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arXiv:2608.29769v1 Announce Type: new Abstract: Traversing sparse 3D structures requires humanoid robots to perceive thin, overhanging geometry while executing agile, accurate whole-body motions. We study this problem through monkey-bar traversal, where the robot must jump to the structure, traverse it through sparse bar interactions, and land safely. For this task, we present a reinforcement-learning-based perceptive control system that operates directly on observations from a head-mounted solid-state lidar. To extract task-relevant geometry from the sparse returns, the policy consumes the raw lidar scan through an attention-based encoder with recurrent memory. This policy is obtained by a phase-scheduled teacher- student pipeline that combines privileged experts for jumping up, brachiating, and jumping down. For transfer to hardware, we model lidar noise, battery-voltage sag, and actuator thermal limits, and equip the humanoid with passive hook end-effectors for robust bar interactio

arXiv:2608.29768v1 Announce Type: new Abstract: Deploying robot policies in the physical world requires satisfying two fundamental desiderata: reliability and smooth real-time execution. However, deploying state-of-the-art generalist models presents challenges on both fronts. Achieving the precision and robustness required for real-world deployment necessitates sample-efficient online reinforcement learning (RL) to adapt pretrained models. Meanwhile, the increasing scale of robot foundation models has led to higher inference latency. To satisfy real-time constraints under high latency, modern systems adopt asynchronous inference with action chunking, overlapping policy computation with chunk execution to hide latency and enable smooth control. Despite their complementary roles, integrating asynchronous execution with gradient-based online RL remains underexplored. We present SmoothRL, an online RL framework that fine-tunes a pretrained policy within an asynchronous inference loop. Smoo

arXiv:2608.29767v1 Announce Type: new Abstract: Discrete trajectory checks can miss collisions between sampled robot states. Reachability-based certification bounds motion between states, but uniform time partitions waste computation where clearance is large. We present lazy adaptive reachability certification (LARC), which checks a planned trajectory by bisecting only intervals with an inconclusive clearance test. For piecewise-cubic Hermite joint trajectories, the method bounds link occupancy using midpoint capsules inflated by exact componentwise speed maxima. Certified intervals covering the trajectory provide continuous-time external-obstacle clearance, subject to geometric containment, static obstacles, and a prescribed margin. On 160 AgileX PIPER trajectories from 80 start-goal pairs, LARC matched all decisions of the fixed-fine baseline at depth nine. It used 20328 interval evaluations (24.8% of baseline work), with a median paired speedup of 10.28x. A separate MoveIt/FCL audit

arXiv:2608.29749v1 Announce Type: new Abstract: Conventional flow-based vision-language-action (VLA) models support expressive continuous action generation but rely on multi-step refinement to produce each action chunk, increasing latency in online robot control. To address this issue, we introduce DriftingVLA, a native one-step VLA that generates a complete action chunk with a single action-expert forward pass. Rather than learning a flow field that requires iterative integration at inference, DriftingVLA uses a distribution-drifting objective to learn a direct noise-to-action-chunk mapping for one-step deployment. Since robot action dimensions carry distinct control semantics and distributional characteristics, we further introduce Per-Dimension Temporal Drifting (PDTD). PDTD treats the complete temporal trajectory of each action dimension as a separate drifting unit, enabling finer-grained modeling and shaping of dimension-specific action distributions. This per-dimension decomposit

arXiv:2608.29720v1 Announce Type: new Abstract: Inertial odometry (IO) is critical for aerial robots, where aggressive maneuvers and poor lighting degrade visual sensors. Recent learning-based IO methods improve traditional integration-based approaches by learning motion priors from IMU and platform-specific sensors, then fusing the predictions within an extended Kalman filter. However, learning velocity through regression is difficult, while jointly estimating uncertainty with a separate decoder and negative log-likelihood (NLL) loss further complicates training and can lead to over-confident estimates. We introduce VeloBins, which reformulates velocity regression as classification over discretized velocity bins. We decode both the velocity from the bin distribution's expectation and the uncertainty from its variance, removing the need for a separate uncertainty decoder. We further supervise the uncertainty explicitly using an error-conditioned Gaussian label centered at the ground-tr

