ニュース＆研究

arXiv:2609.25417v1 Announce Type: new Abstract: Biological torque control directly maps an estimated human joint moment to exoskeleton assistance, providing a task-agnostic strategy for supporting diverse locomotor activities. However, it remains unclear whether a fixed state-to-torque mapping provides effective assistance across biomechanically distinct tasks. We examined how assistance delay affected hip exoskeleton performance during level-ground (LG), ramp-ascent (RA), and ramp-descent (RD) walking. Eight participants completed a zero-torque baseline condition and five active assistance conditions with delays ranging from 40 to 320 ms. Across tasks and active delays, assistance reduced net metabolic rate by 5.24%, positive biological hip joint work by 5.86%, and total lower-limb positive joint work by 1.68% (all p < 0.05). Assistance delay affected both joint-work outcomes (both p < 0.001) but not net metabolic rate. Mechanical unloading generally decreased with increasing delay, w

arXiv:2609.25398v1 Announce Type: new Abstract: Large-scale datasets are essential for training generalist robot control policies. Collecting real-world tactile data is costly and time-consuming, motivating the use of tactile simulations. However, current tactile simulators capture only overall contact geometry and miss fine details like texture. This results in a significant domain shift between simulated and real tactile data. To address this gap, we introduce Norm2Tex, a plug-in method that augments simulations of vision-based tactile sensors with high-frequency surface details from normal map textures. By modifying the target object's depth map before a tactile simulator's rendering pipeline, Norm2Tex seamlessly integrates into different tactile simulators. We also evaluate sim-to-real transfer using material classification and a reinforcement learning task. Our results show that Norm2Tex preserves material-dependent tactile information across domains, improving texture recognition

arXiv:2609.25374v1 Announce Type: new Abstract: Human gait in reality extends beyond straight-line walking, with some situations even requiring drastic back-and-forth rotations. A smooth and stable execution may seem intuitive, but the underlying mechanics remains unknown. The Karate roundhouse kick may be an extreme case of exhibiting dynamic back-and-forth rotations, but investigating the angular momentum (AM) management can potentially inform stability analysis in dynamic human motions and smoother gait in robots and exoskeletons. This paper introduces two new AM-based measures and analyzes AM-related variables to study the target-less retractable back-leg Karate roundhouse kick. The purpose is to understand the underlying AM management, analyze the differences between stable and unstable kicks, and investigate how these variables and measures change over time with improvement. A one-year longitudinal study was conducted with the first author as a Karate student, and a Karate instru

arXiv:2609.25369v1 Announce Type: new Abstract: Shared control often allocates robot authority based on confidence in inferred human intent, assuming reliable autonomous execution. When this assumption fails, high intent confidence can cause over-helping. We present a capability-aware shared-control framework in which a vision-language model (VLM) infers human intent and provides semantic-intent confidence, while a vision-language-action (VLA) policy generates autonomous actions. VLA capability confidence is estimated online from the dispersion and local instability of stochastic action trajectories. We design a nonlinear arbitration policy that combines Bayesian-filtered semantic-intent confidence with VLA capability confidence through a sigmoid mapping to adapt robot authority. Our evaluation combined VLM/VLA confidence assessment with a study involving 12 participants performing pick-and-place and bidirectional stacking under in-distribution and out-of-distribution conditions. The p

arXiv:2609.25363v1 Announce Type: new Abstract: Object transportation is a fundamental capability for humanoid robots operating in real-world, human-centric environments, yet existing methods struggle when clutter constrains free space around both the robot and its carried payload. We present HOTICE, a whole-body humanoid learning framework for transporting objects through such cluttered environments. First, we introduce Humanoid-Object Decoupled Potential Fields, which jointly encode collision-avoidance guidance for the robot and the carried object, enabling coordinated, obstacle-aware motion for both. Second, to address the large action space inherent to whole-body loco-manipulation, we design a dual-agent reinforcement learning architecture that decouples upper- and lower-body control while preserving whole-body coordination via shared state observations and rewards. To train a policy that generalizes across diverse cluttered scenes, we further employ a specialist-to-generalist dist

arXiv:2609.25351v1 Announce Type: new Abstract: We focus on human-robot collaborative transport, a challenging task of broad relevance spanning logistics, manufacturing, and the home, in which a user and a robot work together to relocate a large or heavy object. To act as an effective partner, the robot should reduce the user's effort by contributing to efficient relocation of the object while remaining physically responsive to them. Prior work often addresses these capabilities separately, producing robots that may move the object efficiently but resist user input, or accommodate the user but depend on continuous guidance. Our key insight is that obstacle-constrained collaborative transport requires integrating predictions of human collaborative behavior with compliant robot control. To this end, we introduce PROACT, a framework for human-robot collaborative transport that incorporates anticipation into compliant whole-body control through a learned model of human collaborative behavi

