 Announce Type: new Abstract: We present POIL, a point-based one-shot imitation learning framework with stable dynamical systems. While one-shot imitation avoids collecting extensive demonstrations, successful one-shot manipulation requires not only transferring a demonstrated trajectory to a novel object but also executing it robustly under changing scene conditions, grasp configurations, and external disturbances. POIL addresses both problems through a shared representation: a set of 3D points on the object's functional part, used jointly for trajectory transfer and closed-loop execution. The one-shot transfer from the demonstrated trajectory is enabled with point correspondences. POIL grounds the shared functional part with a multi-modal large language model, and transfers the trajectory across viewpoint, pose, and object category changes. During execution, multi-view tracking observes the same points online, and Point-set BCSDM drives them in closed loop by projec

arXiv:2609.30358v1 Announce Type: new Abstract: Nanodrones require accurate, real-time state estimation under severe sensing and computational constraints. We present TinyCVIO, a visual-inertial odometry system that co-designs miniature sensing, visual processing, and estimation for a commodity dual-core microcontroller with 520 kB SRAM. Lightweight LED constellations provide known geometry without surveyed positions or yaw angles, assuming placement on a common level plane. A streaming visual frontend tracks LED observations from a millimeter-scale camera at 29.2 FPS, while a rigid-board measurement model retains inter-LED constraints and streaming QR bounds estimation workspace for a fixed filter-state size. Across 19 hand-held hardware-in-the-loop datasets, the rigid-board model reduces mean absolute trajectory error by 27% relative to planar points. The complete system runs onboard a Crazyflie across nine flights at three speeds, achieving 3.5-3.7 cm mean absolute trajectory error

arXiv:2609.28107v2 Announce Type: replace Abstract: Advances in generative modeling have recently been extensively employed in robotics for policy learning. In particular, Conditional Flow Matching (CFM) trained with expert demonstrations has been shown to outperform existing methods on robot manipulation benchmarks. While prior work has mainly focused on single-task settings, we study the problem from a multi-task perspective, as training independent models for each task is computationally expensive. Multi-Task policy learning comes with its own set of challenges, as naively training on a concatenated dataset of demonstrations would either require increased model capacity to accommodate the added complexity or result in drops in performance. We propose to distill knowledge from single-task CFM experts into a shared multi-task policy by transferring their learned velocity fields. We combine this distillation signal with the original CFM objective to retain fidelity to the demonstration

arXiv:2606.10832v2 Announce Type: replace Abstract: End-to-end reinforcement learning (RL) has shown strong potential for legged robot navigation, yet existing approaches commonly rely on continuously updated robot-to-goal states from external state estimation modules, leaving part of the navigation problem outside the learned policy. In this work, we seek to push the limits of end-to-end sim-to-real RL navigation by investigating whether a legged robot can internally maintain the spatial context required for long-horizon navigation. To this end, we study goal-initialized navigation, where the goal is provided only once at the beginning of an episode, with no subsequent external relative-goal updates. We present GUIDE, an end-to-end RL framework that jointly learns navigation and internal directional awareness from onboard observations. GUIDE leverages multi-frequency proprioceptive history to capture egomotion and auxiliary spatial-anchor prediction to maintain task-relevant spatial s

arXiv:2605.13403v2 Announce Type: replace Abstract: Latent Action Models (LAMs) have emerged as an effective paradigm for handling heterogeneous datasets during Vision-Language-Action (VLA) model pretraining, offering a unified action space across embodiments. However, existing LAMs often rely on discrete quantization encode and decode pipelines, which can lead to trivial frame reconstruction behavior, limited representational capacity, and a lack of physically meaningful structure. We introduce RotVLA, a VLA framework built on a continuous rotational latent action representation. Latent actions are modeled as elements of SO(n), providing continuity, compositionality, and structured geometry aligned with real-world action dynamics. A triplet frame learning framework further enforces meaningful temporal dynamics while avoiding degeneration. RotVLA consists of a VLM backbone and a flow-matching action head, pretrained on large-scale cross-embodiment robotic datasets and human videos with

arXiv:2604.21331v3 Announce Type: replace Abstract: Current dexterous manipulation systems commonly rely on external or wrist-mounted cameras for visual feedback. However, such sensing setups are prone to occlusion and can limit performance on tasks requiring close-range, multi-view perception. In this work, we design a vision-enhanced fingertip module that brings clear visual perception directly to the fingertips and present FingerViP, a learning system that leverages fingertip visual perception for dexterous manipulation. Specifically, the fingertip module integrates miniature-camera sensing within compact-footprint hardware and is installed on each finger of a multi-fingered hand, which substantially improves visual perception by providing comprehensive, multi-view observations of objects and surrounding environment. Building on the integrated fingertip modules, we develop a diffusion-based whole-body visuomotor policy conditioned on a third-view camera and multi-view fingertip visi

arXiv:2604.16384v2 Announce Type: replace Abstract: Understanding autonomous mobile robots is challenging for people without robotics expertise, because key processes such as sensing, mapping, and planning are invisible. We present RHINO-AR, an interactive Augmented Reality (AR) museum exhibit that reintroduces the historical mobile robot RHINO into its original exhibition environment at the Deutsches Museum Bonn. To make the autonomous behavior that once made RHINO historically significant accessible again, our previous work, RHINO-VR, reconstructed the robot and its environment in a fully virtual museum scene. While engaging, this fully virtual presentation separated visitors from the real exhibition space and from the physical robot on display. RHINO-AR closes this reality gap by placing a virtual reconstruction of RHINO directly into the real museum space. Implemented on a Magic Leap 2 headset using Unity, our system combines real-time environment meshing with interactive visualiza

arXiv:2604.08664v2 Announce Type: replace Abstract: Real-world physical human-robot interaction (pHRI) development is costly and slow, while simulation requires substantial task-specific scene and motion authoring. We present GenPHRI, a generative simulation framework for producing deployment-ready pHRI scenarios entirely from natural-language task descriptions using vision-language model (VLM) agents. Generated scenarios contain a room with furniture, a task-appropriate human pose and placement, and a robot executing the requested interaction. Generator and critic agents iterate on each component, and an orchestrator agent controls cross-stage decisions. With GenPHRI, we generate 50 different assistive scenarios in simulation with no manual intervention and deploy two tasks in a 12-participant user study. Vision policies trained on these scenarios achieve zero-shot task completion rates of ~80% in real-world trials against ~90% in simulation, while producing behaviors that participant

arXiv:2603.14656v2 Announce Type: replace Abstract: Robot model identification is commonly performed by least-squares regression on inverse dynamics, but existing formulations measure residuals directly in coordinate force space and therefore depend on the chosen coordinate chart, units, and scaling. This paper proposes a coordinate-independent identification method that weights inverse-dynamics residuals by the dual metric induced by the system Riemannian metric. Using the force--velocity vector--covector duality, the dual metric provides a physically meaningful normalization of generalized forces, pulling coordinate residuals back into the ambient mechanical space and eliminating coordinate-induced bias. The resulting objective remains convex through an affine-metric and Schur-complement reformulation, and is compatible with physical-consistency constraints and geometric regularization. Experiments on an inertia-dominated Crazyflie--pendulum system and a drag-dominated LandSalp robot