arXiv:2608.29601v1 Announce Type: new Abstract: We present $\mathcal{N}_0$-Foundation, a paradigm for tactile-enabled embodied manipulation, which integrates tactile sensing hardware, large-scale multimodal data, tactile representation learning, and standardized evaluation. First, we engineer the infrastructure for scalable data collection, including a vision-based tactile sensor, a tactile Universal Manipulation Interface (UMI), and a synchronized visuo-tactile data collection system supporting both robot embodiments and UMI-based demonstrations. Leveraging this infrastructure, we construct NeoData, which contains more than 30000 hours of synchronized visual and tactile demonstrations, spanning six embodiments, 450 tasks, and billions of paired RGB and tactile frames collected through a mixture of real-robot teleoperation and UMI-based demonstrations. To facilitate open research, we further release OpenNeoData, a 5000-hour open-source subset of NeoData. The dataset addresses a central

arXiv:2608.29547v1 Announce Type: new Abstract: Image based shape control provides a simple means of controlling the whole body configuration of soft robots. However, existing data driven approaches are typically developed for fixed robot structures and require new control data when the number of modules changes. This paper presents a module number adaptive visual shape control method for serial modular soft pneumatic robots. A controller trained only on single module actuation shape data is reused for robots with one to five modules by decomposing whole body camera images into local module patches. A single common module segmenter localizes individual modules across all tested configurations, while the same local controller is applied to every extracted patch. Geometric data augmentation improves transferability to downstream modules, and a lightweight mask reconstruction network reconstructs a synthetically removed actuator mask channel. Experiments on physical robots demonstrate sha

arXiv:2608.29537v1 Announce Type: new Abstract: Frozen vision-language-action (VLA) policies offer broad manipulation skills but execute open-loop action chunks without tracking task progress, so the agent cannot reliably decide whether to continue, retry, or terminate. External memory is a natural remedy, yet it can be harmful when attempted actions are treated as completed progress, turning local execution errors into persistent task-state errors. We propose Achievement-Grounded Memory (AGM), a lightweight closed-loop framework for frozen VLA policies that represents a task as a subgoal sequence with a progress pointer and advances this memory only after the current subgoal is verified by physical evidence. Proprioceptive interaction cues decide when to verify, while coherent point tracking and language-conditioned cross-view comparison, sourced from frozen foundation models through a single 2.43M-parameter verification head, decide what was achieved. AGM thereby converts open-loop e

arXiv:2608.29516v1 Announce Type: new Abstract: Robotic ultrasound policies operating directly on B-mode images require extensive interaction data, whereas real-robot data collection is costly and safety-constrained. Simulation provides a scalable alternative, but zero-shot transfer depends not only on single-frame realism but also on whether simulated observations reproduce task-relevant feature changes induced by probe motion. We term this cross-domain consistency task-relevant feature-dynamics fidelity (TR-FDF). Under local regularity assumptions, our contraction analysis shows that greater sensitivity of TR-FDF mismatch to probe motion reduces the effective closed-loop contraction margin, whereas motion-independent errors primarily enlarge the residual error bound. Guided by this analysis, we develop a TR-FDF-oriented ultrasound simulator that combines a shared structural intermediate domain, trajectory-level fixed noise, and few-step conditional flow generation. In phantom experim

arXiv:2608.29487v1 Announce Type: new Abstract: We present blind, whole-body manipulation skills on a Unitree G1 humanoid using only onboard proprioception, without cameras, markers, force-torque, or tactile sensors. Despite this minimal sensing, the trained policies exhibit surprising capability across qualitatively different tasks: push-resilient bipedal walking without IMU feedback, active soccer ball trapping with a foot, seeking and lifting a suitcase by its handle, and mounting a randomly positioned skateboard. We argue that these capabilities arise from a key underappreciated signal: the way the joint encoder readouts evolve under purposeful compliant contact, effectively forming a whole-body tactile channel. By generating contact-rich motions, the trained policies actively probe the environment; as a result, task-relevant object state (e.g., pose) becomes increasingly decodable from short proprioceptive histories. We expose this information using compact task-specific state est