arXiv:2609.25322v1 Announce Type: new Abstract: Coordinated bimanual manipulation is challenging because the motion of either arm can alter the shared 3D scene and thereby affect the other arm. Yet most diffusion policies generate actions without explicitly modeling these future geometric consequences, while predictive variants typically use future state only as auxiliary supervision or fixed conditioning. We address this limitation by proposing JAMB, a diffusion policy that jointly denoises bimanual actions and future 3D point tracks. By allowing action and track hypotheses to evolve together within a shared Transformer, each can inform and refine the other throughout denoising. We further ground multimodal representations in a shared spatiotemporal coordinate system to facilitate geometry-aware interaction during joint denoising. We evaluate JAMB on diverse bimanual manipulation tasks in RoboTwin 2.0 and on a real-world robot, comparing it with action-only policies and alternative fu

arXiv:2609.25274v1 Announce Type: new Abstract: Robot assistants for older adults and people with disabilities need to perform collaborative tasks with users effectively. The core component of these systems is an interaction manager whose job is to observe and assess the task and infer the state of the human and their intent for the robot to choose the best course of action. Due to the sparseness of the data in this domain, the policy for such multimodal systems is often crafted by hand; as the complexity of interactions grows, this process is not scalable. This paper proposes a reinforcement learning (RL) approach to automatically generate the multimodal policy of the robot. Our system focuses on a realistic scenario where a robot assists a user in locating objects within a home environment, managing multimodal signals, including language and physical actions, to select the best action. In contrast to traditional dialog systems, our agent is trained with a simulator that uses human da

arXiv:2609.25264v1 Announce Type: new Abstract: Cosserat rod models for soft robots usually construct sectional stiffness by summing material properties over a common cross-section. This assumption becomes inaccurate for trimmed helicoid arms, where load-bearing helix domains are separated and connected only through sparse fused crossings. This paper formulates a separated-section constitutive law that evaluates each helix domain in its local frame and pulls its constitutive response back to the backbone, yielding an effective backbone stiffness. Sparse-fusion mechanics captures the additional compliance caused by relative motion between neighboring domains and determines channel-wise reduction profiles $\eta_c(s/L)$ for bending, torsion, and extension. The resulting effective sectional stiffness is strongly anisotropic: bending and extension are reduced by about one order of magnitude, whereas torsion remains close to the effective backbone stiffness. The resulting sectional law is em

arXiv:2609.25031v1 Announce Type: new Abstract: In the field of Human-Robot Interaction (HRI), achieving flexibility in human-accompanying within real-world environments holds great potential for various applications but also poses significant challenges. Traditional methods typically restrict robots to fixed positions relative to humans, such as tracking from behind, in front, or side-by-side, which limits robot adaptability in dynamic workspaces. This study introduces a novel human-companioning strategy that uses Reinforcement Learning (DRL) to enable mobile robots to dynamically adjust their tracking positions according to varying conditions. An interaction space is defined to capture the relationship between the human and the robot while considering the environment, which serves as the basis for state spaces in DRL to assist the robot in adapting to environmental changes. A human-robot companion controller is developed by integrating Model Predictive Path Integral (MPPI) control wi

arXiv:2604.15281v2 Announce Type: replace-cross Abstract: 3D policy learning promises superior generalization and cross-embodiment transfer, but progress has been hindered by training instabilities and severe overfitting, precluding the adoption of powerful 3D perception models. In this work, we systematically diagnose these failures, identifying the omission of 3D data augmentation and the adverse effects of Batch Normalization as primary causes. We propose a new architecture coupling a scalable transformer-based 3D encoder with a diffusion decoder, engineered specifically for stability at scale and designed to leverage large-scale pre-training. Our approach significantly outperforms state-of-the-art 3D baselines on challenging manipulation benchmarks, establishing a new and robust foundation for scalable 3D imitation learning. Project Page: https://r3d-policy.github.io/

arXiv:2604.14678v2 Announce Type: replace-cross Abstract: Data-driven Model Predictive Control (MPC) has lately been a core research subject in the field of control theory. The combination of an optimal control framework with deep learning paradigms opens up the possibility to accurately tracking control tasks without the need for complex analytical models. However, the system dynamics are often nuanced and the neural model lacks the potential to understand physical properties such as inertia and conservation of energy. In this work, we propose a novel energy-based regularization loss function which is applied to the training of a neural model that learns the residual dynamics of an omnidirectional aerial robot. Our energy-based regularization encourages the neural network to learn stabilizing control corrections. Without the regularization the network misses physical context. The learned residual dynamics are then integrated into the MPC framework. The positional mean absolute error (