arXiv:2608.29396v1 Announce Type: new Abstract: Reliable localisation of shallow subsurface vessels is important for safe robot-assisted venous access and vessel-aware manipulation, but collecting diverse tactile data on physical hardware is costly, time-consuming, and can degrade soft vision-based tactile sensors. We present a robot-assisted sliding-palpation framework in which a calibrated digital twin generates labelled tactile sequences, reducing reliance on real-world data. The twin models sensor-vessel contact, is calibrated against real palpation trajectories using Bayesian-optimisation-based domain adaptation, and is randomised over sliding direction and contact conditions. A spatio-temporal graph neural network trained on simulated marker trajectories performs per-node vessel classification and produces a human-verifiable top-view localisation map through 2D-to-3D-to-2D geometric projection. We evaluate three datasets: Sim, Silicone, and Meat, the latter a raw-meat phantom wit

arXiv:2608.29379v1 Announce Type: new Abstract: A language-guided robot operating in a real kitchen must do more than produce a plan that appears correct. It must also execute that plan safely in cluttered environments under imperfect perception. Large language models (LLM) can decompose instructions into action sequences, yet a language-action gap remains: a plan may appear valid linguistically while being physically infeasible under kinematic and collision constraints. We bridge this gap by formalizing the reasoning-execution boundary as a typed contract. From RGB-D observations, the system grounds perceived objects in an explicit, collision-aware scene model and constrains language-level decisions through schema-validated tool calls defined by the Model Context Protocol (MCP), rejecting malformed commands before they reach the robot. Each validated call is deterministically grounded in a MoveIt Task Constructor pipeline, where candidate motions are evaluated against the reconstructe

arXiv:2608.29242v1 Announce Type: new Abstract: Collecting contact-rich robot experiences at scale remains a major bottleneck for generalizable manipulation. Beyond data quantity, robot learning also requires diverse experiences across embodiments, viewpoints, and scenes. Human egocentric videos provide abundant physical interactions, but each video captures only a narrow slice of experience under a single body, camera trajectory, and environment. We propose AnyWorld, a cross-embodiment world modeling framework that expands a single human interaction into diverse robot-native rollouts without paired human-robot demonstrations. Our model factorizes an interaction into action, camera, and embodiment: action controls capture the motion structure, camera controls specify viewpoint evolution, and the target embodiment context defines the acting body and its interaction geometry. This formulation enables independent recomposition of embodiment, viewpoint, and scene factors, allowing a single

arXiv:2608.29208v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models, built upon Vision-Language Models (VLMs), have significantly enhanced robotic capabilities by leveraging internet-scale knowledge and multimodal reasoning. However, the intensive computational overhead of VLAs constrains on-device deployment, hindering real-time responses to environmental changes. While various acceleration techniques have been proposed, they often rely on fine-tuning or access to training datasets, which are frequently unavailable due to privacy and proprietary concerns. Moreover, although flow-matching-based VLAs have emerged as efficient alternatives to standard diffusion models, current acceleration efforts largely target VLM inference costs, failing to address the iterative ODE solving process inherent in flow matching inference. To address these limitations, we propose AdaVLA, an online, training-free adaptive framework for fast yet accurate flow-matching-based Vision-Language-Ac

arXiv:2608.29146v1 Announce Type: new Abstract: Service robots work with people and are highly expected to be lightweight for safety, agility and energy conservation. As a complex mechanical system, a robot consists of a large number of components and has various working configurations and load environments. An effective method for achieving system-level optimal robot design is a crucial requirement, but it poses significant challenges. In this study, we introduce a novel approach to optimize the distribution of strain energy, which can significantly improve the effectiveness of systematic optimization in a complex system. First, we present and demonstrate that the strain energy per unit mass should be uniformly distributed in an optimal lightweight mechanical system. Based on this criterion, the system-level problem can be decoupled and the design objective of each part can be assigned based on the strain energy. Then, each part can be optimally designed separately according to its sp